apollo::perception::fusion::SensorFrame类 参考

#include <sensor_frame.h>

apollo::perception::fusion::SensorFrame 的协作图:

Public 成员函数
	SensorFrame ()
	SensorFrame (const base::FrameConstPtr &base_frame_ptr)
	Construct a new Sensor Frame object
void	Initialize (const base::FrameConstPtr &base_frame_ptr)
	Initialize sensor frame
void	Initialize (const base::FrameConstPtr &base_frame_ptr, const SensorPtr &sensor)
	Initialize sensor frame
double	GetTimestamp () const
	Get the timestamp of the sensor frame
bool	GetPose (Eigen::Affine3d *pose) const
	Get the pose of the sensor frame
std::vector< SensorObjectPtr > &	GetForegroundObjects ()
	Get the Foreground Objects object
const std::vector< SensorObjectPtr > &	GetForegroundObjects () const
	Get the Foreground Objects object
std::vector< SensorObjectPtr > &	GetBackgroundObjects ()
	Get the Background Objects object
const std::vector< SensorObjectPtr > &	GetBackgroundObjects () const
	Get the Background Objects object
std::string	GetSensorId () const
	Get the sensor id
base::SensorType	GetSensorType () const
	Get the sensor type
SensorFrameHeaderConstPtr	GetHeader () const
	Get sensor frame header

详细描述

在文件 sensor_frame.h 第 45 行定义.

构造及析构函数说明

SensorFrame() [1/2]

apollo::perception::fusion::SensorFrame::SensorFrame

(

)

在文件 sensor_frame.cc 第 22 行定义.

{ header_.reset(new SensorFrameHeader()); }

SensorFrame() [2/2]

apollo::perception::fusion::SensorFrame::SensorFrame ( const base::FrameConstPtr &  base_frame_ptr )

explicit

Construct a new Sensor Frame object

参数

base_frame_ptr

在文件 sensor_frame.cc 第 24 行定义.

                                                                {
  Initialize(base_frame_ptr);
}

成员函数说明

GetBackgroundObjects() [1/2]

std::vector< SensorObjectPtr > & apollo::perception::fusion::SensorFrame::GetBackgroundObjects ( )

inline

Get the Background Objects object

返回

std::vector<SensorObjectPtr>&

在文件 sensor_frame.h 第 118 行定义.

                                                            {
    return background_objects_;
  }

GetBackgroundObjects() [2/2]

const std::vector< SensorObjectPtr > & apollo::perception::fusion::SensorFrame::GetBackgroundObjects ( ) const

inline

Get the Background Objects object

返回

const std::vector<SensorObjectPtr>&

在文件 sensor_frame.h 第 127 行定义.

                                                                        {
    return background_objects_;
  }

GetForegroundObjects() [1/2]

std::vector< SensorObjectPtr > & apollo::perception::fusion::SensorFrame::GetForegroundObjects ( )

inline

Get the Foreground Objects object

返回

std::vector<SensorObjectPtr>&

在文件 sensor_frame.h 第 100 行定义.

                                                            {
    return foreground_objects_;
  }

GetForegroundObjects() [2/2]

const std::vector< SensorObjectPtr > & apollo::perception::fusion::SensorFrame::GetForegroundObjects ( ) const

inline

Get the Foreground Objects object

返回

const std::vector<SensorObjectPtr>&

在文件 sensor_frame.h 第 109 行定义.

                                                                        {
    return foreground_objects_;
  }

GetHeader()

SensorFrameHeaderConstPtr apollo::perception::fusion::SensorFrame::GetHeader ( ) const

inline

Get sensor frame header

返回

SensorFrameHeaderConstPtr

在文件 sensor_frame.h 第 150 行定义.

{ return header_; }

GetPose()

bool apollo::perception::fusion::SensorFrame::GetPose ( Eigen::Affine3d *  pose ) const

inline

Get the pose of the sensor frame

参数

pose

返回

true

false

在文件 sensor_frame.h 第 86 行定义.

                                                 {
    if (pose == nullptr) {
      AERROR << "pose is not available";
      return false;
    }
    *pose = header_->sensor2world_pose;
    return true;
  }

GetSensorId()

std::string apollo::perception::fusion::SensorFrame::GetSensorId

(

)

const

Get the sensor id

返回

std::string

在文件 sensor_frame.cc 第 55 行定义.

                                         {
  if (header_ == nullptr) {
    return std::string("");
  }
 
  return header_->sensor_info.name;
}

GetSensorType()

base::SensorType apollo::perception::fusion::SensorFrame::GetSensorType

(

)

const

Get the sensor type

返回

base::SensorType

在文件 sensor_frame.cc 第 63 行定义.

                                                {
  if (header_ == nullptr) {
    return base::SensorType::UNKNOWN_SENSOR_TYPE;
  }
 
  return header_->sensor_info.type;
}

GetTimestamp()

double apollo::perception::fusion::SensorFrame::GetTimestamp ( ) const

inline

Get the timestamp of the sensor frame

返回

double

在文件 sensor_frame.h 第 77 行定义.

{ return header_->timestamp; }

Initialize() [1/2]

void apollo::perception::fusion::SensorFrame::Initialize

(

const base::FrameConstPtr &

base_frame_ptr

)

Initialize sensor frame

参数

base_frame_ptr

在文件 sensor_frame.cc 第 28 行定义.

                                                                    {
  header_.reset(new SensorFrameHeader(base_frame_ptr->sensor_info,
                                      base_frame_ptr->timestamp,
                                      base_frame_ptr->sensor2world_pose));
 
  lidar_frame_supplement_ = base_frame_ptr->lidar_frame_supplement;
  radar_frame_supplement_ = base_frame_ptr->radar_frame_supplement;
  camera_frame_supplement_ = base_frame_ptr->camera_frame_supplement;
 
  const auto& base_objects = base_frame_ptr->objects;
  foreground_objects_.reserve(base_objects.size());
 
  for (const auto& base_obj : base_objects) {
    SensorObjectPtr obj(new SensorObject(base_obj, header_));
    if (base_obj->lidar_supplement.is_background) {
      background_objects_.emplace_back(obj);
    } else {
      foreground_objects_.emplace_back(obj);
    }
  }
}

Initialize() [2/2]

void apollo::perception::fusion::SensorFrame::Initialize	(	const base::FrameConstPtr &	base_frame_ptr,
		const SensorPtr &	sensor
	)

Initialize sensor frame

参数

base_frame_ptr
sensor

在文件 sensor_frame.cc 第 50 行定义.

                                                      {
  Initialize(base_frame_ptr);
}

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该类的文档由以下文件生成:

• modules/perception/multi_sensor_fusion/base/sensor_frame.h
• modules/perception/multi_sensor_fusion/base/sensor_frame.cc