preprocess_points.h

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/******************************************************************************
 * Copyright 2020 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
/*
 * Copyright 2018-2019 Autoware Foundation. All rights reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
#pragma once
 
namespace apollo {
namespace perception {
namespace lidar {
 
class PreprocessPoints {
 private:
  friend class TestClass;
  const int max_num_pillars_;
  const int max_num_points_per_pillar_;
  const int num_point_feature_;
  const int grid_x_size_;
  const int grid_y_size_;
  const int grid_z_size_;
  const float pillar_x_size_;
  const float pillar_y_size_;
  const float pillar_z_size_;
  const float min_x_range_;
  const float min_y_range_;
  const float min_z_range_;
  const int num_inds_for_scan_;
 
 public:
  PreprocessPoints(const int max_num_pillars, const int max_points_per_pillar,
                   const int num_point_feature, const int grid_x_size,
                   const int grid_y_size, const int grid_z_size,
                   const float pillar_x_size, const float pillar_y_size,
                   const float pillar_z_size, const float min_x_range,
                   const float min_y_range, const float min_z_range,
                   const int num_inds_for_scan);
 
  void Preprocess(const float* in_points_array, int in_num_points, int* x_coors,
                  int* y_coors, float* num_points_per_pillar,
                  float* pillar_point_feature, float* pillar_coors,
                  float* sparse_pillar_map, int* host_pillar_count);
 
  void InitializeVariables(int* coor_to_pillaridx, float* sparse_pillar_map,
                           float* pillar_point_feature, float* pillar_coors);
};
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo