apollo::perception::common::PlaneFitGroundDetector Class Reference

#include <i_ground.h>

Inheritance diagram for apollo::perception::common::PlaneFitGroundDetector:

Collaboration diagram for apollo::perception::common::PlaneFitGroundDetector:

Public Member Functions
	PlaneFitGroundDetector (const PlaneFitGroundDetectorParam &param)
	~PlaneFitGroundDetector ()
bool	Init ()
bool	Detect (const float *point_cloud, float *height_above_ground, unsigned int nr_points, unsigned int nr_point_elements)
const char *	GetLabel () const
const VoxelGridXY< float > *	GetGrid () const
const GroundPlaneLiDAR *	GetGroundPlane (int r, int c) const
unsigned int	GetGridDimX () const
unsigned int	GetGridDimY () const
float	GetUnknownHeight ()
PlaneFitPointCandIndices **	GetCandis () const
Public Member Functions inherited from apollo::perception::common::BaseGroundDetector
	BaseGroundDetector (const PlaneFitGroundDetectorParam &param)
virtual	~BaseGroundDetector ()

Protected Member Functions
void	CleanUp ()
void	InitOrderTable (const VoxelGridXY< float > *vg, std::pair< int, int > *order)
int	Fit ()
int	FitLine (unsigned int r)
int	FitGrid (const float *point_cloud, PlaneFitPointCandIndices *candi, GroundPlaneLiDAR *groundplane, unsigned int nr_points, unsigned int nr_point_element, float dist_thre)
int	FitInOrder ()
int	FilterCandidates (int r, int c, const float *point_cloud, PlaneFitPointCandIndices *candi, std::vector< std::pair< int, int >> *neighbors, unsigned int nr_point_element)
int	FitGridWithNeighbors (int r, int c, const float *point_cloud, GroundPlaneLiDAR *groundplane, unsigned int nr_points, unsigned int nr_point_element, float dist_thre)
void	GetNeighbors (int r, int c, int rows, int cols, std::vector< std::pair< int, int >> *neighbors)
float	CalculateAngleDist (const GroundPlaneLiDAR &plane, const std::vector< std::pair< int, int >> &neighbors)
int	Filter ()
int	FilterLine (unsigned int r)
int	FilterGrid (const Voxel< float > &vg, const float *point_cloud, PlaneFitPointCandIndices *candi, unsigned int nr_points, unsigned int nr_point_element)
int	Smooth ()
int	SmoothLine (unsigned int up, unsigned int r, unsigned int dn)
int	CompleteGrid (const GroundPlaneSpherical &lt, const GroundPlaneSpherical &rt, const GroundPlaneSpherical &up, const GroundPlaneSpherical &dn, GroundPlaneSpherical *gp)
int	SmoothGrid (const GroundPlaneSpherical &g, const GroundPlaneSpherical &lt, const GroundPlaneSpherical &rt, const GroundPlaneSpherical &up, const GroundPlaneSpherical &dn, GroundPlaneSpherical *gp)
int	CompareZ (const float *point_cloud, const std::vector< int > &point_indices, const float *z_values, PlaneFitPointCandIndices *candi, unsigned int nr_points, unsigned int nr_point_element, unsigned int nr_compares)
void	ComputeAdaptiveThreshold ()
void	ComputeSignedGroundHeight (const float *point_cloud, float *height_above_ground, unsigned int nr_points, unsigned int nr_point_elements)
void	ComputeSignedGroundHeightLine (const float *point_cloud, const GroundPlaneLiDAR *up, const GroundPlaneLiDAR *cn, const GroundPlaneLiDAR *dn, float *height_above_ground, unsigned int r, unsigned int nr_points, unsigned int nr_point_elements)

Protected Attributes
VoxelGridXY< float > *	vg_fine_
VoxelGridXY< float > *	vg_coarse_
GroundPlaneLiDAR **	ground_planes_
GroundPlaneSpherical **	ground_planes_sphe_
PlaneFitPointCandIndices **	local_candis_
std::pair< float, bool > **	ground_z_
float **	pf_thresholds_
unsigned int *	map_fine_to_coarse_
char *	labels_
float *	sampled_z_values_
float *	pf_threeds_
int *	sampled_indices_
std::pair< int, int > *	order_table_
Protected Attributes inherited from apollo::perception::common::BaseGroundDetector
const PlaneFitGroundDetectorParam &	param_

Constructor & Destructor Documentation

PlaneFitGroundDetector()

apollo::perception::common::PlaneFitGroundDetector::PlaneFitGroundDetector ( const PlaneFitGroundDetectorParam &  param )

explicit

~PlaneFitGroundDetector()

apollo::perception::common::PlaneFitGroundDetector::~PlaneFitGroundDetector

(

)

Member Function Documentation

CalculateAngleDist()

float apollo::perception::common::PlaneFitGroundDetector::CalculateAngleDist ( const GroundPlaneLiDAR &  plane, const std::vector< std::pair< int, int >> &  neighbors  )

protected

CleanUp()

void apollo::perception::common::PlaneFitGroundDetector::CleanUp ( )

protected

CompareZ()

int apollo::perception::common::PlaneFitGroundDetector::CompareZ ( const float *  point_cloud, const std::vector< int > &  point_indices, const float *  z_values, PlaneFitPointCandIndices *  candi, unsigned int  nr_points, unsigned int  nr_point_element, unsigned int  nr_compares  )

protected

CompleteGrid()

int apollo::perception::common::PlaneFitGroundDetector::CompleteGrid ( const GroundPlaneSpherical &  lt, const GroundPlaneSpherical &  rt, const GroundPlaneSpherical &  up, const GroundPlaneSpherical &  dn, GroundPlaneSpherical *  gp  )

protected

ComputeAdaptiveThreshold()

void apollo::perception::common::PlaneFitGroundDetector::ComputeAdaptiveThreshold ( )

protected

ComputeSignedGroundHeight()

void apollo::perception::common::PlaneFitGroundDetector::ComputeSignedGroundHeight ( const float *  point_cloud, float *  height_above_ground, unsigned int  nr_points, unsigned int  nr_point_elements  )

protected

ComputeSignedGroundHeightLine()

void apollo::perception::common::PlaneFitGroundDetector::ComputeSignedGroundHeightLine ( const float *  point_cloud, const GroundPlaneLiDAR *  up, const GroundPlaneLiDAR *  cn, const GroundPlaneLiDAR *  dn, float *  height_above_ground, unsigned int  r, unsigned int  nr_points, unsigned int  nr_point_elements  )

protected

Detect()

bool apollo::perception::common::PlaneFitGroundDetector::Detect ( const float *  point_cloud, float *  height_above_ground, unsigned int  nr_points, unsigned int  nr_point_elements  )

virtual

Implements apollo::perception::common::BaseGroundDetector.

Filter()

int apollo::perception::common::PlaneFitGroundDetector::Filter ( )

protected

FilterCandidates()

int apollo::perception::common::PlaneFitGroundDetector::FilterCandidates ( int  r, int  c, const float *  point_cloud, PlaneFitPointCandIndices *  candi, std::vector< std::pair< int, int >> *  neighbors, unsigned int  nr_point_element  )

protected

FilterGrid()

int apollo::perception::common::PlaneFitGroundDetector::FilterGrid ( const Voxel< float > &  vg, const float *  point_cloud, PlaneFitPointCandIndices *  candi, unsigned int  nr_points, unsigned int  nr_point_element  )

protected

FilterLine()

int apollo::perception::common::PlaneFitGroundDetector::FilterLine ( unsigned int  r )

protected

Fit()

int apollo::perception::common::PlaneFitGroundDetector::Fit ( )

protected

FitGrid()

int apollo::perception::common::PlaneFitGroundDetector::FitGrid ( const float *  point_cloud, PlaneFitPointCandIndices *  candi, GroundPlaneLiDAR *  groundplane, unsigned int  nr_points, unsigned int  nr_point_element, float  dist_thre  )

protected

FitGridWithNeighbors()

int apollo::perception::common::PlaneFitGroundDetector::FitGridWithNeighbors ( int  r, int  c, const float *  point_cloud, GroundPlaneLiDAR *  groundplane, unsigned int  nr_points, unsigned int  nr_point_element, float  dist_thre  )

protected

FitInOrder()

int apollo::perception::common::PlaneFitGroundDetector::FitInOrder ( )

protected

FitLine()

int apollo::perception::common::PlaneFitGroundDetector::FitLine ( unsigned int  r )

protected

GetCandis()

PlaneFitPointCandIndices** apollo::perception::common::PlaneFitGroundDetector::GetCandis

(

)

const

GetGrid()

const VoxelGridXY<float>* apollo::perception::common::PlaneFitGroundDetector::GetGrid

(

)

const

GetGridDimX()

unsigned int apollo::perception::common::PlaneFitGroundDetector::GetGridDimX

(

)

const

GetGridDimY()

unsigned int apollo::perception::common::PlaneFitGroundDetector::GetGridDimY

(

)

const

GetGroundPlane()

const GroundPlaneLiDAR* apollo::perception::common::PlaneFitGroundDetector::GetGroundPlane	(	int	r,
		int	c
	)		const

GetLabel()

const char* apollo::perception::common::PlaneFitGroundDetector::GetLabel

(

)

const

GetNeighbors()

void apollo::perception::common::PlaneFitGroundDetector::GetNeighbors ( int  r, int  c, int  rows, int  cols, std::vector< std::pair< int, int >> *  neighbors  )

protected

GetUnknownHeight()

float apollo::perception::common::PlaneFitGroundDetector::GetUnknownHeight

(

)

Init()

bool apollo::perception::common::PlaneFitGroundDetector::Init

(

)

InitOrderTable()

void apollo::perception::common::PlaneFitGroundDetector::InitOrderTable ( const VoxelGridXY< float > *  vg, std::pair< int, int > *  order  )

protected

Smooth()

int apollo::perception::common::PlaneFitGroundDetector::Smooth ( )

protected

SmoothGrid()

int apollo::perception::common::PlaneFitGroundDetector::SmoothGrid ( const GroundPlaneSpherical &  g, const GroundPlaneSpherical &  lt, const GroundPlaneSpherical &  rt, const GroundPlaneSpherical &  up, const GroundPlaneSpherical &  dn, GroundPlaneSpherical *  gp  )

protected

SmoothLine()

int apollo::perception::common::PlaneFitGroundDetector::SmoothLine ( unsigned int  up, unsigned int  r, unsigned int  dn  )

protected

Member Data Documentation

ground_planes_

GroundPlaneLiDAR** apollo::perception::common::PlaneFitGroundDetector::ground_planes_

protected

ground_planes_sphe_

GroundPlaneSpherical** apollo::perception::common::PlaneFitGroundDetector::ground_planes_sphe_

protected

ground_z_

std::pair<float, bool>** apollo::perception::common::PlaneFitGroundDetector::ground_z_

protected

labels_

char* apollo::perception::common::PlaneFitGroundDetector::labels_

protected

local_candis_

PlaneFitPointCandIndices** apollo::perception::common::PlaneFitGroundDetector::local_candis_

protected

map_fine_to_coarse_

unsigned int* apollo::perception::common::PlaneFitGroundDetector::map_fine_to_coarse_

protected

order_table_

std::pair<int, int>* apollo::perception::common::PlaneFitGroundDetector::order_table_

protected

pf_threeds_

float* apollo::perception::common::PlaneFitGroundDetector::pf_threeds_

protected

pf_thresholds_

float** apollo::perception::common::PlaneFitGroundDetector::pf_thresholds_

protected

sampled_indices_

int* apollo::perception::common::PlaneFitGroundDetector::sampled_indices_

protected

sampled_z_values_

float* apollo::perception::common::PlaneFitGroundDetector::sampled_z_values_

protected

vg_coarse_

VoxelGridXY<float>* apollo::perception::common::PlaneFitGroundDetector::vg_coarse_

protected

vg_fine_

VoxelGridXY<float>* apollo::perception::common::PlaneFitGroundDetector::vg_fine_

protected

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

• modules/perception/common/i_lib/pc/i_ground.h