apollo::perception::lidar::PointCloudPreprocessor类 参考

#include <pointcloud_preprocessor.h>

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

apollo::perception::lidar::PointCloudPreprocessor 的协作图:

Public 成员函数
	PointCloudPreprocessor ()=default
	~PointCloudPreprocessor ()=default
bool	Init (const PointCloudPreprocessorInitOptions &options=PointCloudPreprocessorInitOptions())
	Init pointcloud preprocessor
bool	Preprocess (const PointCloudPreprocessorOptions &options, const std::shared_ptr< apollo::drivers::PointCloud const > &message, LidarFrame *frame) const
	Ireprocess point cloud
bool	Preprocess (const PointCloudPreprocessorOptions &options, LidarFrame *frame) const
	Preprocess point cloud
std::string	Name () const
	Get class name
Public 成员函数 继承自 apollo::perception::lidar::BasePointCloudPreprocessor
	BasePointCloudPreprocessor ()=default
virtual	~BasePointCloudPreprocessor ()=default

详细描述

在文件 pointcloud_preprocessor.h 第 32 行定义.

构造及析构函数说明

PointCloudPreprocessor()

apollo::perception::lidar::PointCloudPreprocessor::PointCloudPreprocessor ( )

default

~PointCloudPreprocessor()

apollo::perception::lidar::PointCloudPreprocessor::~PointCloudPreprocessor ( )

default

成员函数说明

Init()

bool apollo::perception::lidar::PointCloudPreprocessor::Init ( const PointCloudPreprocessorInitOptions &  options = PointCloudPreprocessorInitOptions() )

virtual

Init pointcloud preprocessor

参数

options

返回

true

false

实现了 apollo::perception::lidar::BasePointCloudPreprocessor.

在文件 pointcloud_preprocessor.cc 第 34 行定义.

                                                      {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
  PointCloudPreprocessorConfig config;
  ACHECK(apollo::cyber::common::GetProtoFromFile(config_file, &config));
  filter_naninf_points_ = config.filter_naninf_points();
  filter_nearby_box_points_ = config.filter_nearby_box_points();
  box_forward_x_ = config.box_forward_x();
  box_backward_x_ = config.box_backward_x();
  box_forward_y_ = config.box_forward_y();
  box_backward_y_ = config.box_backward_y();
  filter_high_z_points_ = config.filter_high_z_points();
  z_threshold_ = config.z_threshold();
  return true;
}

Name()

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

inlinevirtual

Get class name

返回

std::string

实现了 apollo::perception::lidar::BasePointCloudPreprocessor.

在文件 pointcloud_preprocessor.h 第 75 行定义.

{ return "PointCloudPreprocessor"; }

Preprocess() [1/2]

bool apollo::perception::lidar::PointCloudPreprocessor::Preprocess ( const PointCloudPreprocessorOptions &  options, const std::shared_ptr< apollo::drivers::PointCloud const > &  message, LidarFrame *  frame  ) const

virtual

Ireprocess point cloud

参数

options
message	Point cloud message
frame	Fill cloud and world_cloud data

返回

true

false

实现了 apollo::perception::lidar::BasePointCloudPreprocessor.

在文件 pointcloud_preprocessor.cc 第 51 行定义.

                             {
  if (frame == nullptr) {
    return false;
  }
  if (frame->cloud == nullptr) {
    frame->cloud = base::PointFCloudPool::Instance().Get();
  }
  if (frame->world_cloud == nullptr) {
    frame->world_cloud = base::PointDCloudPool::Instance().Get();
  }
 
  frame->cloud->set_timestamp(message->measurement_time());
  if (message->point_size() > 0) {
    frame->cloud->reserve(message->point_size());
    base::PointF point;
    for (int i = 0; i < message->point_size(); ++i) {
      const apollo::drivers::PointXYZIT& pt = message->point(i);
      if (filter_naninf_points_) {
        if (std::isnan(pt.x()) || std::isnan(pt.y()) || std::isnan(pt.z())) {
          continue;
        }
        if (fabs(pt.x()) > kPointInfThreshold ||
            fabs(pt.y()) > kPointInfThreshold ||
            fabs(pt.z()) > kPointInfThreshold) {
          continue;
        }
      }
      Eigen::Vector3d vec3d_lidar(pt.x(), pt.y(), pt.z());
      // Eigen::Vector3d vec3d_novatel =
      //     options.sensor2novatel_extrinsics * vec3d_lidar;
      Eigen::Vector3d vec3d_novatel = vec3d_lidar;
      if (filter_nearby_box_points_ && vec3d_novatel[0] < box_forward_x_ &&
          vec3d_novatel[0] > box_backward_x_ &&
          vec3d_novatel[1] < box_forward_y_ &&
          vec3d_novatel[1] > box_backward_y_) {
        continue;
      }
      if (filter_high_z_points_ && pt.z() > z_threshold_) {
        continue;
      }
      point.x = pt.x();
      point.y = pt.y();
      point.z = pt.z();
      point.intensity = static_cast<float>(pt.intensity());
      frame->cloud->push_back(point, static_cast<double>(pt.timestamp()) * 1e-9,
                              std::numeric_limits<float>::max(), i, 0);
    }
    TransformCloud(frame->cloud, frame->lidar2world_pose, frame->world_cloud);
  }
 
  return true;
}

Preprocess() [2/2]

bool apollo::perception::lidar::PointCloudPreprocessor::Preprocess ( const PointCloudPreprocessorOptions &  options, LidarFrame *  frame  ) const

virtual

Preprocess point cloud

参数

options
frame	Fill cloud and world_cloud data

返回

true

false

实现了 apollo::perception::lidar::BasePointCloudPreprocessor.

在文件 pointcloud_preprocessor.cc 第 107 行定义.

                                                                           {
  if (frame == nullptr || frame->cloud == nullptr) {
    return false;
  }
  if (frame->world_cloud == nullptr) {
    frame->world_cloud = base::PointDCloudPool::Instance().Get();
  }
  if (frame->cloud->size() > 0) {
    size_t size = frame->cloud->size();
    size_t i = 0;
    while (i < size) {
      auto& pt = frame->cloud->at(i);
      if (filter_naninf_points_) {
        if (std::isnan(pt.x) || std::isnan(pt.y) || std::isnan(pt.z)) {
          frame->cloud->SwapPoint(i, size--);
          continue;
        }
        if (fabs(pt.x) > kPointInfThreshold ||
            fabs(pt.y) > kPointInfThreshold ||
            fabs(pt.z) > kPointInfThreshold) {
          frame->cloud->SwapPoint(i, size--);
          continue;
        }
      }
      Eigen::Vector3d vec3d_lidar(pt.x, pt.y, pt.z);
      // Eigen::Vector3d vec3d_novatel =
      //     options.sensor2novatel_extrinsics * vec3d_lidar;
      Eigen::Vector3d vec3d_novatel = vec3d_lidar;
      if (filter_nearby_box_points_ && vec3d_novatel[0] < box_forward_x_ &&
          vec3d_novatel[0] > box_backward_x_ &&
          vec3d_novatel[1] < box_forward_y_ &&
          vec3d_novatel[1] > box_backward_y_) {
        frame->cloud->SwapPoint(i, size--);
        continue;
      }
      if (filter_high_z_points_ && pt.z > z_threshold_) {
        frame->cloud->SwapPoint(i, size--);
        continue;
      }
      ++i;
    }
    frame->cloud->resize(i);
    TransformCloud(frame->cloud, frame->lidar2world_pose, frame->world_cloud);
    AINFO << "Preprocessor filter points: " << size << " to " << i;
  }
  return true;
}

---

该类的文档由以下文件生成:

• modules/perception/pointcloud_preprocess/preprocessor/pointcloud_preprocessor.h
• modules/perception/pointcloud_preprocess/preprocessor/pointcloud_preprocessor.cc