Collaboration diagram for apollo::perception::lidar::PreprocessPoints:

Public Member Functions
	PreprocessPoints (const int max_num_pillars, const int max_points_per_pillar, const int num_point_feature, const int grid_x_size, const int grid_y_size, const int grid_z_size, const float pillar_x_size, const float pillar_y_size, const float pillar_z_size, const float min_x_range, const float min_y_range, const float min_z_range, const int num_inds_for_scan)
	Constructor. More...

void	Preprocess (const float in_points_array, int in_num_points, int x_coors, int y_coors, float num_points_per_pillar, float pillar_point_feature, float pillar_coors, float sparse_pillar_map, int host_pillar_count)
	CPU preprocessing for input pointcloud. More...

void	InitializeVariables (int coor_to_pillaridx, float sparse_pillar_map, float pillar_point_feature, float pillar_coors)
	Initializing variables for preprocessing. More...

Constructor & Destructor Documentation

◆ PreprocessPoints()

apollo::perception::lidar::PreprocessPoints::PreprocessPoints	(	const int	max_num_pillars,
		const int	max_points_per_pillar,
		const int	num_point_feature,
		const int	grid_x_size,
		const int	grid_y_size,
		const int	grid_z_size,
		const float	pillar_x_size,
		const float	pillar_y_size,
		const float	pillar_z_size,
		const float	min_x_range,
		const float	min_y_range,
		const float	min_z_range,
		const int	num_inds_for_scan
	)

Constructor.

Parameters

[in]	max_num_pillars	Maximum number of pillars
[in]	max_points_per_pillar	Maximum number of points per pillar
[in]	num_point_feature	Number of features in a point
[in]	grid_x_size	Number of pillars in x-coordinate
[in]	grid_y_size	Number of pillars in y-coordinate
[in]	grid_z_size	Number of pillars in z-coordinate
[in]	pillar_x_size	Size of x-dimension for a pillar
[in]	pillar_y_size	Size of y-dimension for a pillar
[in]	pillar_z_size	Size of z-dimension for a pillar
[in]	min_x_range	Minimum x value for pointcloud
[in]	min_y_range	Minimum y value for pointcloud
[in]	min_z_range	Minimum z value for pointcloud
[in]	num_inds_for_scan	Number of indexes for scan(cumsum)

Captital variables never change after the compile

void apollo::perception::lidar::PreprocessPoints::InitializeVariables	(	int *	coor_to_pillaridx,
		float *	sparse_pillar_map,
		float *	pillar_point_feature,
		float *	pillar_coors
	)

Initializing variables for preprocessing.

Parameters

[in]	coor_to_pillaridx	Map for converting one set of coordinate to a pillar
[in]	sparse_pillar_map	Grid map representation for pillar-occupancy
[in]	pillar_point_feature	Values for features of points in each pillar
[in]	pillar_coors	Array for coors of pillars

Initializeing input arguments with certain values

void apollo::perception::lidar::PreprocessPoints::Preprocess	(	const float *	in_points_array,
		int	in_num_points,
		int *	x_coors,
		int *	y_coors,
		float *	num_points_per_pillar,
		float *	pillar_point_feature,
		float *	pillar_coors,
		float *	sparse_pillar_map,
		int *	host_pillar_count
	)

CPU preprocessing for input pointcloud.

Parameters

[in]	in_points_array	Pointcloud array
[in]	in_num_points	The number of points
[in]	x_coors	X-coordinate indexes for corresponding pillars
[in]	y_coors	Y-coordinate indexes for corresponding pillars
[in]	num_points_per_pillar	Number of points in corresponding pillars
[in]	pillar_point_feature	Values for features of points in each pillar
[in]	pillar_coors	Array for coors of pillars
[in]	sparse_pillar_map	Grid map representation for pillar-occupancy
[in]	host_pillar_count	The numnber of valid pillars for the input pointcloud

Convert pointcloud to pillar representation

friend class TestClass

friend

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

modules/perception/lidar/lib/detector/point_pillars_detection/preprocess_points.h