apollo::perception::lidar::PfeCuda类 参考

#include <pfe_cuda.h>

apollo::perception::lidar::PfeCuda 的协作图:

Public 成员函数
	PfeCuda (int max_num_pillars, int max_num_points_per_pillar, int num_point_feature, int num_gather_point_feature, float pillar_x_size, float pillar_y_size, float min_x_range, float min_y_range, int num_threads)
	Construct a new Pfe Cuda object
	~PfeCuda ()=default
	Destroy the Pfe Cuda object
void	GatherPointFeature (float *dev_pillar_point_feature, float *dev_num_points_per_pillar, float *dev_pillar_coors, float *dev_pfe_gather_feature)
	gather the point feature

详细描述

在文件 pfe_cuda.h 第 25 行定义.

构造及析构函数说明

PfeCuda()

apollo::perception::lidar::PfeCuda::PfeCuda	(	int	max_num_pillars,
		int	max_num_points_per_pillar,
		int	num_point_feature,
		int	num_gather_point_feature,
		float	pillar_x_size,
		float	pillar_y_size,
		float	min_x_range,
		float	min_y_range,
		int	num_threads
	)

Construct a new Pfe Cuda object

参数

max_num_pillars	max number of pillars
max_num_points_per_pillar	max number of points per pillar
num_point_feature	number of features of points
num_gather_point_feature	number of gathered feature of points
pillar_x_size	size of pillar along x axis
pillar_y_size	size of pillar along y axis
min_x_range	min x range of point cloud
min_y_range	min y range of point cloud
num_threads	number of threads

~PfeCuda()

apollo::perception::lidar::PfeCuda::~PfeCuda ( )

default

Destroy the Pfe Cuda object

成员函数说明

GatherPointFeature()

void apollo::perception::lidar::PfeCuda::GatherPointFeature	(	float *	dev_pillar_point_feature,
		float *	dev_num_points_per_pillar,
		float *	dev_pillar_coors,
		float *	dev_pfe_gather_feature
	)

gather the point feature

参数

dev_pillar_point_feature	pillar point feature
dev_num_points_per_pillar	number of points per pillar
dev_pillar_coors	pillar coordinates
dev_pfe_gather_feature	gathered point feature

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该类的文档由以下文件生成:

• modules/perception/lidar_detection/detector/point_pillars_detection/pfe_cuda.h