apollo::perception::lidar::GroundServiceContent类 参考

#include <ground_service.h>

类 apollo::perception::lidar::GroundServiceContent 继承关系图:

apollo::perception::lidar::GroundServiceContent 的协作图:

Public 成员函数
	GroundServiceContent ()=default
	~GroundServiceContent ()=default
void	GetCopy (SceneServiceContent *content) const override
void	SetContent (const SceneServiceContent &content) override
std::string	Name () const override
bool	Init (double roi_x, double roi_y, uint32_t rows, uint32_t cols)
bool	PointToGrid (const Eigen::Vector3d &world_point, uint32_t *grid_index) const
float	PointToPlaneDistance (const Eigen::Vector3d &world_point) const
Public 成员函数 继承自 apollo::perception::lidar::SceneServiceContent
	SceneServiceContent ()=default
virtual	~SceneServiceContent ()=default
bool	IsServiceReady () const

Public 属性
GroundGrid	grid_
Eigen::Vector3d	grid_center_
uint32_t	rows_ = 0
uint32_t	cols_ = 0
double	resolution_x_ = 0.0
double	resolution_y_ = 0.0
double	bound_x_min_ = 0.0
double	bound_y_min_ = 0.0
double	bound_x_max_ = 0.0
double	bound_y_max_ = 0.0

额外继承的成员函数
Protected 属性 继承自 apollo::perception::lidar::SceneServiceContent
bool	service_ready_ = false

详细描述

在文件 ground_service.h 第 30 行定义.

构造及析构函数说明

GroundServiceContent()

apollo::perception::lidar::GroundServiceContent::GroundServiceContent ( )

default

~GroundServiceContent()

apollo::perception::lidar::GroundServiceContent::~GroundServiceContent ( )

default

成员函数说明

GetCopy()

void apollo::perception::lidar::GroundServiceContent::GetCopy ( SceneServiceContent *  content ) const

overridevirtual

实现了 apollo::perception::lidar::SceneServiceContent.

在文件 ground_service.cc 第 30 行定义.

                                                                     {
  GroundServiceContent* ground_content =
      dynamic_cast<GroundServiceContent*>(content);
  if (ground_content == nullptr) {
    return;
  }
  ground_content->grid_ = grid_;
  ground_content->grid_center_ = grid_center_;
  ground_content->resolution_x_ = resolution_x_;
  ground_content->resolution_y_ = resolution_y_;
  ground_content->bound_x_min_ = bound_x_min_;
  ground_content->bound_y_min_ = bound_y_min_;
  ground_content->bound_x_max_ = bound_x_max_;
  ground_content->bound_y_max_ = bound_y_max_;
  ground_content->rows_ = rows_;
  ground_content->cols_ = cols_;
  ground_content->service_ready_ = service_ready_;
}

Init()

bool apollo::perception::lidar::GroundServiceContent::Init	(	double	roi_x,
		double	roi_y,
		uint32_t	rows,
		uint32_t	cols
	)

在文件 ground_service.cc 第 116 行定义.

                                               {
  bound_x_min_ = -roi_x;
  bound_y_min_ = -roi_y;
  bound_x_max_ = roi_x;
  bound_y_max_ = roi_y;
 
  rows_ = rows;
  cols_ = cols;
 
  resolution_x_ = (bound_x_max_ - bound_x_min_) / cols_;
  resolution_y_ = (bound_y_max_ - bound_y_min_) / rows_;
 
  grid_.Init(rows_, cols_);
  return true;
}

Name()

std::string apollo::perception::lidar::GroundServiceContent::Name ( ) const

inlineoverridevirtual

实现了 apollo::perception::lidar::SceneServiceContent.

在文件 ground_service.h 第 45 行定义.

{ return "GroundServiceContent"; }

PointToGrid()

bool apollo::perception::lidar::GroundServiceContent::PointToGrid	(	const Eigen::Vector3d &	world_point,
		uint32_t *	grid_index
	)		const

在文件 ground_service.cc 第 73 行定义.

                                                                   {
  double x = world_point(0) - grid_center_(0);
  double y = world_point(1) - grid_center_(1);
  if (x < bound_x_min_ || x > bound_x_max_ || y < bound_y_min_ ||
      y > bound_y_max_) {
    (*grid_index) = 0;
    return false;
  }
  uint32_t c = std::min(
      cols_ - 1, static_cast<uint32_t>((x - bound_x_min_) / resolution_x_));
  uint32_t r = std::min(
      rows_ - 1, static_cast<uint32_t>((y - bound_y_min_) / resolution_y_));
  (*grid_index) = GetIndex(r, c, cols_);
  return true;
}

PointToPlaneDistance()

float apollo::perception::lidar::GroundServiceContent::PointToPlaneDistance

(

const Eigen::Vector3d &

world_point

)

const

在文件 ground_service.cc 第 90 行定义.

                                            {
  uint32_t grid_index = 0;
  if (!PointToGrid(world_point, &grid_index)) {
    return std::numeric_limits<float>::max();
  }
 
  float offset_pt[3];
  float params[4];
  float out = std::numeric_limits<float>::max();
 
  offset_pt[0] = static_cast<float>(world_point(0) - grid_center_(0));
  offset_pt[1] = static_cast<float>(world_point(1) - grid_center_(1));
  offset_pt[2] = static_cast<float>(world_point(2) - grid_center_(2));
 
  const GroundNode* node = grid_.DataPtr() + grid_index;
  if (node->confidence > 0.f) {
    params[0] = node->params(0);
    params[1] = node->params(1);
    params[2] = node->params(2);
    params[3] = node->params(3);
    out = algorithm::IPlaneToPointSignedDistanceWUnitNorm(params, offset_pt);
  }
  return out;
}

SetContent()

void apollo::perception::lidar::GroundServiceContent::SetContent ( const SceneServiceContent &  content )

overridevirtual

实现了 apollo::perception::lidar::SceneServiceContent.

在文件 ground_service.cc 第 49 行定义.

                                                                        {
  const GroundServiceContent* ground_content =
      dynamic_cast<const GroundServiceContent*>(&content);
  if (ground_content == nullptr) {
    return;
  }
  grid_ = ground_content->grid_;
  grid_center_ = ground_content->grid_center_;
  resolution_x_ = ground_content->resolution_x_;
  resolution_y_ = ground_content->resolution_y_;
  bound_x_min_ = ground_content->bound_x_min_;
  bound_y_min_ = ground_content->bound_y_min_;
  bound_x_max_ = ground_content->bound_x_max_;
  bound_y_max_ = ground_content->bound_y_max_;
  rows_ = ground_content->rows_;
  cols_ = ground_content->cols_;
 
  service_ready_ = true;
}

类成员变量说明

bound_x_max_

double apollo::perception::lidar::GroundServiceContent::bound_x_max_ = 0.0

在文件 ground_service.h 第 69 行定义.

bound_x_min_

double apollo::perception::lidar::GroundServiceContent::bound_x_min_ = 0.0

在文件 ground_service.h 第 67 行定义.

bound_y_max_

double apollo::perception::lidar::GroundServiceContent::bound_y_max_ = 0.0

在文件 ground_service.h 第 70 行定义.

bound_y_min_

double apollo::perception::lidar::GroundServiceContent::bound_y_min_ = 0.0

在文件 ground_service.h 第 68 行定义.

cols_

uint32_t apollo::perception::lidar::GroundServiceContent::cols_ = 0

在文件 ground_service.h 第 64 行定义.

grid_

GroundGrid apollo::perception::lidar::GroundServiceContent::grid_

在文件 ground_service.h 第 61 行定义.

grid_center_

Eigen::Vector3d apollo::perception::lidar::GroundServiceContent::grid_center_

在文件 ground_service.h 第 62 行定义.

resolution_x_

double apollo::perception::lidar::GroundServiceContent::resolution_x_ = 0.0

在文件 ground_service.h 第 65 行定义.

resolution_y_

double apollo::perception::lidar::GroundServiceContent::resolution_y_ = 0.0

在文件 ground_service.h 第 66 行定义.

rows_

uint32_t apollo::perception::lidar::GroundServiceContent::rows_ = 0

在文件 ground_service.h 第 63 行定义.

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该类的文档由以下文件生成:

• modules/perception/common/lidar/scene_manager/ground_service/ground_service.h
• modules/perception/common/lidar/scene_manager/ground_service/ground_service.cc