apollo::perception::algorithm::ConvexHull2D< CLOUD_IN_TYPE, CLOUD_OUT_TYPE > 模板类 参考

#include <convex_hull_2d.h>

apollo::perception::algorithm::ConvexHull2D< CLOUD_IN_TYPE, CLOUD_OUT_TYPE > 的协作图:

Public 类型
template<class EigenType >
using	EigenVector = apollo::common::EigenVector< EigenType >

Public 成员函数
	ConvexHull2D ()
	~ConvexHull2D ()
bool	GetConvexHull (const CLOUD_IN_TYPE &in_cloud, CLOUD_OUT_TYPE *out_polygon)
bool	GetConvexHullWithoutGround (const CLOUD_IN_TYPE &in_cloud, const float &distance_above_ground_thres, CLOUD_OUT_TYPE *out_polygon)
bool	GetConvexHullWithoutGroundAndHead (const CLOUD_IN_TYPE &in_cloud, const float &distance_above_ground_thres, const float &distance_beneath_head_thres, CLOUD_OUT_TYPE *out_polygon)

详细描述

template<class CLOUD_IN_TYPE, class CLOUD_OUT_TYPE>
class apollo::perception::algorithm::ConvexHull2D< CLOUD_IN_TYPE, CLOUD_OUT_TYPE >

在文件 convex_hull_2d.h 第 32 行定义.

成员类型定义说明

EigenVector

template<class CLOUD_IN_TYPE , class CLOUD_OUT_TYPE >

template<class EigenType >

using apollo::perception::algorithm::ConvexHull2D< CLOUD_IN_TYPE, CLOUD_OUT_TYPE >::EigenVector = apollo::common::EigenVector<EigenType>

在文件 convex_hull_2d.h 第 35 行定义.

构造及析构函数说明

ConvexHull2D()

template<class CLOUD_IN_TYPE , class CLOUD_OUT_TYPE >

apollo::perception::algorithm::ConvexHull2D< CLOUD_IN_TYPE, CLOUD_OUT_TYPE >::ConvexHull2D ( )

inline

在文件 convex_hull_2d.h 第 38 行定义.

                 : in_cloud_(nullptr) {
    points_.reserve(1000.0);
    polygon_indices_.reserve(1000.0);
  }

~ConvexHull2D()

template<class CLOUD_IN_TYPE , class CLOUD_OUT_TYPE >

apollo::perception::algorithm::ConvexHull2D< CLOUD_IN_TYPE, CLOUD_OUT_TYPE >::~ConvexHull2D ( )

inline

在文件 convex_hull_2d.h 第 42 行定义.

{ in_cloud_ = nullptr; }

成员函数说明

GetConvexHull()

template<class CLOUD_IN_TYPE , class CLOUD_OUT_TYPE >

bool apollo::perception::algorithm::ConvexHull2D< CLOUD_IN_TYPE, CLOUD_OUT_TYPE >::GetConvexHull ( const CLOUD_IN_TYPE &  in_cloud, CLOUD_OUT_TYPE *  out_polygon  )

inline

在文件 convex_hull_2d.h 第 44 行定义.

                                                  {
    SetPoints(in_cloud);
    if (!GetConvexHullMonotoneChain(out_polygon)) {
      return MockConvexHull(out_polygon);
    }
    return true;
  }

GetConvexHullWithoutGround()

template<class CLOUD_IN_TYPE , class CLOUD_OUT_TYPE >

bool apollo::perception::algorithm::ConvexHull2D< CLOUD_IN_TYPE, CLOUD_OUT_TYPE >::GetConvexHullWithoutGround ( const CLOUD_IN_TYPE &  in_cloud, const float &  distance_above_ground_thres, CLOUD_OUT_TYPE *  out_polygon  )

inline

在文件 convex_hull_2d.h 第 53 行定义.

                                                               {
    CLOUD_IN_TYPE in_cloud_without_ground;
    in_cloud_without_ground.reserve(in_cloud.size());
    for (std::size_t id = 0; id < in_cloud.size(); ++id) {
      // compute point_heigh, note std::numeric_limits<float>::max() is the
      // default value
      if (in_cloud.points_height(id) >= distance_above_ground_thres) {
        in_cloud_without_ground.push_back(in_cloud[id]);
      }
    }
    if (in_cloud_without_ground.empty()) {
      return GetConvexHull(in_cloud, out_polygon);
    } else {
      SetPoints(in_cloud_without_ground);
      if (!GetConvexHullMonotoneChain(out_polygon)) {
        return MockConvexHull(out_polygon);
      }
    }
    return true;
  }

GetConvexHullWithoutGroundAndHead()

template<class CLOUD_IN_TYPE , class CLOUD_OUT_TYPE >

bool apollo::perception::algorithm::ConvexHull2D< CLOUD_IN_TYPE, CLOUD_OUT_TYPE >::GetConvexHullWithoutGroundAndHead ( const CLOUD_IN_TYPE &  in_cloud, const float &  distance_above_ground_thres, const float &  distance_beneath_head_thres, CLOUD_OUT_TYPE *  out_polygon  )

inline

在文件 convex_hull_2d.h 第 77 行定义.

                                                                             {
    CLOUD_IN_TYPE in_cloud_without_ground_and_head;
    in_cloud_without_ground_and_head.reserve(in_cloud.size());
    for (std::size_t id = 0; id < in_cloud.size(); ++id) {
      // compute point_heigh, note std::numeric_limits<float>::max() is the
      // default value
      if (in_cloud.points_height(id) == std::numeric_limits<float>::max() ||
          (in_cloud.points_height(id) >= distance_above_ground_thres &&
           in_cloud.points_height(id) <= distance_beneath_head_thres)) {
        in_cloud_without_ground_and_head.push_back(in_cloud[id]);
      }
    }
    if (in_cloud_without_ground_and_head.empty()) {
      return GetConvexHull(in_cloud, out_polygon);
    } else {
      SetPoints(in_cloud_without_ground_and_head);
      if (!GetConvexHullMonotoneChain(out_polygon)) {
        return MockConvexHull(out_polygon);
      }
    }
    return true;
  }

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该类的文档由以下文件生成:

• modules/perception/common/algorithm/geometry/convex_hull_2d.h