#include <point_cloud.h>

Inheritance diagram for apollo::perception::base::AttributePointCloud< PointT >:

Collaboration diagram for apollo::perception::base::AttributePointCloud< PointT >:

Public Member Functions
	AttributePointCloud ()=default

	AttributePointCloud (const AttributePointCloud< PointT > &pc, const PointIndices &indices)

	AttributePointCloud (const AttributePointCloud< PointT > &pc, const std::vector< int > &indices)

	AttributePointCloud (const size_t width, const size_t height, const PointT point=PointT())

virtual	~AttributePointCloud ()=default

AttributePointCloud &	operator+= (const AttributePointCloud< PointT > &rhs)

void	reserve (const size_t size) override

void	resize (const size_t size) override

void	push_back (const PointT &point) override

void	push_back (const PointT &point, double timestamp, float height=std::numeric_limits< float >::max(), int32_t beam_id=-1, uint8_t label=0)

void	clear () override

bool	SwapPoint (const size_t source_id, const size_t target_id) override

bool	CopyPoint (const size_t id, const size_t rhs_id, const AttributePointCloud< PointT > &rhs)

void	CopyPointCloud (const AttributePointCloud< PointT > &rhs, const PointIndices &indices)

template<typename IndexType >
void	CopyPointCloud (const AttributePointCloud< PointT > &rhs, const std::vector< IndexType > &indices)

void	SwapPointCloud (AttributePointCloud< PointT > *rhs)

bool	CheckConsistency () const override

size_t	TransferToIndex (const size_t col, const size_t row) const

const std::vector< double > &	points_timestamp () const

double	points_timestamp (size_t i) const

std::vector< double > *	mutable_points_timestamp ()

const std::vector< float > &	points_height () const

float &	points_height (size_t i)

const float &	points_height (size_t i) const

void	SetPointHeight (size_t i, size_t j, float height)

void	SetPointHeight (size_t i, float height)

std::vector< float > *	mutable_points_height ()

const std::vector< int32_t > &	points_beam_id () const

std::vector< int32_t > *	mutable_points_beam_id ()

int32_t &	points_beam_id (size_t i)

const int32_t &	points_beam_id (size_t i) const

const std::vector< uint8_t > &	points_label () const

std::vector< uint8_t > *	mutable_points_label ()

uint8_t &	points_label (size_t i)

const uint8_t &	points_label (size_t i) const

Public Member Functions inherited from apollo::perception::base::PointCloud< PointT >
	PointCloud ()=default

	PointCloud (const PointCloud< PointT > &pc, const PointIndices &indices)

	PointCloud (const PointCloud< PointT > &pc, const std::vector< int > &indices)

	PointCloud (size_t width, size_t height, PointT point=PointT())

virtual	~PointCloud ()=default

const PointT *	at (size_t col, size_t row) const

PointT *	at (size_t col, size_t row)

const PointT *	operator() (size_t col, size_t row) const

PointT *	operator() (size_t col, size_t row)

bool	IsOrganized () const

size_t	height () const

size_t	width () const

size_t	size () const

bool	empty () const

const PointT &	operator[] (size_t n) const

PointT &	operator[] (size_t n)

const PointT &	at (size_t n) const

PointT &	at (size_t n)

const PointT &	front () const

PointT &	front ()

const PointT &	back () const

PointT &	back ()

bool	CopyPoint (size_t id, size_t rhs_id, const PointCloud< PointT > &rhs)

void	CopyPointCloud (const PointCloud< PointT > &rhs, const PointIndices &indices)

template<typename IndexType >
void	CopyPointCloud (const PointCloud< PointT > &rhs, const std::vector< IndexType > &indices)

template<typename IndexType >
void	CopyPointCloudExclude (const PointCloud< PointT > &rhs, const std::vector< IndexType > &indices)

void	SwapPointCloud (PointCloud< PointT > *rhs)

iterator	begin ()

iterator	end ()

const_iterator	begin () const

const_iterator	end () const

std::vector< PointT > *	mutable_points ()

const std::vector< PointT > &	points () const

void	set_timestamp (const double timestamp)

double	get_timestamp ()

void	set_sensor_to_world_pose (const Eigen::Affine3d &sensor_to_world_pose)

const Eigen::Affine3d &	sensor_to_world_pose ()

void	RotatePointCloud (bool check_nan=false)

void	TransformPointCloud (bool check_nan=false)

void	TransformPointCloud (const Eigen::Affine3f &transform, PointCloud< PointT > *out, bool check_nan=false) const

Protected Attributes
std::vector< double >	points_timestamp_

std::vector< float >	points_height_

std::vector< int32_t >	points_beam_id_

std::vector< uint8_t >	points_label_

Protected Attributes inherited from apollo::perception::base::PointCloud< PointT >
std::vector< PointT >	points_

size_t	width_ = 0

size_t	height_ = 0

Eigen::Affine3d	sensor_to_world_pose_ = Eigen::Affine3d::Identity()

double	timestamp_ = 0.0

Additional Inherited Members
Public Types inherited from apollo::perception::base::PointCloud< PointT >
using	PointType = PointT

typedef std::vector< PointT >::iterator	iterator

typedef std::vector< PointT >::const_iterator	const_iterator

Constructor & Destructor Documentation

◆ AttributePointCloud() [1/4]

template<class PointT>

apollo::perception::base::AttributePointCloud< PointT >::AttributePointCloud ( )

default

◆ AttributePointCloud() [2/4]

template<class PointT>

apollo::perception::base::AttributePointCloud< PointT >::AttributePointCloud	(	const AttributePointCloud< PointT > &	pc,
		const PointIndices &	indices
	)

inline

◆ AttributePointCloud() [3/4]

template<class PointT>

apollo::perception::base::AttributePointCloud< PointT >::AttributePointCloud	(	const AttributePointCloud< PointT > &	pc,
		const std::vector< int > &	indices
	)

inline

◆ AttributePointCloud() [4/4]

template<class PointT>

apollo::perception::base::AttributePointCloud< PointT >::AttributePointCloud	(	const size_t	width,
		const size_t	height,
		const PointT	point = `PointT()`
	)

inline

◆ ~AttributePointCloud()

template<class PointT>

virtual apollo::perception::base::AttributePointCloud< PointT >::~AttributePointCloud ( )

virtualdefault

Member Function Documentation

◆ CheckConsistency()

template<class PointT>

bool apollo::perception::base::AttributePointCloud< PointT >::CheckConsistency ( ) const

inlineoverridevirtual

Reimplemented from apollo::perception::base::PointCloud< PointT >.

◆ clear()

template<class PointT>

void apollo::perception::base::AttributePointCloud< PointT >::clear ( void )

inlineoverridevirtual

Reimplemented from apollo::perception::base::PointCloud< PointT >.

◆ CopyPoint()

template<class PointT>

bool apollo::perception::base::AttributePointCloud< PointT >::CopyPoint	(	const size_t	id,
		const size_t	rhs_id,
		const AttributePointCloud< PointT > &	rhs
	)

inline

◆ CopyPointCloud() [1/2]

template<class PointT>

void apollo::perception::base::AttributePointCloud< PointT >::CopyPointCloud	(	const AttributePointCloud< PointT > &	rhs,
		const PointIndices &	indices
	)

inline

◆ CopyPointCloud() [2/2]

template<class PointT>

template<typename IndexType >

void apollo::perception::base::AttributePointCloud< PointT >::CopyPointCloud	(	const AttributePointCloud< PointT > &	rhs,
		const std::vector< IndexType > &	indices
	)

inline

◆ mutable_points_beam_id()

template<class PointT>

std::vector<int32_t>* apollo::perception::base::AttributePointCloud< PointT >::mutable_points_beam_id ( )

inline

◆ mutable_points_height()

template<class PointT>

std::vector<float>* apollo::perception::base::AttributePointCloud< PointT >::mutable_points_height ( )

inline

◆ mutable_points_label()

template<class PointT>

std::vector<uint8_t>* apollo::perception::base::AttributePointCloud< PointT >::mutable_points_label ( )

inline

◆ mutable_points_timestamp()

template<class PointT>

std::vector<double>* apollo::perception::base::AttributePointCloud< PointT >::mutable_points_timestamp ( )

inline

◆ operator+=()

template<class PointT>

AttributePointCloud& apollo::perception::base::AttributePointCloud< PointT >::operator+= ( const AttributePointCloud< PointT > & rhs )

inline

◆ points_beam_id() [1/3]

template<class PointT>

const std::vector<int32_t>& apollo::perception::base::AttributePointCloud< PointT >::points_beam_id ( ) const

inline

◆ points_beam_id() [2/3]

template<class PointT>

int32_t& apollo::perception::base::AttributePointCloud< PointT >::points_beam_id ( size_t i )

inline

◆ points_beam_id() [3/3]

template<class PointT>

const int32_t& apollo::perception::base::AttributePointCloud< PointT >::points_beam_id ( size_t i ) const

inline

◆ points_height() [1/3]

template<class PointT>

const std::vector<float>& apollo::perception::base::AttributePointCloud< PointT >::points_height ( ) const

inline

◆ points_height() [2/3]

template<class PointT>

float& apollo::perception::base::AttributePointCloud< PointT >::points_height ( size_t i )

inline

◆ points_height() [3/3]

template<class PointT>

const float& apollo::perception::base::AttributePointCloud< PointT >::points_height ( size_t i ) const

inline

◆ points_label() [1/3]

template<class PointT>

const std::vector<uint8_t>& apollo::perception::base::AttributePointCloud< PointT >::points_label ( ) const

inline

◆ points_label() [2/3]

template<class PointT>

uint8_t& apollo::perception::base::AttributePointCloud< PointT >::points_label ( size_t i )

inline

◆ points_label() [3/3]

template<class PointT>

const uint8_t& apollo::perception::base::AttributePointCloud< PointT >::points_label ( size_t i ) const

inline

◆ points_timestamp() [1/2]

template<class PointT>

const std::vector<double>& apollo::perception::base::AttributePointCloud< PointT >::points_timestamp ( ) const

inline

◆ points_timestamp() [2/2]

template<class PointT>

double apollo::perception::base::AttributePointCloud< PointT >::points_timestamp ( size_t i ) const

inline

◆ push_back() [1/2]

template<class PointT>

void apollo::perception::base::AttributePointCloud< PointT >::push_back ( const PointT & point )

inlineoverridevirtual

Reimplemented from apollo::perception::base::PointCloud< PointT >.

◆ push_back() [2/2]

template<class PointT>

void apollo::perception::base::AttributePointCloud< PointT >::push_back	(	const PointT &	point,
		double	timestamp,
		float	height = `std::numeric_limits<float>::max()`,
		int32_t	beam_id = `-1`,
		uint8_t	label = `0`
	)

inline

◆ reserve()

template<class PointT>

void apollo::perception::base::AttributePointCloud< PointT >::reserve ( const size_t size )

inlineoverridevirtual

Reimplemented from apollo::perception::base::PointCloud< PointT >.

◆ resize()

template<class PointT>

void apollo::perception::base::AttributePointCloud< PointT >::resize ( const size_t size )

inlineoverridevirtual

Reimplemented from apollo::perception::base::PointCloud< PointT >.

◆ SetPointHeight() [1/2]

template<class PointT>

void apollo::perception::base::AttributePointCloud< PointT >::SetPointHeight	(	size_t	i,
		size_t	j,
		float	height
	)

inline

◆ SetPointHeight() [2/2]

template<class PointT>

void apollo::perception::base::AttributePointCloud< PointT >::SetPointHeight	(	size_t	i,
		float	height
	)

inline

◆ SwapPoint()

template<class PointT>

bool apollo::perception::base::AttributePointCloud< PointT >::SwapPoint	(	const size_t	source_id,
		const size_t	target_id
	)

inlineoverridevirtual

Reimplemented from apollo::perception::base::PointCloud< PointT >.

◆ SwapPointCloud()

template<class PointT>

void apollo::perception::base::AttributePointCloud< PointT >::SwapPointCloud ( AttributePointCloud< PointT > * rhs )

inline

◆ TransferToIndex()

template<class PointT>

size_t apollo::perception::base::AttributePointCloud< PointT >::TransferToIndex	(	const size_t	col,
		const size_t	row
	)		const

inline

Member Data Documentation

◆ points_beam_id_

template<class PointT>

std::vector<int32_t> apollo::perception::base::AttributePointCloud< PointT >::points_beam_id_

protected

◆ points_height_

template<class PointT>

std::vector<float> apollo::perception::base::AttributePointCloud< PointT >::points_height_

protected

◆ points_label_

template<class PointT>

std::vector<uint8_t> apollo::perception::base::AttributePointCloud< PointT >::points_label_

protected

◆ points_timestamp_

template<class PointT>

std::vector<double> apollo::perception::base::AttributePointCloud< PointT >::points_timestamp_

protected

The documentation for this class was generated from the following file:

modules/perception/base/point_cloud.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ AttributePointCloud() [1/4]

◆ AttributePointCloud() [2/4]

◆ AttributePointCloud() [3/4]

◆ AttributePointCloud() [4/4]

◆ ~AttributePointCloud()

Member Function Documentation

◆ CheckConsistency()

◆ clear()

◆ CopyPoint()

◆ CopyPointCloud() [1/2]

◆ CopyPointCloud() [2/2]

◆ mutable_points_beam_id()

◆ mutable_points_height()

◆ mutable_points_label()

◆ mutable_points_timestamp()

◆ operator+=()

◆ points_beam_id() [1/3]

◆ points_beam_id() [2/3]

◆ points_beam_id() [3/3]

◆ points_height() [1/3]

◆ points_height() [2/3]

◆ points_height() [3/3]

◆ points_label() [1/3]

◆ points_label() [2/3]

◆ points_label() [3/3]

◆ points_timestamp() [1/2]

◆ points_timestamp() [2/2]

◆ push_back() [1/2]

◆ push_back() [2/2]

◆ reserve()

◆ resize()

◆ SetPointHeight() [1/2]

◆ SetPointHeight() [2/2]

◆ SwapPoint()

◆ SwapPointCloud()

◆ TransferToIndex()

Member Data Documentation

◆ points_beam_id_

◆ points_height_

◆ points_label_

◆ points_timestamp_