#include <radar_frame.h>

apollo::perception::radar4d::RadarFrame 的协作图:

Public 成员函数
void	Reset ()

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

Public 属性
std::shared_ptr< base::AttributeRadarPointCloud< base::RadarPointF > >	cloud

std::shared_ptr< base::AttributeRadarPointCloud< base::RadarPointD > >	world_cloud

double	timestamp = 0.0

Eigen::Affine3d	radar2world_pose = Eigen::Affine3d::Identity()

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

Eigen::Affine3d	radar2novatel_extrinsics = Eigen::Affine3d::Identity()

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

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

base::PointIndices	roi_indices

base::SensorInfo	sensor_info

std::string	reserve

详细描述

在文件 radar_frame.h 第 32 行定义.

成员函数说明

◆ FilterPointCloud()

void apollo::perception::radar4d::RadarFrame::FilterPointCloud	(	base::RadarPointCloud< base::RadarPointF > *	filtered_cloud,
		const std::vector< uint32_t > &	indices
	)

inline

在文件 radar_frame.h 第 72 行定义.

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

◆ Reset()

void apollo::perception::radar4d::RadarFrame::Reset ( )

inline

在文件 radar_frame.h 第 57 行定义.

               {
    if (cloud) {
      cloud->clear();
    }
    if (world_cloud) {
      world_cloud->clear();
    }
    timestamp = 0.0;
    radar2world_pose = Eigen::Affine3d::Identity();
    novatel2world_pose = Eigen::Affine3d::Identity();
    segmented_objects.clear();
    tracked_objects.clear();
    roi_indices.indices.clear();
  }

类成员变量说明

◆ cloud

std::shared_ptr<base::AttributeRadarPointCloud<base::RadarPointF> > apollo::perception::radar4d::RadarFrame::cloud

在文件 radar_frame.h 第 34 行定义.

◆ novatel2world_pose

Eigen::Affine3d apollo::perception::radar4d::RadarFrame::novatel2world_pose = Eigen::Affine3d::Identity()

在文件 radar_frame.h 第 43 行定义.

◆ radar2novatel_extrinsics

Eigen::Affine3d apollo::perception::radar4d::RadarFrame::radar2novatel_extrinsics = Eigen::Affine3d::Identity()

在文件 radar_frame.h 第 45 行定义.

◆ radar2world_pose

Eigen::Affine3d apollo::perception::radar4d::RadarFrame::radar2world_pose = Eigen::Affine3d::Identity()

在文件 radar_frame.h 第 41 行定义.

◆ reserve

std::string apollo::perception::radar4d::RadarFrame::reserve

在文件 radar_frame.h 第 55 行定义.

◆ roi_indices

base::PointIndices apollo::perception::radar4d::RadarFrame::roi_indices

在文件 radar_frame.h 第 51 行定义.

◆ segmented_objects

std::vector<std::shared_ptr<base::Object> > apollo::perception::radar4d::RadarFrame::segmented_objects

在文件 radar_frame.h 第 47 行定义.

◆ sensor_info

base::SensorInfo apollo::perception::radar4d::RadarFrame::sensor_info

在文件 radar_frame.h 第 53 行定义.

◆ timestamp

double apollo::perception::radar4d::RadarFrame::timestamp = 0.0

在文件 radar_frame.h 第 39 行定义.

◆ tracked_objects

std::vector<std::shared_ptr<base::Object> > apollo::perception::radar4d::RadarFrame::tracked_objects

在文件 radar_frame.h 第 49 行定义.

◆ world_cloud

std::shared_ptr<base::AttributeRadarPointCloud<base::RadarPointD> > apollo::perception::radar4d::RadarFrame::world_cloud

在文件 radar_frame.h 第 37 行定义.

该结构体的文档由以下文件生成:

modules/perception/common/radar/common/radar_frame.h

Public 成员函数

Public 属性