#include <lidar_frame.h>

apollo::perception::lidar::LidarFrame 的协作图:

Public 成员函数
void	Reset ()

void	FilterPointCloud (base::PointCloud< base::PointF > *filtered_cloud, const std::vector< uint32_t > &indices)

Public 属性
std::shared_ptr< base::AttributePointCloud< base::PointF > >	cloud

std::shared_ptr< base::AttributePointCloud< base::PointD > >	world_cloud

double	timestamp = 0.0

float	parsing_ground_height = 10.0f

float	original_ground_z = 10.0f

Eigen::Affine3d	lidar2world_pose = Eigen::Affine3d::Identity()

Eigen::Affine3d	novatel2world_pose = Eigen::Affine3d::Identity()

Eigen::Affine3d	lidar2novatel_extrinsics = Eigen::Affine3d::Identity()

std::shared_ptr< base::HdmapStruct >	hdmap_struct = nullptr

std::vector< std::shared_ptr< base::Object > >	segmented_objects

std::vector< std::shared_ptr< base::Object > >	tracked_objects

base::PointIndices	roi_indices

base::PointIndices	non_ground_indices

base::PointIndices	secondary_indices

base::SensorInfo	sensor_info

std::string	reserve

详细描述

在文件 lidar_frame.h 第 33 行定义.

成员函数说明

◆ FilterPointCloud()

void apollo::perception::lidar::LidarFrame::FilterPointCloud	(	base::PointCloud< base::PointF > *	filtered_cloud,
		const std::vector< uint32_t > &	indices
	)

inline

在文件 lidar_frame.h 第 92 行定义.

                                                            {
    if (cloud && filtered_cloud) {
      filtered_cloud->CopyPointCloudExclude(*cloud, indices);
    }
  }

◆ Reset()

void apollo::perception::lidar::LidarFrame::Reset ( )

inline

在文件 lidar_frame.h 第 67 行定义.

               {
    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();
  }

类成员变量说明

◆ cloud

std::shared_ptr<base::AttributePointCloud<base::PointF> > apollo::perception::lidar::LidarFrame::cloud

在文件 lidar_frame.h 第 35 行定义.

◆ hdmap_struct

std::shared_ptr<base::HdmapStruct> apollo::perception::lidar::LidarFrame::hdmap_struct = nullptr

在文件 lidar_frame.h 第 51 行定义.

◆ lidar2novatel_extrinsics

Eigen::Affine3d apollo::perception::lidar::LidarFrame::lidar2novatel_extrinsics = Eigen::Affine3d::Identity()

在文件 lidar_frame.h 第 49 行定义.

◆ lidar2world_pose

Eigen::Affine3d apollo::perception::lidar::LidarFrame::lidar2world_pose = Eigen::Affine3d::Identity()

在文件 lidar_frame.h 第 45 行定义.

◆ non_ground_indices

base::PointIndices apollo::perception::lidar::LidarFrame::non_ground_indices

在文件 lidar_frame.h 第 59 行定义.

◆ novatel2world_pose

Eigen::Affine3d apollo::perception::lidar::LidarFrame::novatel2world_pose = Eigen::Affine3d::Identity()

在文件 lidar_frame.h 第 47 行定义.

◆ original_ground_z

float apollo::perception::lidar::LidarFrame::original_ground_z = 10.0f

在文件 lidar_frame.h 第 43 行定义.

◆ parsing_ground_height

float apollo::perception::lidar::LidarFrame::parsing_ground_height = 10.0f

在文件 lidar_frame.h 第 41 行定义.

◆ reserve

std::string apollo::perception::lidar::LidarFrame::reserve

在文件 lidar_frame.h 第 65 行定义.

◆ roi_indices

base::PointIndices apollo::perception::lidar::LidarFrame::roi_indices

在文件 lidar_frame.h 第 57 行定义.

◆ secondary_indices

base::PointIndices apollo::perception::lidar::LidarFrame::secondary_indices

在文件 lidar_frame.h 第 61 行定义.

◆ segmented_objects

std::vector<std::shared_ptr<base::Object> > apollo::perception::lidar::LidarFrame::segmented_objects

在文件 lidar_frame.h 第 53 行定义.

◆ sensor_info

base::SensorInfo apollo::perception::lidar::LidarFrame::sensor_info

在文件 lidar_frame.h 第 63 行定义.

◆ timestamp

double apollo::perception::lidar::LidarFrame::timestamp = 0.0

在文件 lidar_frame.h 第 39 行定义.

◆ tracked_objects

std::vector<std::shared_ptr<base::Object> > apollo::perception::lidar::LidarFrame::tracked_objects

在文件 lidar_frame.h 第 55 行定义.

◆ world_cloud

std::shared_ptr<base::AttributePointCloud<base::PointD> > apollo::perception::lidar::LidarFrame::world_cloud

在文件 lidar_frame.h 第 37 行定义.

该结构体的文档由以下文件生成:

modules/perception/common/lidar/common/lidar_frame.h

Public 成员函数

Public 属性