apollo::perception::fusion::ProjectionCache类 参考

#include <projection_cache.h>

apollo::perception::fusion::ProjectionCache 的协作图:

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

Public 成员函数
	ProjectionCache ()
	ProjectionCache (std::string sensor_id, double timestamp)
void	Reset (std::string sensor_id, double timestamp)
Eigen::Vector2d *	GetPoint2d (size_t ind)
size_t	GetPoint2dsSize () const
void	AddPoint (const Eigen::Vector2f &pt)
ProjectionCacheObject *	BuildObject (const std::string &measurement_sensor_id, double measurement_timestamp, const std::string &projection_sensor_id, double projection_timestamp, int lidar_object_id)
ProjectionCacheObject *	QueryObject (const std::string &measurement_sensor_id, double measurement_timestamp, const std::string &projection_sensor_id, double projection_timestamp, int lidar_object_id)

详细描述

在文件 projection_cache.h 第 90 行定义.

成员类型定义说明

EigenVector

template<class EigenType >

using apollo::perception::fusion::ProjectionCache::EigenVector = apollo::common::EigenVector<EigenType>

在文件 projection_cache.h 第 93 行定义.

构造及析构函数说明

ProjectionCache() [1/2]

apollo::perception::fusion::ProjectionCache::ProjectionCache ( )

inline

在文件 projection_cache.h 第 96 行定义.

                    : measurement_sensor_id_(""), measurement_timestamp_(0.0) {
    // 300,000 pts is 2 times of the size of point cloud of ordinary frame of
    // velodyne64
    point2ds_.reserve(300000);
  }

ProjectionCache() [2/2]

apollo::perception::fusion::ProjectionCache::ProjectionCache ( std::string  sensor_id, double  timestamp  )

inline

在文件 projection_cache.h 第 101 行定义.

      : measurement_sensor_id_(sensor_id), measurement_timestamp_(timestamp) {
    // 300,000 pts is 2 times of the size of point cloud of ordinary frame of
    // velodyne64
    point2ds_.reserve(300000);
  }

成员函数说明

AddPoint()

void apollo::perception::fusion::ProjectionCache::AddPoint ( const Eigen::Vector2f &  pt )

inline

在文件 projection_cache.h 第 123 行定义.

                                         {
    point2ds_.emplace_back(pt.x(), pt.y());
  }

BuildObject()

ProjectionCacheObject * apollo::perception::fusion::ProjectionCache::BuildObject ( const std::string &  measurement_sensor_id, double  measurement_timestamp, const std::string &  projection_sensor_id, double  projection_timestamp, int  lidar_object_id  )

inline

在文件 projection_cache.h 第 127 行定义.

                                                          {
    if (!VerifyKey(measurement_sensor_id, measurement_timestamp)) {
      return nullptr;
    }
    ProjectionCacheFrame* frame =
        QueryFrame(projection_sensor_id, projection_timestamp);
    if (frame == nullptr) {
      frame = BuildFrame(projection_sensor_id, projection_timestamp);
    }
    if (frame == nullptr) {
      return nullptr;
    }
    return frame->BuildObject(lidar_object_id);
  }

GetPoint2d()

Eigen::Vector2d * apollo::perception::fusion::ProjectionCache::GetPoint2d ( size_t  ind )

inline

在文件 projection_cache.h 第 115 行定义.

                                        {
    if (ind >= point2ds_.size()) {
      return nullptr;
    }
    return &(point2ds_[ind]);
  }

GetPoint2dsSize()

size_t apollo::perception::fusion::ProjectionCache::GetPoint2dsSize ( ) const

inline

在文件 projection_cache.h 第 121 行定义.

{ return point2ds_.size(); }

QueryObject()

ProjectionCacheObject * apollo::perception::fusion::ProjectionCache::QueryObject ( const std::string &  measurement_sensor_id, double  measurement_timestamp, const std::string &  projection_sensor_id, double  projection_timestamp, int  lidar_object_id  )

inline

在文件 projection_cache.h 第 146 行定义.

                                                          {
    if (!VerifyKey(measurement_sensor_id, measurement_timestamp)) {
      return nullptr;
    }
    ProjectionCacheFrame* frame =
        QueryFrame(projection_sensor_id, projection_timestamp);
    if (frame == nullptr) {
      return nullptr;
    }
    return frame->QueryObject(lidar_object_id);
  }

Reset()

void apollo::perception::fusion::ProjectionCache::Reset ( std::string  sensor_id, double  timestamp  )

inline

在文件 projection_cache.h 第 108 行定义.

                                                    {
    measurement_sensor_id_ = sensor_id;
    measurement_timestamp_ = timestamp;
    point2ds_.clear();
    frames_.clear();
  }

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该类的文档由以下文件生成:

• modules/perception/multi_sensor_fusion/fusion/data_association/hm_data_association/projection_cache.h