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

apollo::third_party_perception 更多...

函数
std::vector< Vec2d >	PerceptionObstacleToVectorVec2d (const PerceptionObstacle &obstacle)
bool	HasOverlap (const PerceptionObstacle &obstacle_1, const PerceptionObstacle &obstacle_2)
bool	HasOverlap (const PerceptionObstacle &obstacle, const PerceptionObstacles &obstacles)
PerceptionObstacles	EyeRadarFusion (const PerceptionObstacles &eye_obstacles, const PerceptionObstacles &radar_obstacles)

详细描述

apollo::third_party_perception

函数说明

EyeRadarFusion()

apollo::perception::PerceptionObstacles apollo::third_party_perception::fusion::EyeRadarFusion	(	const PerceptionObstacles &	eye_obstacles,
		const PerceptionObstacles &	radar_obstacles
	)

在文件 fusion.cc 第 67 行定义.

                                                                               {
  PerceptionObstacles eye_obstacles_fusion = eye_obstacles;
  PerceptionObstacles radar_obstacles_fusion = radar_obstacles;
 
  for (auto& eye_obstacle :
       *(eye_obstacles_fusion.mutable_perception_obstacle())) {
    for (auto& radar_obstacle :
         *(radar_obstacles_fusion.mutable_perception_obstacle())) {
      if (HasOverlap(eye_obstacle, radar_obstacle)) {
        eye_obstacle.set_confidence(0.99);
        eye_obstacle.mutable_velocity()->CopyFrom(radar_obstacle.velocity());
      }
    }
  }
 
  // mobileye_obstacles_fusion.MergeFrom(radar_obstacles_fusion);
  return eye_obstacles_fusion;
}

HasOverlap() [1/2]

bool apollo::third_party_perception::fusion::HasOverlap	(	const PerceptionObstacle &	obstacle,
		const PerceptionObstacles &	obstacles
	)

在文件 fusion.cc 第 57 行定义.

                                                      {
  for (const auto& current_obstacle : obstacles.perception_obstacle()) {
    if (HasOverlap(obstacle, current_obstacle)) {
      return true;
    }
  }
  return false;
}

HasOverlap() [2/2]

bool apollo::third_party_perception::fusion::HasOverlap	(	const PerceptionObstacle &	obstacle_1,
		const PerceptionObstacle &	obstacle_2
	)

在文件 fusion.cc 第 48 行定义.

                                                      {
  common::math::Polygon2d polygon_1(
      PerceptionObstacleToVectorVec2d(obstacle_1));
  common::math::Polygon2d polygon_2(
      PerceptionObstacleToVectorVec2d(obstacle_2));
  return polygon_1.HasOverlap(polygon_2);
}

PerceptionObstacleToVectorVec2d()

std::vector< Vec2d > apollo::third_party_perception::fusion::PerceptionObstacleToVectorVec2d

(

const PerceptionObstacle &

obstacle

)

在文件 fusion.cc 第 39 行定义.

                                        {
  std::vector<Vec2d> result;
  for (const auto& vertex : obstacle.polygon_point()) {
    result.emplace_back(vertex.x(), vertex.y());
  }
  return result;
}