apollo::perception::camera::Cipv Class Reference

#include <cipv_camera.h>

Inheritance diagram for apollo::perception::camera::Cipv:

Collaboration diagram for apollo::perception::camera::Cipv:

Public Member Functions
	Cipv ()=default
	~Cipv ()=default
bool	Init (const Eigen::Matrix3d &homography_im2car, const CipvInitOptions &options=CipvInitOptions()) override
bool	Process (CameraFrame *frame, const CipvOptions &options, const Eigen::Affine3d &world2camera, const base::MotionBufferPtr &motion_buffer) override
std::string	Name () const override
bool	DetermineCipv (const std::vector< base::LaneLine > &lane_objects, const CipvOptions &options, const Eigen::Affine3d &world2camera, std::vector< std::shared_ptr< base::Object >> *objects)
bool	CollectDrops (const base::MotionBufferPtr &motion_buffer, const Eigen::Affine3d &world2camera, std::vector< std::shared_ptr< base::Object >> *objects)
Public Member Functions inherited from apollo::perception::camera::BaseCipv
	BaseCipv ()=default
virtual	~BaseCipv ()=default

Static Public Member Functions
static float	VehicleDynamics (const uint32_t tick, const float yaw_rate, const float velocity, const float time_unit, float *x, float *y)
static float	VehicleDynamics (const uint32_t tick, const float yaw_rate, const float velocity, const float time_unit, const float vehicle_half_width, float *center_x, float *ceneter_y, float *left_x, float *left_y, float *right_x, float *right_y)
static bool	MakeVirtualEgoLaneFromYawRate (const float yaw_rate, const float velocity, const float offset_distance, LaneLineSimple *left_lane_line, LaneLineSimple *right_lane_line)

Constructor & Destructor Documentation

Cipv()

apollo::perception::camera::Cipv::Cipv ( )

default

~Cipv()

apollo::perception::camera::Cipv::~Cipv ( )

default

Member Function Documentation

CollectDrops()

bool apollo::perception::camera::Cipv::CollectDrops	(	const base::MotionBufferPtr &	motion_buffer,
		const Eigen::Affine3d &	world2camera,
		std::vector< std::shared_ptr< base::Object >> *	objects
	)

DetermineCipv()

bool apollo::perception::camera::Cipv::DetermineCipv	(	const std::vector< base::LaneLine > &	lane_objects,
		const CipvOptions &	options,
		const Eigen::Affine3d &	world2camera,
		std::vector< std::shared_ptr< base::Object >> *	objects
	)

Init()

bool apollo::perception::camera::Cipv::Init ( const Eigen::Matrix3d &  homography_im2car, const CipvInitOptions &  options = CipvInitOptions()  )

overridevirtual

Implements apollo::perception::camera::BaseCipv.

MakeVirtualEgoLaneFromYawRate()

static bool apollo::perception::camera::Cipv::MakeVirtualEgoLaneFromYawRate ( const float  yaw_rate, const float  velocity, const float  offset_distance, LaneLineSimple *  left_lane_line, LaneLineSimple *  right_lane_line  )

static

Name()

std::string apollo::perception::camera::Cipv::Name ( ) const

overridevirtual

Implements apollo::perception::camera::BaseCipv.

Process()

bool apollo::perception::camera::Cipv::Process ( CameraFrame *  frame, const CipvOptions &  options, const Eigen::Affine3d &  world2camera, const base::MotionBufferPtr &  motion_buffer  )

overridevirtual

Implements apollo::perception::camera::BaseCipv.

VehicleDynamics() [1/2]

static float apollo::perception::camera::Cipv::VehicleDynamics ( const uint32_t  tick, const float  yaw_rate, const float  velocity, const float  time_unit, float *  x, float *  y  )

static

VehicleDynamics() [2/2]

static float apollo::perception::camera::Cipv::VehicleDynamics ( const uint32_t  tick, const float  yaw_rate, const float  velocity, const float  time_unit, const float  vehicle_half_width, float *  center_x, float *  ceneter_y, float *  left_x, float *  left_y, float *  right_x, float *  right_y  )

static

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

• modules/perception/camera/app/cipv_camera.h