lidar_frame.h

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/******************************************************************************
 * Copyright 2018 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.
 *****************************************************************************/
#pragma once
 
#include <memory>
#include <string>
#include <vector>
 
#include "Eigen/Dense"
 
#include "modules/perception/common/base/hdmap_struct.h"
#include "modules/perception/common/base/object_pool_types.h"
#include "modules/perception/common/base/point_cloud.h"
#include "modules/perception/common/base/sensor_meta.h"
 
namespace apollo {
namespace perception {
namespace lidar {
 
struct LidarFrame {
  // point cloud
  std::shared_ptr<base::AttributePointCloud<base::PointF>> cloud;
  // world point cloud
  std::shared_ptr<base::AttributePointCloud<base::PointD>> world_cloud;
  // timestamp
  double timestamp = 0.0;
  // parsing ground height
  float parsing_ground_height = 10.0f;
  // lidar-origin ground z-value
  float original_ground_z = 10.0f;
  // lidar to world pose
  Eigen::Affine3d lidar2world_pose = Eigen::Affine3d::Identity();
  // lidar to world pose
  Eigen::Affine3d novatel2world_pose = Eigen::Affine3d::Identity();
  // lidar to
  Eigen::Affine3d lidar2novatel_extrinsics = Eigen::Affine3d::Identity();
  // hdmap struct
  std::shared_ptr<base::HdmapStruct> hdmap_struct = nullptr;
  // segmented objects
  std::vector<std::shared_ptr<base::Object>> segmented_objects;
  // tracked objects
  std::vector<std::shared_ptr<base::Object>> tracked_objects;
  // point cloud roi indices
  base::PointIndices roi_indices;
  // point cloud non ground indices
  base::PointIndices non_ground_indices;
  // secondary segmentor indices
  base::PointIndices secondary_indices;
  // sensor info
  base::SensorInfo sensor_info;
  // reserve string
  std::string reserve;
 
  void Reset() {
    if (cloud) {
      cloud->clear();
    }
    if (world_cloud) {
      world_cloud->clear();
    }
    timestamp = 0.0;
    parsing_ground_height = 10.0f;
    original_ground_z = 10.0f;
    lidar2world_pose = Eigen::Affine3d::Identity();
    novatel2world_pose = Eigen::Affine3d::Identity();
    if (hdmap_struct) {
      hdmap_struct->road_boundary.clear();
      hdmap_struct->road_polygons.clear();
      hdmap_struct->junction_polygons.clear();
      hdmap_struct->hole_polygons.clear();
    }
    segmented_objects.clear();
    tracked_objects.clear();
    roi_indices.indices.clear();
    non_ground_indices.indices.clear();
    secondary_indices.indices.clear();
  }
 
  void FilterPointCloud(base::PointCloud<base::PointF> *filtered_cloud,
                        const std::vector<uint32_t> &indices) {
    if (cloud && filtered_cloud) {
      filtered_cloud->CopyPointCloudExclude(*cloud, indices);
    }
  }
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};  // struct LidarFrame
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo