#include <radar_point_cloud.h>

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

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

Public 类型
using	PointType = RadarPointT

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

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

Public 成员函数
	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

virtual void	reserve (size_t size)

bool	empty () const

virtual void	resize (size_t size)

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 ()

virtual void	push_back (const RadarPointT &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 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

virtual bool	CheckConsistency () const

Protected 属性
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::RadarPointCloud< RadarPointT >

在文件 radar_point_cloud.h 第 36 行定义.

成员类型定义说明

◆ const_iterator

template<class RadarPointT >

typedef std::vector<RadarPointT>::const_iterator apollo::perception::base::RadarPointCloud< RadarPointT >::const_iterator

在文件 radar_point_cloud.h 第 183 行定义.

◆ iterator

template<class RadarPointT >

typedef std::vector<RadarPointT>::iterator apollo::perception::base::RadarPointCloud< RadarPointT >::iterator

在文件 radar_point_cloud.h 第 182 行定义.

◆ PointType

template<class RadarPointT >

using apollo::perception::base::RadarPointCloud< RadarPointT >::PointType = RadarPointT

在文件 radar_point_cloud.h 第 41 行定义.

构造及析构函数说明

◆ RadarPointCloud() [1/4]

template<class RadarPointT >

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

default

◆ RadarPointCloud() [2/4]

template<class RadarPointT >

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

inline

在文件 radar_point_cloud.h 第 46 行定义.

                                 {
    CopyRadarPointCloud(pc, indices);
  }

◆ RadarPointCloud() [3/4]

template<class RadarPointT >

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

inline

在文件 radar_point_cloud.h 第 50 行定义.

                                   {
    CopyRadarPointCloud(pc, indices);
  }

◆ RadarPointCloud() [4/4]

template<class RadarPointT >

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

inline

在文件 radar_point_cloud.h 第 55 行定义.

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

◆ ~RadarPointCloud()

template<class RadarPointT >

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

virtualdefault

成员函数说明

◆ at() [1/4]

template<class RadarPointT >

RadarPointT * apollo::perception::base::RadarPointCloud< RadarPointT >::at	(	size_t	col,
		size_t	row
	)

inline

在文件 radar_point_cloud.h 第 71 行定义.

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

◆ at() [2/4]

template<class RadarPointT >

const RadarPointT * apollo::perception::base::RadarPointCloud< RadarPointT >::at	(	size_t	col,
		size_t	row
	)		const

inline

在文件 radar_point_cloud.h 第 68 行定义.

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

◆ at() [3/4]

template<class RadarPointT >

RadarPointT & apollo::perception::base::RadarPointCloud< RadarPointT >::at ( size_t n )

inline

在文件 radar_point_cloud.h 第 104 行定义.

104{ return points_[n]; }

◆ at() [4/4]

template<class RadarPointT >

const RadarPointT & apollo::perception::base::RadarPointCloud< RadarPointT >::at ( size_t n ) const

inline

在文件 radar_point_cloud.h 第 103 行定义.

103{ return points_[n]; }

◆ back() [1/2]

template<class RadarPointT >

RadarPointT & apollo::perception::base::RadarPointCloud< RadarPointT >::back ( )

inline

在文件 radar_point_cloud.h 第 110 行定义.

110{ return points_.back(); }

◆ back() [2/2]

template<class RadarPointT >

const RadarPointT & apollo::perception::base::RadarPointCloud< RadarPointT >::back ( ) const

inline

在文件 radar_point_cloud.h 第 109 行定义.

109{ return points_.back(); }

◆ begin() [1/2]

template<class RadarPointT >

iterator apollo::perception::base::RadarPointCloud< RadarPointT >::begin ( )

inline

在文件 radar_point_cloud.h 第 185 行定义.

185{ return points_.begin(); }

◆ begin() [2/2]

template<class RadarPointT >

const_iterator apollo::perception::base::RadarPointCloud< RadarPointT >::begin ( ) const

inline

在文件 radar_point_cloud.h 第 187 行定义.

187{ return points_.begin(); }

◆ CheckConsistency()

template<class RadarPointT >

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

inlinevirtual

被 apollo::perception::base::AttributeRadarPointCloud< RadarPointT > , 以及 apollo::perception::base::AttributeRadarPointCloud< apollo::perception::base::RadarPoint > 重载.

在文件 radar_point_cloud.h 第 255 行定义.

255{ return true; }

◆ clear()

template<class RadarPointT >

virtual void apollo::perception::base::RadarPointCloud< RadarPointT >::clear ( )

inlinevirtual

被 apollo::perception::base::AttributeRadarPointCloud< RadarPointT > , 以及 apollo::perception::base::AttributeRadarPointCloud< apollo::perception::base::RadarPoint > 重载.

在文件 radar_point_cloud.h 第 118 行定义.

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

◆ CopyPoint()

template<class RadarPointT >

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

inline

在文件 radar_point_cloud.h 第 133 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::RadarPointCloud< RadarPointT >::CopyRadarPointCloud	(	const RadarPointCloud< RadarPointT > &	rhs,
		const PointIndices &	indices
	)

inline

在文件 radar_point_cloud.h 第 142 行定义.

                                                          {
    CopyRadarPointCloud(rhs, indices.indices);
  }

◆ CopyRadarPointCloud() [2/2]

template<class RadarPointT >

template<typename IndexType >

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

inline

在文件 radar_point_cloud.h 第 147 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]];
    }
  }

◆ CopyRadarPointCloudExclude()

template<class RadarPointT >

template<typename IndexType >

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

inline

在文件 radar_point_cloud.h 第 157 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 RadarPointT >

bool apollo::perception::base::RadarPointCloud< RadarPointT >::empty ( ) const

inline

在文件 radar_point_cloud.h 第 91 行定义.

91{ return points_.empty(); }

◆ end() [1/2]

template<class RadarPointT >

iterator apollo::perception::base::RadarPointCloud< RadarPointT >::end ( )

inline

在文件 radar_point_cloud.h 第 186 行定义.

186{ return points_.end(); }

◆ end() [2/2]

template<class RadarPointT >

const_iterator apollo::perception::base::RadarPointCloud< RadarPointT >::end ( ) const

inline

在文件 radar_point_cloud.h 第 188 行定义.

188{ return points_.end(); }

◆ front() [1/2]

template<class RadarPointT >

RadarPointT & apollo::perception::base::RadarPointCloud< RadarPointT >::front ( )

inline

在文件 radar_point_cloud.h 第 107 行定义.

107{ return points_.front(); }

◆ front() [2/2]

template<class RadarPointT >

const RadarPointT & apollo::perception::base::RadarPointCloud< RadarPointT >::front ( ) const

inline

在文件 radar_point_cloud.h 第 106 行定义.

106{ return points_.front(); }

◆ get_timestamp()

template<class RadarPointT >

double apollo::perception::base::RadarPointCloud< RadarPointT >::get_timestamp ( )

inline

在文件 radar_point_cloud.h 第 195 行定义.

195{ return timestamp_; }

apollo::perception::base::RadarPointCloud::timestamp_

double timestamp_

Definition radar_point_cloud.h:263

◆ height()

template<class RadarPointT >

size_t apollo::perception::base::RadarPointCloud< RadarPointT >::height ( ) const

inline

在文件 radar_point_cloud.h 第 83 行定义.

83{ return height_; }

◆ IsOrganized()

template<class RadarPointT >

bool apollo::perception::base::RadarPointCloud< RadarPointT >::IsOrganized ( ) const

inline

在文件 radar_point_cloud.h 第 81 行定义.

81{ return height_ > 1; }

◆ mutable_points()

template<class RadarPointT >

std::vector< RadarPointT > * apollo::perception::base::RadarPointCloud< RadarPointT >::mutable_points ( )

inline

在文件 radar_point_cloud.h 第 189 行定义.

189{ return &points_; }

◆ operator()() [1/2]

template<class RadarPointT >

RadarPointT * apollo::perception::base::RadarPointCloud< RadarPointT >::operator()	(	size_t	col,
		size_t	row
	)

inline

在文件 radar_point_cloud.h 第 77 行定义.

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

◆ operator()() [2/2]

template<class RadarPointT >

const RadarPointT * apollo::perception::base::RadarPointCloud< RadarPointT >::operator()	(	size_t	col,
		size_t	row
	)		const

inline

在文件 radar_point_cloud.h 第 74 行定义.

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

◆ operator[]() [1/2]

template<class RadarPointT >

RadarPointT & apollo::perception::base::RadarPointCloud< RadarPointT >::operator[] ( size_t n )

inline

在文件 radar_point_cloud.h 第 102 行定义.

102{ return points_[n]; }

◆ operator[]() [2/2]

template<class RadarPointT >

const RadarPointT & apollo::perception::base::RadarPointCloud< RadarPointT >::operator[] ( size_t n ) const

inline

在文件 radar_point_cloud.h 第 101 行定义.

101{ return points_[n]; }

◆ points()

template<class RadarPointT >

const std::vector< RadarPointT > & apollo::perception::base::RadarPointCloud< RadarPointT >::points ( ) const

inline

在文件 radar_point_cloud.h 第 190 行定义.

190{ return points_; }

◆ push_back()

template<class RadarPointT >

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

inlinevirtual

被 apollo::perception::base::AttributeRadarPointCloud< RadarPointT > 重载.

在文件 radar_point_cloud.h 第 112 行定义.

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

◆ reserve()

template<class RadarPointT >

virtual void apollo::perception::base::RadarPointCloud< RadarPointT >::reserve ( size_t size )

inlinevirtual

被 apollo::perception::base::AttributeRadarPointCloud< RadarPointT > , 以及 apollo::perception::base::AttributeRadarPointCloud< apollo::perception::base::RadarPoint > 重载.

在文件 radar_point_cloud.h 第 89 行定义.

89{ points_.reserve(size); }

apollo::perception::base::RadarPointCloud::size

size_t size() const

Definition radar_point_cloud.h:87

◆ resize()

template<class RadarPointT >

virtual void apollo::perception::base::RadarPointCloud< RadarPointT >::resize ( size_t size )

inlinevirtual

被 apollo::perception::base::AttributeRadarPointCloud< RadarPointT > , 以及 apollo::perception::base::AttributeRadarPointCloud< apollo::perception::base::RadarPoint > 重载.

在文件 radar_point_cloud.h 第 93 行定义.

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

◆ RotateRadarPointCloud()

template<class RadarPointT >

void apollo::perception::base::RadarPointCloud< RadarPointT >::RotateRadarPointCloud ( bool check_nan = false )

inline

在文件 radar_point_cloud.h 第 205 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 RadarPointT::Type>(point3d(0));
        point.y = static_cast<typename RadarPointT::Type>(point3d(1));
        point.z = static_cast<typename RadarPointT::Type>(point3d(2));
      }
    }
    sensor_to_world_pose_.linear().setIdentity();
  }

◆ sensor_to_world_pose()

template<class RadarPointT >

const Eigen::Affine3d & apollo::perception::base::RadarPointCloud< RadarPointT >::sensor_to_world_pose ( )

inline

在文件 radar_point_cloud.h 第 201 行定义.

                                              {
    return sensor_to_world_pose_;
  }

◆ set_sensor_to_world_pose()

template<class RadarPointT >

void apollo::perception::base::RadarPointCloud< RadarPointT >::set_sensor_to_world_pose ( const Eigen::Affine3d & sensor_to_world_pose )

inline

在文件 radar_point_cloud.h 第 197 行定义.

                                                                           {
    sensor_to_world_pose_ = sensor_to_world_pose;
  }

◆ set_timestamp()

template<class RadarPointT >

void apollo::perception::base::RadarPointCloud< RadarPointT >::set_timestamp ( const double timestamp )

inline

在文件 radar_point_cloud.h 第 193 行定义.

193{ timestamp_ = timestamp; }

apollo::drivers::robosense::timestamp

double timestamp

Definition point_cloud_msg.h:50

◆ size()

template<class RadarPointT >

size_t apollo::perception::base::RadarPointCloud< RadarPointT >::size ( ) const

inline

在文件 radar_point_cloud.h 第 87 行定义.

87{ return points_.size(); }

◆ SwapPoint()

template<class RadarPointT >

virtual bool apollo::perception::base::RadarPointCloud< RadarPointT >::SwapPoint	(	size_t	source_id,
		size_t	target_id
	)

inlinevirtual

被 apollo::perception::base::AttributeRadarPointCloud< RadarPointT > , 以及 apollo::perception::base::AttributeRadarPointCloud< apollo::perception::base::RadarPoint > 重载.

在文件 radar_point_cloud.h 第 123 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::RadarPointCloud< RadarPointT >::SwapRadarPointCloud ( RadarPointCloud< RadarPointT > * rhs )

inline

在文件 radar_point_cloud.h 第 175 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_);
  }

◆ TransformRadarPointCloud() [1/2]

template<class RadarPointT >

void apollo::perception::base::RadarPointCloud< RadarPointT >::TransformRadarPointCloud ( bool check_nan = false )

inline

在文件 radar_point_cloud.h 第 221 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 RadarPointT::Type>(point3d(0));
        point.y = static_cast<typename RadarPointT::Type>(point3d(1));
        point.z = static_cast<typename RadarPointT::Type>(point3d(2));
      }
    }
    sensor_to_world_pose_.setIdentity();
  }

◆ TransformRadarPointCloud() [2/2]

template<class RadarPointT >

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

inline

在文件 radar_point_cloud.h 第 237 行定义.

                                                         {
    Eigen::Vector3f point3f;
    RadarPointT 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 RadarPointT::Type>(point3f(0));
        pt.y = static_cast<typename RadarPointT::Type>(point3f(1));
        pt.z = static_cast<typename RadarPointT::Type>(point3f(2));
        out->push_back(pt);
      }
    }
  }

◆ width()

template<class RadarPointT >

size_t apollo::perception::base::RadarPointCloud< RadarPointT >::width ( ) const

inline

在文件 radar_point_cloud.h 第 85 行定义.

85{ return width_; }

类成员变量说明

◆ height_

template<class RadarPointT >

size_t apollo::perception::base::RadarPointCloud< RadarPointT >::height_ = 0

protected

在文件 radar_point_cloud.h 第 260 行定义.

◆ points_

template<class RadarPointT >

std::vector<RadarPointT> apollo::perception::base::RadarPointCloud< RadarPointT >::points_

protected

在文件 radar_point_cloud.h 第 258 行定义.

◆ sensor_to_world_pose_

template<class RadarPointT >

Eigen::Affine3d apollo::perception::base::RadarPointCloud< RadarPointT >::sensor_to_world_pose_ = Eigen::Affine3d::Identity()

protected

在文件 radar_point_cloud.h 第 262 行定义.

◆ timestamp_

template<class RadarPointT >

double apollo::perception::base::RadarPointCloud< RadarPointT >::timestamp_ = 0.0

protected

在文件 radar_point_cloud.h 第 263 行定义.

◆ width_

template<class RadarPointT >

size_t apollo::perception::base::RadarPointCloud< RadarPointT >::width_ = 0

protected

在文件 radar_point_cloud.h 第 259 行定义.

该类的文档由以下文件生成:

modules/perception/common/base/radar_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

◆ RadarPointCloud() [1/4]

◆ RadarPointCloud() [2/4]

◆ RadarPointCloud() [3/4]

◆ RadarPointCloud() [4/4]

◆ ~RadarPointCloud()

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()

◆ CopyRadarPointCloud() [1/2]

◆ CopyRadarPointCloud() [2/2]

◆ CopyRadarPointCloudExclude()

◆ 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()

◆ RotateRadarPointCloud()

◆ sensor_to_world_pose()

◆ set_sensor_to_world_pose()

◆ set_timestamp()

◆ size()

◆ SwapPoint()

◆ SwapRadarPointCloud()

◆ TransformRadarPointCloud() [1/2]

◆ TransformRadarPointCloud() [2/2]

◆ width()

类成员变量说明

◆ height_

◆ points_

◆ sensor_to_world_pose_

◆ timestamp_

◆ width_