apollo::localization::msf::velodyne Namespace Reference

Classes
struct	PointXYZIRT
struct	PointXYZIRTd
struct	PointXYZIT
struct	PointXYZITd
struct	VelodyneFrame

Functions
void	LoadPcds (const std::string &file_path, const unsigned int frame_index, const Eigen::Affine3d &pose, VelodyneFrame *velodyne_frame, const bool is_global=false)
void	LoadPcds (const std::string &file_path, const unsigned int frame_index, const Eigen::Affine3d &pose, ::apollo::common::EigenVector3dVec *pt3ds, std::vector< unsigned char > *intensities, bool is_global=false)
void	LoadPcdPoses (const std::string &file_path, ::apollo::common::EigenAffine3dVec *poses, std::vector< double > *timestamps)
	Load the PCD poses with their timestamps. More...
void	LoadPcdPoses (const std::string &file_path, ::apollo::common::EigenAffine3dVec *poses, std::vector< double > *timestamps, std::vector< unsigned int > *pcd_indices)
	Load the PCD poses with their timestamps and indices. More...
void	LoadPosesAndStds (const std::string &file_path, ::apollo::common::EigenAffine3dVec *poses, ::apollo::common::EigenVector3dVec *stds, std::vector< double > *timestamps)
	Load poses and stds their timestamps. More...
bool	LoadExtrinsic (const std::string &file_path, Eigen::Affine3d *extrinsic)
	Save the PCD poses with their timestamps. More...

Variables
struct apollo::localization::msf::velodyne::PointXYZIRT	EIGEN_ALIGN16

Function Documentation

LoadExtrinsic()

bool apollo::localization::msf::velodyne::LoadExtrinsic	(	const std::string &	file_path,
		Eigen::Affine3d *	extrinsic
	)

Save the PCD poses with their timestamps.

Load the velodyne extrinsic from a YAML file.

LoadPcdPoses() [1/2]

void apollo::localization::msf::velodyne::LoadPcdPoses	(	const std::string &	file_path,
		::apollo::common::EigenAffine3dVec *	poses,
		std::vector< double > *	timestamps
	)

Load the PCD poses with their timestamps.

LoadPcdPoses() [2/2]

void apollo::localization::msf::velodyne::LoadPcdPoses	(	const std::string &	file_path,
		::apollo::common::EigenAffine3dVec *	poses,
		std::vector< double > *	timestamps,
		std::vector< unsigned int > *	pcd_indices
	)

Load the PCD poses with their timestamps and indices.

LoadPcds() [1/2]

void apollo::localization::msf::velodyne::LoadPcds	(	const std::string &	file_path,
		const unsigned int	frame_index,
		const Eigen::Affine3d &	pose,
		VelodyneFrame *	velodyne_frame,
		const bool	is_global = false
	)

LoadPcds() [2/2]

void apollo::localization::msf::velodyne::LoadPcds	(	const std::string &	file_path,
		const unsigned int	frame_index,
		const Eigen::Affine3d &	pose,
		::apollo::common::EigenVector3dVec *	pt3ds,
		std::vector< unsigned char > *	intensities,
		bool	is_global = false
	)

LoadPosesAndStds()

void apollo::localization::msf::velodyne::LoadPosesAndStds	(	const std::string &	file_path,
		::apollo::common::EigenAffine3dVec *	poses,
		::apollo::common::EigenVector3dVec *	stds,
		std::vector< double > *	timestamps
	)

Load poses and stds their timestamps.

Variable Documentation

EIGEN_ALIGN16

struct apollo::localization::msf::velodyne::PointXYZITd apollo::localization::msf::velodyne::EIGEN_ALIGN16