#include <point_cloud.h>

类 apollo::perception::base::PointCloud< PointT > 继承关系图:

apollo::perception::base::PointCloud< PointT > 的协作图:

Public 类型
using	PointType = PointT

typedef std::vector< PointT >::iterator	iterator

typedef std::vector< PointT >::const_iterator	const_iterator

Public 成员函数
	PointCloud ()=default

	PointCloud (const PointCloud< PointT > &pc, const PointIndices &indices)

	PointCloud (const PointCloud< PointT > &pc, const std::vector< int > &indices)

	PointCloud (size_t width, size_t height, PointT point=PointT())

virtual	~PointCloud ()=default

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

PointT *	at (size_t col, size_t row)

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

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

bool	IsOrganized () const

size_t	height () const

size_t	width () const

size_t	size () const

virtual void	reserve (size_t size)

bool	empty () const

virtual void	resize (size_t size)

const PointT &	operator[] (size_t n) const

PointT &	operator[] (size_t n)

const PointT &	at (size_t n) const

PointT &	at (size_t n)

const PointT &	front () const

PointT &	front ()

const PointT &	back () const

PointT &	back ()

virtual void	push_back (const PointT &point)

virtual void	clear ()

virtual bool	SwapPoint (size_t source_id, size_t target_id)

bool	CopyPoint (size_t id, size_t rhs_id, const PointCloud< PointT > &rhs)

void	CopyPointCloud (const PointCloud< PointT > &rhs, const PointIndices &indices)

template<typename IndexType >
void	CopyPointCloud (const PointCloud< PointT > &rhs, const std::vector< IndexType > &indices)

template<typename IndexType >
void	CopyPointCloudExclude (const PointCloud< PointT > &rhs, const std::vector< IndexType > &indices)

void	SwapPointCloud (PointCloud< PointT > *rhs)

iterator	begin ()

iterator	end ()

const_iterator	begin () const

const_iterator	end () const

std::vector< PointT > *	mutable_points ()

const std::vector< PointT > &	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	RotatePointCloud (bool check_nan=false)

void	TransformPointCloud (bool check_nan=false)

void	TransformPointCloud (const Eigen::Affine3f &transform, PointCloud< PointT > *out, bool check_nan=false) const

virtual bool	CheckConsistency () const

Protected 属性
std::vector< PointT >	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 PointT>
class apollo::perception::base::PointCloud< PointT >

在文件 point_cloud.h 第 36 行定义.

成员类型定义说明

◆ const_iterator

template<class PointT >

typedef std::vector<PointT>::const_iterator apollo::perception::base::PointCloud< PointT >::const_iterator

在文件 point_cloud.h 第 177 行定义.

◆ iterator

template<class PointT >

typedef std::vector<PointT>::iterator apollo::perception::base::PointCloud< PointT >::iterator

在文件 point_cloud.h 第 176 行定义.

◆ PointType

template<class PointT >

using apollo::perception::base::PointCloud< PointT >::PointType = PointT

在文件 point_cloud.h 第 41 行定义.

构造及析构函数说明

◆ PointCloud() [1/4]

template<class PointT >

apollo::perception::base::PointCloud< PointT >::PointCloud ( )

default

◆ PointCloud() [2/4]

template<class PointT >

apollo::perception::base::PointCloud< PointT >::PointCloud	(	const PointCloud< PointT > &	pc,
		const PointIndices &	indices
	)

inline

在文件 point_cloud.h 第 46 行定义.

                                                                        {
    CopyPointCloud(pc, indices);
  }

◆ PointCloud() [3/4]

template<class PointT >

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

inline

在文件 point_cloud.h 第 49 行定义.

                                                                          {
    CopyPointCloud(pc, indices);
  }

◆ PointCloud() [4/4]

template<class PointT >

apollo::perception::base::PointCloud< PointT >::PointCloud	(	size_t	width,
		size_t	height,
		PointT	point = `PointT()`
	)

inline

在文件 point_cloud.h 第 53 行定义.

      : width_(width), height_(height) {
    points_.assign(width_ * height_, point);
  }

◆ ~PointCloud()

template<class PointT >

virtual apollo::perception::base::PointCloud< PointT >::~PointCloud ( )

virtualdefault

成员函数说明

◆ at() [1/4]

template<class PointT >

PointT * apollo::perception::base::PointCloud< PointT >::at	(	size_t	col,
		size_t	row
	)

inline

在文件 point_cloud.h 第 66 行定义.

                                            {
    return IsOrganized() ? &(points_[row * width_ + col]) : nullptr;
  }

◆ at() [2/4]

template<class PointT >

const PointT * apollo::perception::base::PointCloud< PointT >::at	(	size_t	col,
		size_t	row
	)		const

inline

在文件 point_cloud.h 第 63 行定义.

                                                        {
    return IsOrganized() ? &(points_[row * width_ + col]) : nullptr;
  }

◆ at() [3/4]

template<class PointT >

PointT & apollo::perception::base::PointCloud< PointT >::at ( size_t n )

inline

在文件 point_cloud.h 第 99 行定义.

99{ return points_[n]; }

◆ at() [4/4]

template<class PointT >

const PointT & apollo::perception::base::PointCloud< PointT >::at ( size_t n ) const

inline

在文件 point_cloud.h 第 98 行定义.

98{ return points_[n]; }

◆ back() [1/2]

template<class PointT >

PointT & apollo::perception::base::PointCloud< PointT >::back ( )

inline

在文件 point_cloud.h 第 105 行定义.

105{ return points_.back(); }

◆ back() [2/2]

template<class PointT >

const PointT & apollo::perception::base::PointCloud< PointT >::back ( ) const

inline

在文件 point_cloud.h 第 104 行定义.

104{ return points_.back(); }

◆ begin() [1/2]

template<class PointT >

iterator apollo::perception::base::PointCloud< PointT >::begin ( )

inline

在文件 point_cloud.h 第 179 行定义.

179{ return points_.begin(); }

◆ begin() [2/2]

template<class PointT >

const_iterator apollo::perception::base::PointCloud< PointT >::begin ( ) const

inline

在文件 point_cloud.h 第 181 行定义.

181{ return points_.begin(); }

◆ CheckConsistency()

template<class PointT >

virtual bool apollo::perception::base::PointCloud< PointT >::CheckConsistency ( ) const

inlinevirtual

被 apollo::perception::base::AttributePointCloud< PointT >, apollo::perception::base::AttributePointCloud< apollo::perception::base::Point > , 以及 apollo::perception::base::AttributePointCloud< PointD > 重载.

在文件 point_cloud.h 第 249 行定义.

249{ return true; }

◆ clear()

template<class PointT >

virtual void apollo::perception::base::PointCloud< PointT >::clear ( )

inlinevirtual

被 apollo::perception::base::AttributePointCloud< PointT >, apollo::perception::base::AttributePointCloud< apollo::perception::base::Point > , 以及 apollo::perception::base::AttributePointCloud< PointD > 重载.

在文件 point_cloud.h 第 113 行定义.

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

◆ CopyPoint()

template<class PointT >

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

inline

在文件 point_cloud.h 第 128 行定义.

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

◆ CopyPointCloud() [1/2]

template<class PointT >

void apollo::perception::base::PointCloud< PointT >::CopyPointCloud	(	const PointCloud< PointT > &	rhs,
		const PointIndices &	indices
	)

inline

在文件 point_cloud.h 第 137 行定义.

                                                          {
    CopyPointCloud(rhs, indices.indices);
  }

◆ CopyPointCloud() [2/2]

template<class PointT >

template<typename IndexType >

void apollo::perception::base::PointCloud< PointT >::CopyPointCloud	(	const PointCloud< PointT > &	rhs,
		const std::vector< IndexType > &	indices
	)

inline

在文件 point_cloud.h 第 142 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]];
    }
  }

◆ CopyPointCloudExclude()

template<class PointT >

template<typename IndexType >

void apollo::perception::base::PointCloud< PointT >::CopyPointCloudExclude	(	const PointCloud< PointT > &	rhs,
		const std::vector< IndexType > &	indices
	)

inline

在文件 point_cloud.h 第 152 行定义.

                                                                         {
    width_ = indices.size();
    height_ = 1;
    points_.resize(rhs.size() - indices.size());
    std::vector<bool> mask(false, rhs.size());
    for (size_t i = 0; i < indices.size(); ++i) {
      mask[indices[i]] = true;
    }
    for (size_t i = 0; i < rhs.size(); ++i) {
      if (!mask[i]) {
        points_.push_back(rhs.points_[i]);
      }
    }
  }

◆ empty()

template<class PointT >

bool apollo::perception::base::PointCloud< PointT >::empty ( ) const

inline

在文件 point_cloud.h 第 86 行定义.

86{ return points_.empty(); }

◆ end() [1/2]

template<class PointT >

iterator apollo::perception::base::PointCloud< PointT >::end ( )

inline

在文件 point_cloud.h 第 180 行定义.

180{ return points_.end(); }

◆ end() [2/2]

template<class PointT >

const_iterator apollo::perception::base::PointCloud< PointT >::end ( ) const

inline

在文件 point_cloud.h 第 182 行定义.

182{ return points_.end(); }

◆ front() [1/2]

template<class PointT >

PointT & apollo::perception::base::PointCloud< PointT >::front ( )

inline

在文件 point_cloud.h 第 102 行定义.

102{ return points_.front(); }

◆ front() [2/2]

template<class PointT >

const PointT & apollo::perception::base::PointCloud< PointT >::front ( ) const

inline

在文件 point_cloud.h 第 101 行定义.

101{ return points_.front(); }

◆ get_timestamp()

template<class PointT >

double apollo::perception::base::PointCloud< PointT >::get_timestamp ( )

inline

在文件 point_cloud.h 第 189 行定义.

189{ return timestamp_; }

apollo::perception::base::PointCloud::timestamp_

double timestamp_

Definition point_cloud.h:257

◆ height()

template<class PointT >

size_t apollo::perception::base::PointCloud< PointT >::height ( ) const

inline

在文件 point_cloud.h 第 78 行定义.

78{ return height_; }

◆ IsOrganized()

template<class PointT >

bool apollo::perception::base::PointCloud< PointT >::IsOrganized ( ) const

inline

在文件 point_cloud.h 第 76 行定义.

76{ return height_ > 1; }

◆ mutable_points()

template<class PointT >

std::vector< PointT > * apollo::perception::base::PointCloud< PointT >::mutable_points ( )

inline

在文件 point_cloud.h 第 183 行定义.

183{ return &points_; }

◆ operator()() [1/2]

template<class PointT >

PointT * apollo::perception::base::PointCloud< PointT >::operator()	(	size_t	col,
		size_t	row
	)

inline

在文件 point_cloud.h 第 72 行定义.

                                                    {
    return IsOrganized() ? &(points_[row * width_ + col]) : nullptr;
  }

◆ operator()() [2/2]

template<class PointT >

const PointT * apollo::perception::base::PointCloud< PointT >::operator()	(	size_t	col,
		size_t	row
	)		const

inline

在文件 point_cloud.h 第 69 行定义.

                                                                {
    return IsOrganized() ? &(points_[row * width_ + col]) : nullptr;
  }

◆ operator[]() [1/2]

template<class PointT >

PointT & apollo::perception::base::PointCloud< PointT >::operator[] ( size_t n )

inline

在文件 point_cloud.h 第 97 行定义.

97{ return points_[n]; }

◆ operator[]() [2/2]

template<class PointT >

const PointT & apollo::perception::base::PointCloud< PointT >::operator[] ( size_t n ) const

inline

在文件 point_cloud.h 第 96 行定义.

96{ return points_[n]; }

◆ points()

template<class PointT >

const std::vector< PointT > & apollo::perception::base::PointCloud< PointT >::points ( ) const

inline

在文件 point_cloud.h 第 184 行定义.

184{ return points_; }

◆ push_back()

template<class PointT >

virtual void apollo::perception::base::PointCloud< PointT >::push_back ( const PointT & point )

inlinevirtual

被 apollo::perception::base::AttributePointCloud< PointT > 重载.

在文件 point_cloud.h 第 107 行定义.

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

◆ reserve()

template<class PointT >

virtual void apollo::perception::base::PointCloud< PointT >::reserve ( size_t size )

inlinevirtual

被 apollo::perception::base::AttributePointCloud< PointT >, apollo::perception::base::AttributePointCloud< apollo::perception::base::Point > , 以及 apollo::perception::base::AttributePointCloud< PointD > 重载.

在文件 point_cloud.h 第 84 行定义.

84{ points_.reserve(size); }

apollo::perception::base::PointCloud::size

size_t size() const

Definition point_cloud.h:82

◆ resize()

template<class PointT >

virtual void apollo::perception::base::PointCloud< PointT >::resize ( size_t size )

inlinevirtual

被 apollo::perception::base::AttributePointCloud< PointT >, apollo::perception::base::AttributePointCloud< apollo::perception::base::Point > , 以及 apollo::perception::base::AttributePointCloud< PointD > 重载.

在文件 point_cloud.h 第 88 行定义.

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

◆ RotatePointCloud()

template<class PointT >

void apollo::perception::base::PointCloud< PointT >::RotatePointCloud ( bool check_nan = false )

inline

在文件 point_cloud.h 第 199 行定义.

                                                {
    Eigen::Vector3d point3d;
    Eigen::Matrix3d rotation = sensor_to_world_pose_.linear();
    for (auto& point : points_) {
      if (!check_nan || (!std::isnan(point.x) && !std::isnan(point.y) &&
                         !std::isnan(point.z))) {
        point3d << point.x, point.y, point.z;
        point3d = rotation * point3d;
        point.x = static_cast<typename PointT::Type>(point3d(0));
        point.y = static_cast<typename PointT::Type>(point3d(1));
        point.z = static_cast<typename PointT::Type>(point3d(2));
      }
    }
    sensor_to_world_pose_.linear().setIdentity();
  }

◆ sensor_to_world_pose()

template<class PointT >

const Eigen::Affine3d & apollo::perception::base::PointCloud< PointT >::sensor_to_world_pose ( )

inline

在文件 point_cloud.h 第 195 行定义.

                                              {
    return sensor_to_world_pose_;
  }

◆ set_sensor_to_world_pose()

template<class PointT >

void apollo::perception::base::PointCloud< PointT >::set_sensor_to_world_pose ( const Eigen::Affine3d & sensor_to_world_pose )

inline

在文件 point_cloud.h 第 191 行定义.

                                                                           {
    sensor_to_world_pose_ = sensor_to_world_pose;
  }

◆ set_timestamp()

template<class PointT >

void apollo::perception::base::PointCloud< PointT >::set_timestamp ( const double timestamp )

inline

在文件 point_cloud.h 第 187 行定义.

187{ timestamp_ = timestamp; }

apollo::drivers::robosense::timestamp

double timestamp

Definition point_cloud_msg.h:50

◆ size()

template<class PointT >

size_t apollo::perception::base::PointCloud< PointT >::size ( ) const

inline

在文件 point_cloud.h 第 82 行定义.

82{ return points_.size(); }

◆ SwapPoint()

template<class PointT >

virtual bool apollo::perception::base::PointCloud< PointT >::SwapPoint	(	size_t	source_id,
		size_t	target_id
	)

inlinevirtual

被 apollo::perception::base::AttributePointCloud< PointT >, apollo::perception::base::AttributePointCloud< apollo::perception::base::Point > , 以及 apollo::perception::base::AttributePointCloud< PointD > 重载.

在文件 point_cloud.h 第 118 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;
  }

◆ SwapPointCloud()

template<class PointT >

void apollo::perception::base::PointCloud< PointT >::SwapPointCloud ( PointCloud< PointT > * rhs )

inline

在文件 point_cloud.h 第 169 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_);
  }

◆ TransformPointCloud() [1/2]

template<class PointT >

void apollo::perception::base::PointCloud< PointT >::TransformPointCloud ( bool check_nan = false )

inline

在文件 point_cloud.h 第 215 行定义.

                                                   {
    Eigen::Vector3d point3d;
    for (auto& point : points_) {
      if (!check_nan || (!std::isnan(point.x) && !std::isnan(point.y) &&
                         !std::isnan(point.z))) {
        point3d << point.x, point.y, point.z;
        point3d = sensor_to_world_pose_ * point3d;
        point.x = static_cast<typename PointT::Type>(point3d(0));
        point.y = static_cast<typename PointT::Type>(point3d(1));
        point.z = static_cast<typename PointT::Type>(point3d(2));
      }
    }
    sensor_to_world_pose_.setIdentity();
  }

◆ TransformPointCloud() [2/2]

template<class PointT >

void apollo::perception::base::PointCloud< PointT >::TransformPointCloud	(	const Eigen::Affine3f &	transform,
		PointCloud< PointT > *	out,
		bool	check_nan = `false`
	)		const

inline

在文件 point_cloud.h 第 231 行定义.

                                                         {
    Eigen::Vector3f point3f;
    PointT pt;
    for (auto& point : points_) {
      if (!check_nan || (!std::isnan(point.x) && !std::isnan(point.y) &&
                         !std::isnan(point.z))) {
        point3f << point.x, point.y, point.z;
        point3f = transform * point3f;
        pt.x = static_cast<typename PointT::Type>(point3f(0));
        pt.y = static_cast<typename PointT::Type>(point3f(1));
        pt.z = static_cast<typename PointT::Type>(point3f(2));
        out->push_back(pt);
      }
    }
  }

◆ width()

template<class PointT >

size_t apollo::perception::base::PointCloud< PointT >::width ( ) const

inline

在文件 point_cloud.h 第 80 行定义.

80{ return width_; }

类成员变量说明

◆ height_

template<class PointT >

size_t apollo::perception::base::PointCloud< PointT >::height_ = 0

protected

在文件 point_cloud.h 第 254 行定义.

◆ points_

template<class PointT >

std::vector<PointT> apollo::perception::base::PointCloud< PointT >::points_

protected

在文件 point_cloud.h 第 252 行定义.

◆ sensor_to_world_pose_

template<class PointT >

Eigen::Affine3d apollo::perception::base::PointCloud< PointT >::sensor_to_world_pose_ = Eigen::Affine3d::Identity()

protected

在文件 point_cloud.h 第 256 行定义.

◆ timestamp_

template<class PointT >

double apollo::perception::base::PointCloud< PointT >::timestamp_ = 0.0

protected

在文件 point_cloud.h 第 257 行定义.

◆ width_

template<class PointT >

size_t apollo::perception::base::PointCloud< PointT >::width_ = 0

protected

在文件 point_cloud.h 第 253 行定义.

该类的文档由以下文件生成:

modules/perception/common/base/point_cloud.h

Public 类型

Public 成员函数

Protected 属性

详细描述

成员类型定义说明

◆ const_iterator

◆ iterator

◆ PointType

构造及析构函数说明

◆ PointCloud() [1/4]

◆ PointCloud() [2/4]

◆ PointCloud() [3/4]

◆ PointCloud() [4/4]

◆ ~PointCloud()

成员函数说明

◆ at() [1/4]

◆ at() [2/4]

◆ at() [3/4]

◆ at() [4/4]

◆ back() [1/2]

◆ back() [2/2]

◆ begin() [1/2]

◆ begin() [2/2]

◆ CheckConsistency()

◆ clear()

◆ CopyPoint()

◆ CopyPointCloud() [1/2]

◆ CopyPointCloud() [2/2]

◆ CopyPointCloudExclude()

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ front() [1/2]

◆ front() [2/2]

◆ get_timestamp()

◆ height()

◆ IsOrganized()

◆ mutable_points()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ points()

◆ push_back()

◆ reserve()

◆ resize()

◆ RotatePointCloud()

◆ sensor_to_world_pose()

◆ set_sensor_to_world_pose()

◆ set_timestamp()

◆ size()

◆ SwapPoint()

◆ SwapPointCloud()

◆ TransformPointCloud() [1/2]

◆ TransformPointCloud() [2/2]

◆ width()

类成员变量说明

◆ height_

◆ points_

◆ sensor_to_world_pose_

◆ timestamp_

◆ width_