apollo::perception::camera::CameraFrame结构体 参考

#include <camera_frame.h>

apollo::perception::camera::CameraFrame 的协作图:

Public 属性
std::uint64_t	frame_id
double	timestamp = 0.0
std::vector< std::shared_ptr< DataProvider > >	data_provider
std::vector< base::ObjectPtr >	detected_objects
std::vector< float >	k_lidar2img
std::shared_ptr< base::AttributePointCloud< base::PointF > >	cloud
int	frame_id = 0
DataProvider *	data_provider = nullptr
BaseCalibrationService *	calibration_service = nullptr
base::HdmapStructPtr	hdmap_struct = nullptr
std::vector< base::ObjectPtr >	proposed_objects
std::vector< base::ObjectPtr >	tracked_objects
std::vector< base::LaneLine >	lane_objects
std::vector< float >	pred_vpt
std::shared_ptr< base::Blob< float > >	track_feature_blob = nullptr
std::shared_ptr< base::Blob< float > >	lane_detected_blob = nullptr
std::vector< base::TrafficLightPtr >	traffic_lights
Eigen::Matrix3f	camera_k_matrix = Eigen::Matrix3f::Identity()
Eigen::Matrix4d	camera_extrinsic = Eigen::Matrix4d::Identity()
Eigen::Matrix3d	project_matrix = Eigen::Matrix3d::Identity()
Eigen::Affine3d	camera2world_pose = Eigen::Affine3d::Identity()
TrackState	track_state = TrackState::Predict

详细描述

在文件 camera_frame.h 第 31 行定义.

类成员变量说明

calibration_service

BaseCalibrationService* apollo::perception::camera::CameraFrame::calibration_service = nullptr

在文件 camera_frame.h 第 44 行定义.

camera2world_pose

Eigen::Affine3d apollo::perception::camera::CameraFrame::camera2world_pose = Eigen::Affine3d::Identity()

在文件 camera_frame.h 第 68 行定义.

camera_extrinsic

Eigen::Matrix4d apollo::perception::camera::CameraFrame::camera_extrinsic = Eigen::Matrix4d::Identity()

在文件 camera_frame.h 第 64 行定义.

camera_k_matrix

Eigen::Matrix3f apollo::perception::camera::CameraFrame::camera_k_matrix = Eigen::Matrix3f::Identity()

在文件 camera_frame.h 第 62 行定义.

cloud

std::shared_ptr<base::AttributePointCloud<base::PointF> > apollo::perception::camera::CameraFrame::cloud

在文件 camera_frame.h 第 41 行定义.

data_provider [1/2]

std::vector< std::shared_ptr< DataProvider > > apollo::perception::camera::CameraFrame::data_provider

在文件 camera_frame.h 第 36 行定义.

data_provider [2/2]

DataProvider* apollo::perception::camera::CameraFrame::data_provider = nullptr

在文件 camera_frame.h 第 42 行定义.

detected_objects

std::vector< base::ObjectPtr > apollo::perception::camera::CameraFrame::detected_objects

在文件 camera_frame.h 第 37 行定义.

frame_id [1/2]

std::uint64_t apollo::perception::camera::CameraFrame::frame_id

在文件 camera_frame.h 第 33 行定义.

frame_id [2/2]

int apollo::perception::camera::CameraFrame::frame_id = 0

在文件 camera_frame.h 第 40 行定义.

hdmap_struct

base::HdmapStructPtr apollo::perception::camera::CameraFrame::hdmap_struct = nullptr

在文件 camera_frame.h 第 46 行定义.

k_lidar2img

std::vector<float> apollo::perception::camera::CameraFrame::k_lidar2img

在文件 camera_frame.h 第 39 行定义.

lane_detected_blob

std::shared_ptr<base::Blob<float> > apollo::perception::camera::CameraFrame::lane_detected_blob = nullptr

在文件 camera_frame.h 第 58 行定义.

lane_objects

std::vector<base::LaneLine> apollo::perception::camera::CameraFrame::lane_objects

在文件 camera_frame.h 第 55 行定义.

pred_vpt

std::vector<float> apollo::perception::camera::CameraFrame::pred_vpt

在文件 camera_frame.h 第 56 行定义.

project_matrix

Eigen::Matrix3d apollo::perception::camera::CameraFrame::project_matrix = Eigen::Matrix3d::Identity()

在文件 camera_frame.h 第 66 行定义.

proposed_objects

std::vector<base::ObjectPtr> apollo::perception::camera::CameraFrame::proposed_objects

在文件 camera_frame.h 第 48 行定义.

timestamp

double apollo::perception::camera::CameraFrame::timestamp = 0.0

在文件 camera_frame.h 第 35 行定义.

track_feature_blob

std::shared_ptr<base::Blob<float> > apollo::perception::camera::CameraFrame::track_feature_blob = nullptr

在文件 camera_frame.h 第 57 行定义.

track_state

TrackState apollo::perception::camera::CameraFrame::track_state = TrackState::Predict

在文件 camera_frame.h 第 73 行定义.

tracked_objects

std::vector<base::ObjectPtr> apollo::perception::camera::CameraFrame::tracked_objects

在文件 camera_frame.h 第 52 行定义.

traffic_lights

std::vector<base::TrafficLightPtr> apollo::perception::camera::CameraFrame::traffic_lights

在文件 camera_frame.h 第 60 行定义.

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该结构体的文档由以下文件生成:

• modules/perception/camera_detection_bev/camera_frame.h
• modules/perception/camera_detection_occupancy/camera_frame.h
• modules/perception/common/camera/common/camera_frame.h