apollo::perception::lidar::PclDownSample类 参考

#include <pcl_down_sample.h>

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

apollo::perception::lidar::PclDownSample 的协作图:

Public 成员函数
	PclDownSample ()=default
virtual	~PclDownSample ()=default
bool	Init (const DownSampleInitOptions &options=DownSampleInitOptions()) override
	Init of PclDownSample object
bool	Process (const DownSampleOptions &options, base::PointFCloudPtr &cloud_ptr) override
	Down sample pointcloud
std::string	Name () const override
	Name of PclDownSample object
Public 成员函数 继承自 apollo::perception::lidar::BaseDownSample
	BaseDownSample ()=default
	Construct a new Base Down Sample object
virtual	~BaseDownSample ()=default
	Destroy the Base Down Sample object

详细描述

在文件 pcl_down_sample.h 第 35 行定义.

构造及析构函数说明

PclDownSample()

apollo::perception::lidar::PclDownSample::PclDownSample ( )

default

~PclDownSample()

virtual apollo::perception::lidar::PclDownSample::~PclDownSample ( )

virtualdefault

成员函数说明

Init()

bool apollo::perception::lidar::PclDownSample::Init ( const DownSampleInitOptions &  options = DownSampleInitOptions() )

overridevirtual

Init of PclDownSample object

参数

options

object down sample options

返回

true

false

实现了 apollo::perception::lidar::BaseDownSample.

在文件 pcl_down_sample.cc 第 28 行定义.

                                                             {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
  PclDownSampleConfig config;
  ACHECK(cyber::common::GetProtoFromFile(config_file, &config));
  downsample_voxel_size_x_ = config.downsample_voxel_size_x();
  downsample_voxel_size_y_ = config.downsample_voxel_size_y();
  downsample_voxel_size_z_ = config.downsample_voxel_size_z();
  AINFO << "PclDownSample plugin init success.";
  return true;
}

Name()

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

inlineoverridevirtual

Name of PclDownSample object

返回

std::string name

实现了 apollo::perception::lidar::BaseDownSample.

在文件 pcl_down_sample.h 第 66 行定义.

{ return "PclDownSample"; }

Process()

bool apollo::perception::lidar::PclDownSample::Process ( const DownSampleOptions &  options, base::PointFCloudPtr &  cloud_ptr  )

overridevirtual

Down sample pointcloud

参数

options	down sample options
cloud_ptr	point cloud to process

返回

true

false

实现了 apollo::perception::lidar::BaseDownSample.

在文件 pcl_down_sample.cc 第 40 行定义.

                                                           {
  pcl::PointCloud<pcl::PointXYZI>::Ptr pcl_cloud_ptr(
      new pcl::PointCloud<pcl::PointXYZI>());
  pcl::PointCloud<pcl::PointXYZI>::Ptr filtered_cloud_ptr(
      new pcl::PointCloud<pcl::PointXYZI>());
 
  TransformToPCLXYZI(*cloud_ptr, pcl_cloud_ptr);
  DownSampleCloudByVoxelGrid(pcl_cloud_ptr, filtered_cloud_ptr,
                             downsample_voxel_size_x_, downsample_voxel_size_y_,
                             downsample_voxel_size_z_);
  // transform pcl point cloud to apollo point cloud
  base::PointFCloudPtr downsample_voxel_cloud_ptr(new base::PointFCloud());
  TransformFromPCLXYZI(filtered_cloud_ptr, downsample_voxel_cloud_ptr);
  cloud_ptr = downsample_voxel_cloud_ptr;
  return true;
}

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该类的文档由以下文件生成:

• modules/perception/lidar_detection/down_sample_bank/pcl_down_sample/pcl_down_sample.h
• modules/perception/lidar_detection/down_sample_bank/pcl_down_sample/pcl_down_sample.cc