camera_ground_plane.h File Reference

#include <vector>
#include "cyber/common/log.h"
#include "modules/perception/common/i_lib/core/i_blas.h"
#include "modules/perception/common/i_lib/geometry/i_line.h"

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Classes
class	apollo::perception::camera::GroundPlaneTracker
struct	apollo::perception::camera::CameraGroundPlaneParams
class	apollo::perception::camera::CameraGroundPlaneDetector

Namespaces
	apollo
	PlanningContext is the runtime context in planning. It is persistent across multiple frames.
	apollo::perception
	apollo::perception
	apollo::perception::camera

Functions
void	apollo::perception::camera::ConvertGround3ToGround4 (const float &baseline, const std::vector< float > &k_mat, const std::vector< float > &ground3, std::vector< float > *ground4)
bool	apollo::perception::camera::ConvertGround4ToGround3 (const float &baseline, const std::vector< float > &k_mat, const std::vector< float > &ground4, std::vector< float > *ground3)
void	apollo::perception::camera::GetGroundPlanePitchHeight (const float &baseline, const std::vector< float > &k_mat, const std::vector< float > &ground3, float *pitch, float *cam_height)
void	apollo::perception::camera::GetGround3FromPitchHeight (const std::vector< float > &k_mat, const float &baseline, const float &pitch, const float &cam_height, std::vector< float > *ground3)
template<typename T >
void	apollo::perception::camera::GroundHypoGenFunc (const T *v, const T *d, T *p)
template<typename T >
void	apollo::perception::camera::GroundFittingCostFunc (const T *p, const T *v, const T *d, int n, int *nr_inlier, int *inliers, T *cost, T error_tol)