#include <radar_point_cloud.h>

类 apollo::perception::base::AttributeRadarPointCloud< RadarPointT > 继承关系图:

apollo::perception::base::AttributeRadarPointCloud< RadarPointT > 的协作图:

Public 成员函数
	AttributeRadarPointCloud ()=default

	AttributeRadarPointCloud (const AttributeRadarPointCloud< RadarPointT > &pc, const PointIndices &indices)

	AttributeRadarPointCloud (const AttributeRadarPointCloud< RadarPointT > &pc, const std::vector< int > &indices)

	AttributeRadarPointCloud (const size_t width, const size_t height, const RadarPointT point=RadarPointT())

virtual	~AttributeRadarPointCloud ()=default

AttributeRadarPointCloud &	operator+= (const AttributeRadarPointCloud< RadarPointT > &rhs)

void	reserve (const size_t size) override

void	resize (const size_t size) override

void	push_back (const RadarPointT &point) override

void	push_back (const RadarPointT &point, double timestamp, float height=std::numeric_limits< float >::max(), int32_t beam_id=-1, uint8_t label=0)

void	clear () override

bool	SwapPoint (const size_t source_id, const size_t target_id) override

bool	CopyPoint (const size_t id, const size_t rhs_id, const AttributeRadarPointCloud< RadarPointT > &rhs)

void	CopyRadarPointCloud (const AttributeRadarPointCloud< RadarPointT > &rhs, const PointIndices &indices)

template<typename IndexType >
void	CopyRadarPointCloud (const AttributeRadarPointCloud< RadarPointT > &rhs, const std::vector< IndexType > &indices)

void	SwapRadarPointCloud (AttributeRadarPointCloud< RadarPointT > *rhs)

bool	CheckConsistency () const override

size_t	TransferToIndex (const size_t col, const size_t row) const

Public 成员函数继承自 apollo::perception::base::RadarPointCloud< RadarPointT >
	RadarPointCloud ()=default

	RadarPointCloud (const RadarPointCloud< RadarPointT > &pc, const PointIndices &indices)

	RadarPointCloud (const RadarPointCloud< RadarPointT > &pc, const std::vector< int > &indices)

	RadarPointCloud (size_t width, size_t height, RadarPointT point=RadarPointT())

virtual	~RadarPointCloud ()=default

const RadarPointT *	at (size_t col, size_t row) const

RadarPointT *	at (size_t col, size_t row)

const RadarPointT *	operator() (size_t col, size_t row) const

RadarPointT *	operator() (size_t col, size_t row)

bool	IsOrganized () const

size_t	height () const

size_t	width () const

size_t	size () const

bool	empty () const

const RadarPointT &	operator[] (size_t n) const

RadarPointT &	operator[] (size_t n)

const RadarPointT &	at (size_t n) const

RadarPointT &	at (size_t n)

const RadarPointT &	front () const

RadarPointT &	front ()

const RadarPointT &	back () const

RadarPointT &	back ()

bool	CopyPoint (size_t id, size_t rhs_id, const RadarPointCloud< RadarPointT > &rhs)

void	CopyRadarPointCloud (const RadarPointCloud< RadarPointT > &rhs, const PointIndices &indices)

template<typename IndexType >
void	CopyRadarPointCloud (const RadarPointCloud< RadarPointT > &rhs, const std::vector< IndexType > &indices)

template<typename IndexType >
void	CopyRadarPointCloudExclude (const RadarPointCloud< RadarPointT > &rhs, const std::vector< IndexType > &indices)

void	SwapRadarPointCloud (RadarPointCloud< RadarPointT > *rhs)

iterator	begin ()

iterator	end ()

const_iterator	begin () const

const_iterator	end () const

std::vector< RadarPointT > *	mutable_points ()

const std::vector< RadarPointT > &	points () const

void	set_timestamp (const double timestamp)

double	get_timestamp ()

void	set_sensor_to_world_pose (const Eigen::Affine3d &sensor_to_world_pose)

const Eigen::Affine3d &	sensor_to_world_pose ()

void	RotateRadarPointCloud (bool check_nan=false)

void	TransformRadarPointCloud (bool check_nan=false)

void	TransformRadarPointCloud (const Eigen::Affine3f &transform, RadarPointCloud< RadarPointT > *out, bool check_nan=false) const

额外继承的成员函数
Public 类型继承自 apollo::perception::base::RadarPointCloud< RadarPointT >
using	PointType = RadarPointT

typedef std::vector< RadarPointT >::iterator	iterator

typedef std::vector< RadarPointT >::const_iterator	const_iterator

Protected 属性继承自 apollo::perception::base::RadarPointCloud< RadarPointT >
std::vector< RadarPointT >	points_

size_t	width_ = 0

size_t	height_ = 0

Eigen::Affine3d	sensor_to_world_pose_ = Eigen::Affine3d::Identity()

double	timestamp_ = 0.0

详细描述

template<class RadarPointT>
class apollo::perception::base::AttributeRadarPointCloud< RadarPointT >

在文件 radar_point_cloud.h 第 269 行定义.

构造及析构函数说明

◆ AttributeRadarPointCloud() [1/4]

template<class RadarPointT >

apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::AttributeRadarPointCloud ( )

default

◆ AttributeRadarPointCloud() [2/4]

template<class RadarPointT >

apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::AttributeRadarPointCloud	(	const AttributeRadarPointCloud< RadarPointT > &	pc,
		const PointIndices &	indices
	)

inline

在文件 radar_point_cloud.h 第 281 行定义.

                                                   {
    CopyRadarPointCloud(pc, indices);
  }

◆ AttributeRadarPointCloud() [3/4]

template<class RadarPointT >

apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::AttributeRadarPointCloud	(	const AttributeRadarPointCloud< RadarPointT > &	pc,
		const std::vector< int > &	indices
	)

inline

在文件 radar_point_cloud.h 第 285 行定义.

                                                     {
    CopyRadarPointCloud(pc, indices);
  }

◆ AttributeRadarPointCloud() [4/4]

template<class RadarPointT >

apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::AttributeRadarPointCloud	(	const size_t	width,
		const size_t	height,
		const RadarPointT	point = `RadarPointT()`
	)

inline

在文件 radar_point_cloud.h 第 290 行定义.

                                                               {
    width_ = width;
    height_ = height;
    if (width_ > 0 && height_ > SIZE_MAX / width_) {
      AFATAL << "overflow detected.";
      exit(1);
    }
    size_t size = width_ * height_;
    points_.assign(size, point);
  }

◆ ~AttributeRadarPointCloud()

template<class RadarPointT >

virtual apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::~AttributeRadarPointCloud ( )

virtualdefault

成员函数说明

◆ CheckConsistency()

template<class RadarPointT >

bool apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::CheckConsistency ( ) const

inlineoverridevirtual

重载 apollo::perception::base::RadarPointCloud< RadarPointT > .

在文件 radar_point_cloud.h 第 388 行定义.

                                         {
    return true;
  }

◆ clear()

template<class RadarPointT >

void apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::clear ( )

inlineoverridevirtual

重载 apollo::perception::base::RadarPointCloud< RadarPointT > .

在文件 radar_point_cloud.h 第 337 行定义.

                               {
    points_.clear();
    width_ = height_ = 0;
  }

◆ CopyPoint()

template<class RadarPointT >

bool apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::CopyPoint	(	const size_t	id,
		const size_t	rhs_id,
		const AttributeRadarPointCloud< RadarPointT > &	rhs
	)

inline

在文件 radar_point_cloud.h 第 353 行定义.

                                                                          {
    if (id < points_.size() && rhs_id < rhs.points_.size()) {
      points_[id] = rhs.points_[rhs_id];
      return true;
    }
    return false;
  }

◆ CopyRadarPointCloud() [1/2]

template<class RadarPointT >

void apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::CopyRadarPointCloud	(	const AttributeRadarPointCloud< RadarPointT > &	rhs,
		const PointIndices &	indices
	)

inline

在文件 radar_point_cloud.h 第 362 行定义.

                                 {
    CopyRadarPointCloud(rhs, indices.indices);
  }

◆ CopyRadarPointCloud() [2/2]

template<class RadarPointT >

template<typename IndexType >

void apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::CopyRadarPointCloud	(	const AttributeRadarPointCloud< RadarPointT > &	rhs,
		const std::vector< IndexType > &	indices
	)

inline

在文件 radar_point_cloud.h 第 368 行定义.

                                         {
    width_ = indices.size();
    height_ = 1;
    points_.resize(indices.size());
    for (size_t i = 0; i < indices.size(); ++i) {
      points_[i] = rhs.points_[indices[i]];
    }
  }

◆ operator+=()

template<class RadarPointT >

AttributeRadarPointCloud & apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::operator+= ( const AttributeRadarPointCloud< RadarPointT > & rhs )

inline

在文件 radar_point_cloud.h 第 304 行定义.

                                                        {
    points_.insert(points_.end(), rhs.points_.begin(), rhs.points_.end());
    width_ = width_ * height_ + rhs.width_ * rhs.height_;
    height_ = 1;
    return *this;
  }

◆ push_back() [1/2]

template<class RadarPointT >

void apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::push_back ( const RadarPointT & point )

inlineoverridevirtual

重载 apollo::perception::base::RadarPointCloud< RadarPointT > .

在文件 radar_point_cloud.h 第 324 行定义.

                                                           {
    points_.push_back(point);
    width_ = points_.size();
    height_ = 1;
  }

◆ push_back() [2/2]

template<class RadarPointT >

void apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::push_back	(	const RadarPointT &	point,
		double	timestamp,
		float	height = `std::numeric_limits<float>::max()`,
		int32_t	beam_id = `-1`,
		uint8_t	label = `0`
	)

inline

在文件 radar_point_cloud.h 第 329 行定义.

                                                                 {
    points_.push_back(point);
    width_ = points_.size();
    height_ = 1;
  }

◆ reserve()

template<class RadarPointT >

void apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::reserve ( const size_t size )

inlineoverridevirtual

重载 apollo::perception::base::RadarPointCloud< RadarPointT > .

在文件 radar_point_cloud.h 第 312 行定义.

                                                  {
    points_.reserve(size);
  }

◆ resize()

template<class RadarPointT >

void apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::resize ( const size_t size )

inlineoverridevirtual

重载 apollo::perception::base::RadarPointCloud< RadarPointT > .

在文件 radar_point_cloud.h 第 316 行定义.

                                                 {
    points_.resize(size);
    if (size != width_ * height_) {
      width_ = size;
      height_ = 1;
    }
  }

◆ SwapPoint()

template<class RadarPointT >

bool apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::SwapPoint	(	const size_t	source_id,
		const size_t	target_id
	)

inlineoverridevirtual

重载 apollo::perception::base::RadarPointCloud< RadarPointT > .

在文件 radar_point_cloud.h 第 342 行定义.

                                                         {
    if (source_id < points_.size() && target_id < points_.size()) {
      std::swap(points_[source_id], points_[target_id]);
      width_ = points_.size();
      height_ = 1;
      return true;
    }
    return false;
  }

◆ SwapRadarPointCloud()

template<class RadarPointT >

void apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::SwapRadarPointCloud ( AttributeRadarPointCloud< RadarPointT > * rhs )

inline

在文件 radar_point_cloud.h 第 380 行定义.

                                                                              {
    points_.swap(rhs->points_);
    std::swap(width_, rhs->width_);
    std::swap(height_, rhs->height_);
    std::swap(sensor_to_world_pose_, rhs->sensor_to_world_pose_);
    std::swap(timestamp_, rhs->timestamp_);
  }

◆ TransferToIndex()

template<class RadarPointT >

size_t apollo::perception::base::AttributeRadarPointCloud< RadarPointT >::TransferToIndex	(	const size_t	col,
		const size_t	row
	)		const

inline

在文件 radar_point_cloud.h 第 392 行定义.

                                                                   {
    return row * width_ + col;
  }

该类的文档由以下文件生成:

modules/perception/common/base/radar_point_cloud.h

Public 成员函数

额外继承的成员函数

详细描述

构造及析构函数说明

◆ AttributeRadarPointCloud() [1/4]

◆ AttributeRadarPointCloud() [2/4]

◆ AttributeRadarPointCloud() [3/4]

◆ AttributeRadarPointCloud() [4/4]

◆ ~AttributeRadarPointCloud()

成员函数说明

◆ CheckConsistency()

◆ clear()

◆ CopyPoint()

◆ CopyRadarPointCloud() [1/2]

◆ CopyRadarPointCloud() [2/2]

◆ operator+=()

◆ push_back() [1/2]

◆ push_back() [2/2]

◆ reserve()

◆ resize()

◆ SwapPoint()

◆ SwapRadarPointCloud()

◆ TransferToIndex()