downsampling.h File Reference

#include <memory>
#include <utility>
#include <vector>
#include "cyber/common/log.h"
#include "modules/perception/base/point_cloud.h"
#include "modules/perception/common/geometry/basic.h"

Include dependency graph for downsampling.h:

Go to the source code of this file.

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

Functions
template<typename PointT >
void	apollo::perception::common::DownsamplingCircular (const PointT &center_pt, float radius, float neighbour_dist, typename std::shared_ptr< const base::PointCloud< PointT >> cloud, typename std::shared_ptr< base::PointCloud< PointT >> down_cloud)
template<typename PointT >
void	apollo::perception::common::DownsamplingCircularOrgAll (const PointT &center_pt, int smp_ratio, float radius, int velodyne_model, typename std::shared_ptr< const base::PointCloud< PointT >> cloud, typename std::shared_ptr< base::PointCloud< PointT >> down_cloud)
template<typename PointT >
void	apollo::perception::common::DownsamplingCircularOrgPartial (const PointT &center_pt, int org_num, int smp_ratio, float radius, int velodyne_model, const typename std::shared_ptr< const base::PointCloud< PointT >> cloud, typename std::shared_ptr< base::PointCloud< PointT >> down_cloud, std::vector< std::pair< int, int >> *all_org_idx_ptr)
template<typename PointT >
void	apollo::perception::common::DownsamplingRectangleOrgPartial (int org_num, int smp_ratio, float front_range, float side_range, int velodyne_model, typename std::shared_ptr< const base::PointCloud< PointT >> cloud, typename std::shared_ptr< base::PointCloud< PointT >> down_cloud, std::vector< std::pair< int, int >> *all_org_idx_ptr)
template<typename PointT >
void	apollo::perception::common::DownsamplingRectangleNeighbour (float front_range, float side_range, double max_nei, int velo_model, typename std::shared_ptr< const base::PointCloud< PointT >> cloud, typename std::shared_ptr< base::PointCloud< PointT >> down_cloud)