Apollo 10.0
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类 | 类型定义 | 枚举 | 函数 | 变量
apollo::perception::radar 命名空间参考

类

class  AdaptiveKalmanFilter
 
class  BaseDetector
 
class  BaseFilter
 
class  BaseMatcher
 
class  BasePreprocessor
 
class  BaseRadarObstaclePerception
 
class  BaseRoiFilter
 
class  BaseTracker
 
class  ContiArsDetector
 
class  ContiArsPreprocessor
 
class  ContiArsTracker
 
struct  DetectorInitOptions
 
struct  DetectorOptions
 
class  DummyDetector
 
class  DummyPreprocessor
 
class  DummyRoiFilter
 
class  HdmapRadarRoiFilter
 
class  HMMatcher
 
struct  MatcherConfig
 
struct  MatcherInitOptions
 
struct  PerceptionInitOptions
 
struct  PreprocessorConfig
 
struct  PreprocessorInitOptions
 
struct  PreprocessorOptions
 
struct  RadarComponentConfig
 
class  RadarDetectionComponent
 
class  RadarObstaclePerception
 
struct  RadarObstaclePerceptionConfig
 
struct  RadarPerceptionOptions
 
class  RadarTrack
 
class  RadarTrackManager
 
struct  RoiFilterInitOptions
 
struct  RoiFilterOptions
 
struct  TrackerConfig
 
struct  TrackerInitOptions
 
struct  TrackerOptions
 
struct  TrackObjectMatcherOptions
 

类型定义

typedef std::pair< size_t, size_t > TrackObjectPair
 
typedef std::shared_ptr< RadarTrack > RadarTrackPtr
 

枚举

enum  ContiObjectType {
  CONTI_POINT = 0 , CONTI_CAR = 1 , CONTI_TRUCK = 2 , CONTI_PEDESTRIAN = 3 ,
  CONTI_MOTOCYCLE = 4 , CONTI_BICYCLE = 5 , CONTI_WIDE = 6 , CONTI_TYPE_UNKNOWN = 7 ,
  CONTI_MAX_OBJECT_TYPE = 8
}
 
enum  ContiMeasState {
  CONTI_DELETED = 0 , CONTI_NEW = 1 , CONTI_MEASURED = 2 , CONTI_PREDICTED = 3 ,
  CONTI_DELETED_FOR = 4 , CONTI_NEW_FROM_MERGE = 5
}
 
enum  ContiDynProp {
  CONTI_MOVING = 0 , CONTI_STATIONARY = 1 , CONTI_ONCOMING = 2 , CONTI_STATIONARY_CANDIDATE = 3 ,
  CONTI_DYNAMIC_UNKNOWN = 4 , CONTI_CROSSING_STATIONARY = 5 , CONTI_CROSSING_MOVING = 6 , CONTI_STOPPED = 7
}
 

函数

 PERCEPTION_REGISTER_RADAR_OBSTACLE_PERCEPTION (RadarObstaclePerception)
 
void MockRadarPolygon (base::ObjectPtr object)
 Construct object bounding box from center point and object size.
 
 PERCEPTION_REGISTER_REGISTERER (BaseDetector)
 
 PERCEPTION_REGISTER_REGISTERER (BaseMatcher)
 
 PERCEPTION_REGISTER_REGISTERER (BasePreprocessor)
 
 PERCEPTION_REGISTER_REGISTERER (BaseRadarObstaclePerception)
 
 PERCEPTION_REGISTER_REGISTERER (BaseRoiFilter)
 
 PERCEPTION_REGISTER_REGISTERER (BaseTracker)
 
 PERCEPTION_REGISTER_DETECTOR (ContiArsDetector)
 
 PERCEPTION_REGISTER_PREPROCESSOR (DummyPreprocessor)
 
 PERCEPTION_REGISTER_ROI_FILTER (DummyRoiFilter)
 
 PERCEPTION_REGISTER_DETECTOR (DummyDetector)
 
 PERCEPTION_REGISTER_PREPROCESSOR (ContiArsPreprocessor)
 
 PERCEPTION_REGISTER_ROI_FILTER (HdmapRadarRoiFilter)
 
 PERCEPTION_REGISTER_TRACKER (ContiArsTracker)
 
 PERCEPTION_REGISTER_MATCHER (HMMatcher)
 
 CYBER_REGISTER_COMPONENT (RadarDetectionComponent)
 

变量

const double PI = 3.1415926535898
 
const int MAX_RADAR_IDX = 2147483647
 
const double CONTI_ARS_INTERVAL = 0.074
 
const double MIN_PROBEXIST = 0.08
 

类型定义说明

◆ RadarTrackPtr

typedef std::shared_ptr<RadarTrack> apollo::perception::radar::RadarTrackPtr

在文件 radar_track.h 第 157 行定义.

◆ TrackObjectPair

typedef std::pair<size_t, size_t> apollo::perception::radar::TrackObjectPair

在文件 base_matcher.h 第 34 行定义.

枚举类型说明

◆ ContiDynProp

enum apollo::perception::radar::ContiDynProp
枚举值
CONTI_MOVING 
CONTI_STATIONARY 
CONTI_ONCOMING 
CONTI_STATIONARY_CANDIDATE 
CONTI_DYNAMIC_UNKNOWN 
CONTI_CROSSING_STATIONARY 
CONTI_CROSSING_MOVING 
CONTI_STOPPED 

在文件 types.h 第 48 行定义.

48 {
49 CONTI_MOVING = 0,
50 CONTI_STATIONARY = 1,
51 CONTI_ONCOMING = 2,
52 CONTI_STATIONARY_CANDIDATE = 3,
53 CONTI_DYNAMIC_UNKNOWN = 4,
54 CONTI_CROSSING_STATIONARY = 5,
55 CONTI_CROSSING_MOVING = 6,
56 CONTI_STOPPED = 7
57};

◆ ContiMeasState

enum apollo::perception::radar::ContiMeasState
枚举值
CONTI_DELETED 
CONTI_NEW 
CONTI_MEASURED 
CONTI_PREDICTED 
CONTI_DELETED_FOR 
CONTI_NEW_FROM_MERGE 

在文件 types.h 第 39 行定义.

39 {
40 CONTI_DELETED = 0,
41 CONTI_NEW = 1,
42 CONTI_MEASURED = 2,
43 CONTI_PREDICTED = 3,
44 CONTI_DELETED_FOR = 4,
45 CONTI_NEW_FROM_MERGE = 5
46};

◆ ContiObjectType

enum apollo::perception::radar::ContiObjectType
枚举值
CONTI_POINT 
CONTI_CAR 
CONTI_TRUCK 
CONTI_PEDESTRIAN 
CONTI_MOTOCYCLE 
CONTI_BICYCLE 
CONTI_WIDE 
CONTI_TYPE_UNKNOWN 
CONTI_MAX_OBJECT_TYPE 

在文件 types.h 第 27 行定义.

27 {
28 CONTI_POINT = 0,
29 CONTI_CAR = 1,
30 CONTI_TRUCK = 2,
31 CONTI_PEDESTRIAN = 3,
32 CONTI_MOTOCYCLE = 4,
33 CONTI_BICYCLE = 5,
34 CONTI_WIDE = 6,
35 CONTI_TYPE_UNKNOWN = 7,
36 CONTI_MAX_OBJECT_TYPE = 8
37};

函数说明

◆ CYBER_REGISTER_COMPONENT()

apollo::perception::radar::CYBER_REGISTER_COMPONENT ( RadarDetectionComponent  )

◆ MockRadarPolygon()

void apollo::perception::radar::MockRadarPolygon ( base::ObjectPtr  object)

Construct object bounding box from center point and object size.

参数
objectobject including center point and size, we add bounding box on it and return.

在文件 radar_util.cc 第 22 行定义.

22 {
23 double theta = object->theta;
24 const auto& center = object->center;
25 double length = object->size(0);
26 double width = object->size(1);
27
28 Eigen::Matrix2d rotation;
29 rotation << cos(theta), -sin(theta), sin(theta), cos(theta);
30
31 Eigen::Vector2d local_poly(0, 0);
32 Eigen::Vector2d world_poly;
33
34 object->polygon.resize(4);
35
36 // - -
37 local_poly(0) = -0.5 * length;
38 local_poly(1) = -0.5 * width;
39 world_poly = rotation * local_poly;
40 object->polygon[0].x = center(0) + world_poly(0);
41 object->polygon[0].y = center(1) + world_poly(1);
42 object->polygon[0].z = center(2);
43
44 // - +
45 local_poly(1) = +0.5 * width;
46 world_poly = rotation * local_poly;
47 object->polygon[1].x = center(0) + world_poly(0);
48 object->polygon[1].y = center(1) + world_poly(1);
49 object->polygon[1].z = center(2);
50
51 // + +
52 local_poly(0) = +0.5 * length;
53 world_poly = rotation * local_poly;
54 object->polygon[2].x = center(0) + world_poly(0);
55 object->polygon[2].y = center(1) + world_poly(1);
56 object->polygon[2].z = center(2);
57
58 // + -
59 local_poly(1) = -0.5 * width;
60 world_poly = rotation * local_poly;
61 object->polygon[3].x = center(0) + world_poly(0);
62 object->polygon[3].y = center(1) + world_poly(1);
63 object->polygon[3].z = center(2);
64}

◆ PERCEPTION_REGISTER_DETECTOR() [1/2]

apollo::perception::radar::PERCEPTION_REGISTER_DETECTOR ( ContiArsDetector  )

◆ PERCEPTION_REGISTER_DETECTOR() [2/2]

apollo::perception::radar::PERCEPTION_REGISTER_DETECTOR ( DummyDetector  )

◆ PERCEPTION_REGISTER_MATCHER()

apollo::perception::radar::PERCEPTION_REGISTER_MATCHER ( HMMatcher  )

◆ PERCEPTION_REGISTER_PREPROCESSOR() [1/2]

apollo::perception::radar::PERCEPTION_REGISTER_PREPROCESSOR ( ContiArsPreprocessor  )

◆ PERCEPTION_REGISTER_PREPROCESSOR() [2/2]

apollo::perception::radar::PERCEPTION_REGISTER_PREPROCESSOR ( DummyPreprocessor  )

◆ PERCEPTION_REGISTER_RADAR_OBSTACLE_PERCEPTION()

apollo::perception::radar::PERCEPTION_REGISTER_RADAR_OBSTACLE_PERCEPTION ( RadarObstaclePerception  )

◆ PERCEPTION_REGISTER_REGISTERER() [1/6]

apollo::perception::radar::PERCEPTION_REGISTER_REGISTERER ( BaseDetector  )

◆ PERCEPTION_REGISTER_REGISTERER() [2/6]

apollo::perception::radar::PERCEPTION_REGISTER_REGISTERER ( BaseMatcher  )

◆ PERCEPTION_REGISTER_REGISTERER() [3/6]

apollo::perception::radar::PERCEPTION_REGISTER_REGISTERER ( BasePreprocessor  )

◆ PERCEPTION_REGISTER_REGISTERER() [4/6]

apollo::perception::radar::PERCEPTION_REGISTER_REGISTERER ( BaseRadarObstaclePerception  )

◆ PERCEPTION_REGISTER_REGISTERER() [5/6]

apollo::perception::radar::PERCEPTION_REGISTER_REGISTERER ( BaseRoiFilter  )

◆ PERCEPTION_REGISTER_REGISTERER() [6/6]

apollo::perception::radar::PERCEPTION_REGISTER_REGISTERER ( BaseTracker  )

◆ PERCEPTION_REGISTER_ROI_FILTER() [1/2]

apollo::perception::radar::PERCEPTION_REGISTER_ROI_FILTER ( DummyRoiFilter  )

◆ PERCEPTION_REGISTER_ROI_FILTER() [2/2]

apollo::perception::radar::PERCEPTION_REGISTER_ROI_FILTER ( HdmapRadarRoiFilter  )

◆ PERCEPTION_REGISTER_TRACKER()

apollo::perception::radar::PERCEPTION_REGISTER_TRACKER ( ContiArsTracker  )

变量说明

◆ CONTI_ARS_INTERVAL

const double apollo::perception::radar::CONTI_ARS_INTERVAL = 0.074

在文件 types.h 第 24 行定义.

◆ MAX_RADAR_IDX

const int apollo::perception::radar::MAX_RADAR_IDX = 2147483647

在文件 types.h 第 23 行定义.

◆ MIN_PROBEXIST

const double apollo::perception::radar::MIN_PROBEXIST = 0.08

在文件 types.h 第 25 行定义.

◆ PI

const double apollo::perception::radar::PI = 3.1415926535898

在文件 types.h 第 22 行定义.