apollo::third_party_perception::filter 命名空间参考

apollo::third_party_perception 更多...

函数
bool	IsPreserved (const RadarObstacle &radar_obstacle)
RadarObstacles	FilterRadarObstacles (const RadarObstacles &radar_obstacles)

详细描述

apollo::third_party_perception

函数说明

FilterRadarObstacles()

RadarObstacles apollo::third_party_perception::filter::FilterRadarObstacles

(

const RadarObstacles &

radar_obstacles

)

在文件 filter.cc 第 49 行定义.

                                                                           {
  RadarObstacles filtered_radar_obstacles;
  for (const auto& iter : radar_obstacles.radar_obstacle()) {
    if (IsPreserved(iter.second)) {
      filtered_radar_obstacles.mutable_radar_obstacle()->insert(iter);
    }
  }
  filtered_radar_obstacles.mutable_header()->CopyFrom(radar_obstacles.header());
  return filtered_radar_obstacles;
}

IsPreserved()

bool apollo::third_party_perception::filter::IsPreserved

(

const RadarObstacle &

radar_obstacle

)

在文件 filter.cc 第 34 行定义.

                                                      {
  if (!radar_obstacle.movable()) {
    return false;
  }
  double nearest_l =
      GetLateralDistanceToNearestLane(radar_obstacle.absolute_position());
  if (std::abs(nearest_l) > FLAGS_filter_y_distance) {
    return false;
  }
  if (radar_obstacle.count() < FLAGS_keep_radar_frames) {
    return false;
  }
  return true;
}