apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE > 模板类 参考

#include <i_struct_s.h>

apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE > 的协作图:

Public 成员函数
	VoxelGridXYPyramid ()
	VoxelGridXYPyramid (unsigned int nr_scale, unsigned int nr_voxel_x_base, unsigned int nr_voxel_y_base, unsigned int dsf_x, unsigned int dsf_y, DATA_TYPE spatial_bound_x_min, DATA_TYPE spatial_bound_x_max, DATA_TYPE spatial_bound_y_min, DATA_TYPE spatial_bound_y_max, DATA_TYPE spatial_bound_z_min, DATA_TYPE spatial_bound_z_max)
void	CleanUp ()
	~VoxelGridXYPyramid ()
bool	Alloc (unsigned int nr_scale, unsigned int nr_voxel_x_base, unsigned int nr_voxel_y_base, unsigned int dsf_x, unsigned int dsf_y, DATA_TYPE spatial_bound_x_min, DATA_TYPE spatial_bound_x_max, DATA_TYPE spatial_bound_y_min, DATA_TYPE spatial_bound_y_max, DATA_TYPE spatial_bound_z_min, DATA_TYPE spatial_bound_z_max)
bool	Set (const DATA_TYPE *pc, unsigned int nr_points, unsigned int nr_point_element)
bool	SetS (const float *pc, unsigned int nr_points, unsigned int nr_point_element)
bool	Set (const DATA_TYPE *pc, unsigned int nr_scale, unsigned int nr_points, unsigned int nr_point_element, unsigned int nr_voxel_x_base, unsigned int nr_voxel_y_base, unsigned int dsf_x, unsigned int dsf_y, DATA_TYPE spatial_bound_x_min, DATA_TYPE spatial_bound_x_max, DATA_TYPE spatial_bound_y_min, DATA_TYPE spatial_bound_y_max, DATA_TYPE spatial_bound_z_min, DATA_TYPE spatial_bound_z_max)
unsigned int	NrScale () const
unsigned int	NrVoxel (unsigned int i=0) const
unsigned int	NrVoxelX (unsigned int i=0) const
unsigned int	NrVoxelY (unsigned int i=0) const
unsigned int	NrVoxelZ (unsigned int i=0) const
unsigned int	NrPoints (unsigned int scale) const
unsigned int	NrPoints () const
unsigned int	NrPointElement () const
bool	Initialized () const
unsigned int	GetDsfX () const
unsigned int	GetDsfY () const
unsigned int	GetDsfZ () const
VoxelGridXY< DATA_TYPE > &	operator[] (unsigned int i)
const VoxelGridXY< DATA_TYPE > &	operator[] (unsigned int i) const
VoxelGridXY< DATA_TYPE > &	operator[] (int i)
const VoxelGridXY< DATA_TYPE > &	operator[] (int i) const
const DATA_TYPE *	ConstData () const
DATA_TYPE *	Data ()

详细描述

template<typename DATA_TYPE>
class apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >

在文件 i_struct_s.h 第 1202 行定义.

构造及析构函数说明

VoxelGridXYPyramid() [1/2]

template<typename DATA_TYPE >

apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::VoxelGridXYPyramid

(

)

在文件 i_struct_s.h 第 1309 行定义.

    : pc_(nullptr),
      nr_points_(0),
      nr_point_element_(0),
      dsf_x_(0),
      dsf_y_(0),
      dsf_z_(0) {}

VoxelGridXYPyramid() [2/2]

template<typename DATA_TYPE >

apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::VoxelGridXYPyramid ( unsigned int  nr_scale, unsigned int  nr_voxel_x_base, unsigned int  nr_voxel_y_base, unsigned int  dsf_x, unsigned int  dsf_y, DATA_TYPE  spatial_bound_x_min, DATA_TYPE  spatial_bound_x_max, DATA_TYPE  spatial_bound_y_min, DATA_TYPE  spatial_bound_y_max, DATA_TYPE  spatial_bound_z_min, DATA_TYPE  spatial_bound_z_max  )

inline

在文件 i_struct_s.h 第 1205 行定义.

                                                    {
    Alloc(nr_scale, nr_voxel_x_base, nr_voxel_y_base, dsf_x, dsf_y,
          spatial_bound_x_min, spatial_bound_x_max, spatial_bound_y_min,
          spatial_bound_y_max, spatial_bound_z_min, spatial_bound_z_max);
  }

~VoxelGridXYPyramid()

template<typename DATA_TYPE >

apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::~VoxelGridXYPyramid ( )

inline

在文件 i_struct_s.h 第 1220 行定义.

{ CleanUp(); }

成员函数说明

Alloc()

template<typename DATA_TYPE >

bool apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::Alloc	(	unsigned int	nr_scale,
		unsigned int	nr_voxel_x_base,
		unsigned int	nr_voxel_y_base,
		unsigned int	dsf_x,
		unsigned int	dsf_y,
		DATA_TYPE	spatial_bound_x_min,
		DATA_TYPE	spatial_bound_x_max,
		DATA_TYPE	spatial_bound_y_min,
		DATA_TYPE	spatial_bound_y_max,
		DATA_TYPE	spatial_bound_z_min,
		DATA_TYPE	spatial_bound_z_max
	)

在文件 i_struct_s.h 第 1318 行定义.

                                                                  {
  if (!nr_scale || !nr_voxel_x_base || !nr_voxel_y_base) {
    return false;
  }
 
  unsigned int scale;
  unsigned int nr_voxel_x = nr_voxel_x_base;
  unsigned int nr_voxel_y = nr_voxel_y_base;
  unsigned int sf_x = (unsigned int)IPow((unsigned int)2, dsf_x);
  unsigned int sf_y = (unsigned int)IPow((unsigned int)2, dsf_y);
 
  dsf_x_ = dsf_x;
  dsf_y_ = dsf_y;
  dsf_z_ = 0;
 
  vgrids_.clear();
  vgrids_.resize(nr_scale);
 
  for (scale = 0; scale < nr_scale; ++scale) {
    if (!vgrids_[scale].alloc(nr_voxel_x, nr_voxel_y, spatial_bound_x_min,
                              spatial_bound_x_max, spatial_bound_y_min,
                              spatial_bound_y_max, spatial_bound_z_min,
                              spatial_bound_z_max)) {
      break;
    }
    nr_voxel_x /= sf_x;
    nr_voxel_y /= sf_y;
  }
 
  if (scale == 0) {
    vgrids_.clear();
    return false;
  } else {
    if (scale != nr_scale) {
      vgrids_.resize(scale);
    }
  }
 
  return (true);
}

CleanUp()

template<typename DATA_TYPE >

void apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::CleanUp

(

)

在文件 i_struct_s.h 第 1470 行定义.

                                            {
  pc_ = nullptr;
  vgrids_.clear();
  nr_points_ = nr_point_element_ = dsf_x_ = dsf_y_ = dsf_z_ = 0;
}

ConstData()

template<typename DATA_TYPE >

const DATA_TYPE * apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::ConstData ( ) const

inline

在文件 i_struct_s.h 第 1297 行定义.

{ return pc_; }

Data()

template<typename DATA_TYPE >

DATA_TYPE * apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::Data ( )

inline

在文件 i_struct_s.h 第 1299 行定义.

{ return pc_; }

GetDsfX()

template<typename DATA_TYPE >

unsigned int apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::GetDsfX ( ) const

inline

在文件 i_struct_s.h 第 1273 行定义.

{ return dsf_x_; }

GetDsfY()

template<typename DATA_TYPE >

unsigned int apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::GetDsfY ( ) const

inline

在文件 i_struct_s.h 第 1274 行定义.

{ return dsf_y_; }

GetDsfZ()

template<typename DATA_TYPE >

unsigned int apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::GetDsfZ ( ) const

inline

在文件 i_struct_s.h 第 1275 行定义.

{ return (0); }

Initialized()

template<typename DATA_TYPE >

bool apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::Initialized

(

)

const

在文件 i_struct_s.h 第 1477 行定义.

                                                      {
  unsigned int i;
  if (vgrids_.empty()) {
    return false;
  }
  for (i = 0; i < vgrids_.size(); ++i) {
    if (!vgrids_[i].initialized()) {
      break;
    }
  }
  return (i == vgrids_.size());
}

NrPointElement()

template<typename DATA_TYPE >

unsigned int apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::NrPointElement ( ) const

inline

在文件 i_struct_s.h 第 1269 行定义.

{ return nr_point_element_; }

NrPoints() [1/2]

template<typename DATA_TYPE >

unsigned int apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::NrPoints ( ) const

inline

在文件 i_struct_s.h 第 1267 行定义.

{ return nr_points_; }

NrPoints() [2/2]

template<typename DATA_TYPE >

unsigned int apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::NrPoints ( unsigned int  scale ) const

inline

在文件 i_struct_s.h 第 1263 行定义.

                                                  {
    return (scale < vgrids_.size()) ? vgrids_[scale].nr_points() : 0;
  }

NrScale()

template<typename DATA_TYPE >

unsigned int apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::NrScale ( ) const

inline

在文件 i_struct_s.h 第 1245 行定义.

{ return (unsigned int)vgrids_.size(); }

NrVoxel()

template<typename DATA_TYPE >

unsigned int apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::NrVoxel ( unsigned int  i = 0 ) const

inline

在文件 i_struct_s.h 第 1247 行定义.

                                                 {
    return (i < vgrids_.size()) ? vgrids_[i].nr_voxel() : 0;
  }

NrVoxelX()

template<typename DATA_TYPE >

unsigned int apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::NrVoxelX ( unsigned int  i = 0 ) const

inline

在文件 i_struct_s.h 第 1251 行定义.

                                                  {
    return (i < vgrids_.size()) ? vgrids_[i].nr_voxel_x() : 0;
  }

NrVoxelY()

template<typename DATA_TYPE >

unsigned int apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::NrVoxelY ( unsigned int  i = 0 ) const

inline

在文件 i_struct_s.h 第 1255 行定义.

                                                  {
    return (i < vgrids_.size()) ? vgrids_[i].nr_voxel_y() : 0;
  }

NrVoxelZ()

template<typename DATA_TYPE >

unsigned int apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::NrVoxelZ ( unsigned int  i = 0 ) const

inline

在文件 i_struct_s.h 第 1259 行定义.

                                                  {
    return (i < vgrids_.size()) ? vgrids_[i].nr_voxel_z() : 0;
  }

operator[]() [1/4]

template<typename DATA_TYPE >

VoxelGridXY< DATA_TYPE > & apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::operator[] ( int  i )

inline

在文件 i_struct_s.h 第 1287 行定义.

                                            {
    assert(i >= 0 && i < static_cast<int>(vgrids_.size()));
    return vgrids_[i];
  }

operator[]() [2/4]

template<typename DATA_TYPE >

const VoxelGridXY< DATA_TYPE > & apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::operator[] ( int  i ) const

inline

在文件 i_struct_s.h 第 1292 行定义.

                                                        {
    assert(i >= 0 && i < static_cast<int>(vgrids_.size()));
    return vgrids_[i];
  }

operator[]() [3/4]

template<typename DATA_TYPE >

VoxelGridXY< DATA_TYPE > & apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::operator[] ( unsigned int  i )

inline

在文件 i_struct_s.h 第 1277 行定义.

                                                     {
    assert(i >= 0 && i < vgrids_.size());
    return vgrids_[i];
  }

operator[]() [4/4]

template<typename DATA_TYPE >

const VoxelGridXY< DATA_TYPE > & apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::operator[] ( unsigned int  i ) const

inline

在文件 i_struct_s.h 第 1282 行定义.

                                                                 {
    assert(i >= 0 && i < vgrids_.size());
    return vgrids_[i];
  }

Set() [1/2]

template<typename DATA_TYPE >

bool apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::Set	(	const DATA_TYPE *	pc,
		unsigned int	nr_points,
		unsigned int	nr_point_element
	)

在文件 i_struct_s.h 第 1365 行定义.

                                                                       {
  if (!pc || !nr_points || !nr_point_element || vgrids_.empty()) {
    return false;
  }
 
  unsigned int scale, nr_scale = (unsigned int)vgrids_.size();
 
  pc_ = pc;
  nr_points_ = nr_points;
  nr_point_element_ = nr_point_element;
 
  for (scale = 0; scale < nr_scale; ++scale) {
    if (!vgrids_[scale].set(pc, nr_points, nr_point_element)) {
      break;
    }
  }
 
  // break in the middle - last (NrScale - s) grids are invalid
  if (scale < nr_scale) {
    vgrids_.resize(scale);
  }
 
  return (vgrids_.size() == nr_scale);
}

Set() [2/2]

template<typename DATA_TYPE >

bool apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::Set	(	const DATA_TYPE *	pc,
		unsigned int	nr_scale,
		unsigned int	nr_points,
		unsigned int	nr_point_element,
		unsigned int	nr_voxel_x_base,
		unsigned int	nr_voxel_y_base,
		unsigned int	dsf_x,
		unsigned int	dsf_y,
		DATA_TYPE	spatial_bound_x_min,
		DATA_TYPE	spatial_bound_x_max,
		DATA_TYPE	spatial_bound_y_min,
		DATA_TYPE	spatial_bound_y_max,
		DATA_TYPE	spatial_bound_z_min,
		DATA_TYPE	spatial_bound_z_max
	)

在文件 i_struct_s.h 第 1421 行定义.

                                                                  {
  if (!pc || !nr_scale || !nr_points || !nr_point_element || !nr_voxel_x_base ||
      !nr_voxel_y_base) {
    return false;
  }
 
  unsigned int i, s;
  pc_ = pc;
  nr_points_ = nr_points;
  nr_point_element_ = nr_point_element;
 
  dsf_x_ = dsf_x;
  dsf_y_ = dsf_y;
  dsf_z_ = 0;
 
  vgrids_.clear();
  vgrids_.resize(nr_scale);
 
  // Set the base level pyramid
  if (!vgrids_[0].set(pc_, nr_points, nr_point_element, nr_voxel_x_base,
                      nr_voxel_y_base, spatial_bound_x_min, spatial_bound_x_max,
                      spatial_bound_y_min, spatial_bound_y_max,
                      spatial_bound_z_min, spatial_bound_z_max)) {
    vgrids_.clear();
    return false;
  }
 
  for (s = 1; s < nr_scale; ++s) {
    if (!IDownsampleVoxelGridXY(vgrids_[s - 1], &vgrids_[s], dsf_x_, dsf_y_)) {
      break;
    }
  }
 
  if (s < nr_scale) {
    for (i = 0; i < (nr_scale - s); ++i) {
      vgrids_.pop_back();
    }
  }
 
  return (vgrids_.size() == nr_scale);  // check if all scales are valid
}

SetS()

template<typename DATA_TYPE >

bool apollo::perception::algorithm::VoxelGridXYPyramid< DATA_TYPE >::SetS	(	const float *	pc,
		unsigned int	nr_points,
		unsigned int	nr_point_element
	)

在文件 i_struct_s.h 第 1393 行定义.

                                                                        {
  if (!pc || !nr_points || !nr_point_element || vgrids_.empty()) {
    return false;
  }
 
  unsigned int scale, nr_scale = (unsigned int)vgrids_.size();
 
  pc_ = pc;
  nr_points_ = nr_points;
  nr_point_element_ = nr_point_element;
 
  for (scale = 0; scale < nr_scale; ++scale) {
    if (!vgrids_[scale].set_s(pc, nr_points, nr_point_element)) {
      break;
    }
  }
 
  // break in the middle - last (NrScale - s) grids are invalid
  if (scale < nr_scale) {
    vgrids_.resize(scale);
  }
 
  return (vgrids_.size() == nr_scale);
}

---

该类的文档由以下文件生成:

• modules/perception/common/algorithm/i_lib/pc/i_struct_s.h