apollo::perception::lidar Namespace Reference

Namespaces
	util

Classes
class	AnchorMaskCuda
class	BaseBipartiteGraphMatcher
class	BaseClassifier
class	BaseGroundDetector
class	BaseLidarDetector
class	BaseLidarObstacleDetection
class	BaseLidarObstacleTracking
class	BaseMultiTargetTracker
class	BaseObjectFilter
class	BaseOneShotTypeFusion
class	BasePointCloudPreprocessor
class	BaseROIFilter
class	BaseSequenceTypeFusion
struct	BipartiteGraphMatcherInitOptions
struct	BipartiteGraphMatcherOptions
class	Bitmap2D
class	CCRFOneShotTypeFusion
class	CCRFSequenceTypeFusion
struct	ClassifierInitOptions
struct	ClassifierOptions
class	CloudMask
class	CNNSegmentation
class	DummyClassifier
class	DummyGroundDetector
class	DummyMultiTargetTracker
class	DummyObjectFilter
class	DummyROIFilter
class	DummySegmentation
struct	edge
class	FeatureDescriptor
class	FeatureGenerator
class	FloodFill
class	FusedClassifier
class	GnnBipartiteGraphMatcher
struct	GroundDetectorInitOptions
struct	GroundDetectorOptions
class	GroundGrid
struct	GroundNode
class	GroundService
class	GroundServiceContent
class	GroundServiceDetector
class	HdmapROIFilter
class	Image
struct	LidarDetectorInitOptions
struct	LidarDetectorOptions
struct	LidarFrame
struct	LidarFrameInitializer
class	LidarObstacleDetection
struct	LidarObstacleDetectionInitOptions
struct	LidarObstacleDetectionOptions
class	LidarObstacleTracking
struct	LidarObstacleTrackingInitOptions
struct	LidarObstacleTrackingOptions
struct	LidarProcessResult
class	Logger
class	LRClassifier
class	MapManager
struct	MapManagerInitOptions
struct	MapManagerOptions
class	MaskPillarsDetection
class	MatchCost
class	MlfBaseFilter
class	MlfEngine
struct	MlfFilterInitOptions
struct	MlfFilterOptions
class	MlfMotionFilter
class	MlfMotionMeasurement
class	MlfMotionRefiner
struct	MlfMotionRefinerInitOptions
struct	MlfMotionRefinerOptions
struct	MlfPredict
class	MlfShapeFilter
class	MlfTrackData
struct	MlfTrackDataInitializer
class	MlfTracker
struct	MlfTrackerInitOptions
class	MlfTrackObjectDistance
struct	MlfTrackObjectDistanceInitOptions
class	MlfTrackObjectMatcher
struct	MlfTrackObjectMatcherInitOptions
struct	MlfTrackObjectMatcherOptions
struct	MlfTrackOptions
class	MsgExporter
class	MultiHmBipartiteGraphMatcher
struct	MultiTargetTrackerInitOptions
struct	MultiTargetTrackerOptions
class	NCut
class	NCutSegmentation
class	NmsCuda
class	ObjectBuilder
struct	ObjectBuilderInitOptions
struct	ObjectBuilderOptions
class	ObjectFilterBank
struct	ObjectFilterInitOptions
struct	ObjectFilterOptions
class	ObjectSequence
class	Params
struct	PCLPointXYZIT
struct	PCLPointXYZL
class	PfeCuda
class	PointCloudPreprocessor
struct	PointCloudPreprocessorInitOptions
struct	PointCloudPreprocessorOptions
class	PointPillars
class	PointPillarsDetection
class	PolygonScanCvter
class	PostprocessCuda
class	PreprocessPoints
class	PreprocessPointsCuda
struct	rgb
class	ROIBoundaryFilter
struct	ROIFilterInitOptions
struct	ROIFilterOptions
class	ROIService
class	ROIServiceContent
class	ROIServiceFilter
class	ScatterCuda
class	SceneManager
struct	SceneManagerInitOptions
class	SceneService
class	SceneServiceContent
struct	SceneServiceInitOptions
class	SpatioTemporalGroundDetector
class	SppCCDetector
struct	SppCluster
struct	SppClusterInitializer
class	SppClusterList
struct	SppData
class	SppEngine
class	SppLabelImage
struct	SppParams
struct	SppPoint
class	Timer
class	TrackData
struct	TrackDataInitializer
struct	TrackedObject
struct	TrackedObjectInitializer
struct	TypeFusionInitOption
struct	TypeFusionOption
struct	uni_elt
class	Universe

Typedefs
typedef base::ConcurrentObjectPool< LidarFrame, kLidarFramePoolSize, LidarFrameInitializer >	LidarFramePool
typedef pcl::PointXYZRGB	CPoint
typedef pcl::PointCloud< CPoint >	CPointCloud
typedef pcl::PointCloud< CPoint >::Ptr	CPointCloudPtr
typedef pcl::PointCloud< CPoint >::ConstPtr	CPointCloudConstPtr
typedef Eigen::Matrix< double, VALID_OBJECT_TYPE, 1 >	Vectord
typedef Eigen::Matrix< int, VALID_OBJECT_TYPE, 1 >	Vectori
typedef Eigen::Matrix< double, VALID_OBJECT_TYPE, VALID_OBJECT_TYPE >	Matrixd
typedef std::shared_ptr< SppCluster >	SppClusterPtr
typedef std::shared_ptr< const SppCluster >	SppClusterConstPtr
typedef std::shared_ptr< SppLabelImage >	SppLabelImagePtr
typedef std::shared_ptr< const SppLabelImage >	SppLabelImageConstPtr
typedef base::LightObjectPool< SppCluster, kSppClusterPoolSize, SppClusterInitializer, base::SensorType::VELODYNE_64 >	SppClusterPool
typedef unsigned char	uchar
typedef std::shared_ptr< GroundServiceContent >	GroundServiceContentPtr
typedef std::shared_ptr< const GroundServiceContent >	GroundServiceContentConstPtr
typedef std::shared_ptr< GroundService >	GroundServicePtr
typedef std::shared_ptr< const GroundService >	GroundServiceConstPtr
typedef std::shared_ptr< ROIServiceContent >	ROIServiceContentPtr
typedef std::shared_ptr< const ROIServiceContent >	ROIServiceContentConstPtr
typedef std::shared_ptr< ROIService >	ROIServicePtr
typedef std::shared_ptr< const ROIService >	ROIServiceConstPtr
typedef std::shared_ptr< SceneServiceContent >	SceneServiceContentPtr
typedef std::shared_ptr< const SceneServiceContent >	SceneServiceContentConstPtr
typedef std::shared_ptr< SceneService >	SceneServicePtr
typedef std::shared_ptr< const SceneService >	SceneServiceConstPtr
typedef std::shared_ptr< MlfTrackData >	MlfTrackDataPtr
typedef std::shared_ptr< const MlfTrackData >	MlfTrackDataConstPtr
typedef std::shared_ptr< TrackData >	TrackDataPtr
typedef std::shared_ptr< const TrackData >	TrackDataConstPtr
typedef base::ConcurrentObjectPool< TrackedObject, kTrackedObjectPoolSize, TrackedObjectInitializer >	TrackedObjectPool
typedef base::ConcurrentObjectPool< TrackData, kTrackDataPoolSize, TrackDataInitializer >	TrackDataPool
typedef base::ConcurrentObjectPool< MlfTrackData, kTrackDataPoolSize, MlfTrackDataInitializer >	MlfTrackDataPool
typedef std::shared_ptr< TrackedObject >	TrackedObjectPtr
typedef std::shared_ptr< const TrackedObject >	TrackedObjectConstPtr

Enumerations
enum	LidarErrorCode {   LidarErrorCode::Succeed = 0, LidarErrorCode::InitError = 1, LidarErrorCode::PointCloudPreprocessorError = 2, LidarErrorCode::MapManagerError = 3,   LidarErrorCode::DetectionError = 4, LidarErrorCode::ObjectBuilderError = 5, LidarErrorCode::ObjectFilterError = 6, LidarErrorCode::ClassifierError = 7,   LidarErrorCode::TrackerError = 8 }
enum	LidarPointLabel {   LidarPointLabel::UNKNOWN = 0, LidarPointLabel::ROI = 1, LidarPointLabel::GROUND = 2, LidarPointLabel::OBJECT = 3,   LidarPointLabel::MAX_LABEL }
enum	{ VALID_OBJECT_TYPE = static_cast<int>(base::ObjectType::MAX_OBJECT_TYPE) - 2 }
enum	SppClassType {   SppClassType::OTHERS = 0, SppClassType::SMALLMOT = 1, SppClassType::BIGMOT = 2, SppClassType::CYCLIST = 3,   SppClassType::PEDESTRIAN = 4, SppClassType::CONE = 5, SppClassType::MAX_TYPE = 6 }
enum	MetaType {   MetaType::META_UNKNOWN = 0, MetaType::META_SMALLMOT = 1, MetaType::META_BIGMOT = 2, MetaType::META_NONMOT = 3,   MetaType::META_PEDESTRIAN = 4, MetaType::MAX_META_TYPE }
enum	MotionState { MotionState::STATIC = 0, MotionState::SKEPTICAL_MOVE = 1, MotionState::TRUSTED_MOVE = 2 }

Functions
void	GetBoundingBox2d (const std::shared_ptr< base::Object > &object, base::PointCloud< base::PointD > *box, double expand=0.0)
void	ComputeObjectShapeFromPolygon (std::shared_ptr< base::Object > object, bool use_world_cloud=false)
bool	LoadPCLPCD (const std::string &file_path, base::PointFCloud *cloud_out)
template<typename PointT >
void	TransformToPCLXYZI (const base::AttributePointCloud< PointT > &org_cloud, const pcl::PointCloud< pcl::PointXYZI >::Ptr &out_cloud_ptr)
void	TransformFromPCLXYZI (const pcl::PointCloud< pcl::PointXYZI >::Ptr &org_cloud_ptr, const base::PointFCloudPtr &out_cloud_ptr)
void	DownSampleCloudByVoxelGrid (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud_ptr, const pcl::PointCloud< pcl::PointXYZI >::Ptr &filtered_cloud_ptr, float lx=0.01f, float ly=0.01f, float lz=0.01f)
	PERCEPTION_REGISTER_REGISTERER (BaseOneShotTypeFusion)
	PERCEPTION_REGISTER_REGISTERER (BaseSequenceTypeFusion)
template<class T >
void	DisjointSetMakeSet (T *x)
template<class T >
T *	DisjointSetFindRecursive (T *x)
template<class T >
T *	DisjointSetFindLoop (T *x)
template<class T >
T *	DisjointSetFind (T *x)
template<class T >
void	DisjointSetMerge (T *x, const T *y)
template<class T >
void	DisjointSetUnion (T *x, T *y)
int	F2I (float val, float ori, float scale)
void	GroupPc2Pixel (float pc_x, float pc_y, float scale, float range, int *x, int *y)
int	Pc2Pixel (float in_pc, float in_range, float out_size)
float	Pixel2Pc (int in_pixel, float in_size, float out_range)
void	convolve_even (Image< float > *src, Image< float > *dst, const std::vector< float > &mask)
void	convolve_odd (Image< float > *src, Image< float > *dst, const std::vector< float > &mask)
void	normalize (std::vector< float > *mask_input)
	MAKE_FILTER (fgauss, exp(-0.5 *square(i/sigma)))
Image< float > *	smooth (Image< float > *src, float sigma)
Image< float > *	smooth (Image< uchar > *src, float sigma)
Image< float > *	laplacian (Image< float > *src)
Image< uchar > *	image_rgb2gray (Image< rgb > *input)
Image< rgb > *	image_gray2rgb (Image< uchar > *input)
Image< float > *	image_uchar2float (Image< uchar > *input)
Image< float > *	image_int2float (Image< int > *input)
Image< uchar > *	image_float2uchar (Image< float > *input, float min, float max)
Image< uchar > *	image_float2uchar (Image< float > *input)
Image< uint32_t > *	image_uchar2long (Image< uchar > *input)
Image< uchar > *	image_long2uchar (Image< uint32_t > *input, uint32_t min, uint32_t max)
Image< uchar > *	image_long2uchar (Image< uint32_t > *input)
Image< uchar > *	image_short2uchar (Image< uint16_t > *input, uint16_t min, uint16_t max)
Image< uchar > *	image_short2uchar (Image< uint16_t > *input)
template<class T >
void	min_max (Image< T > *im, T *ret_min, T *ret_max)
template<class T >
Image< uchar > *	threshold (Image< T > *src, int t)
bool	operator== (const rgb &a, const rgb &b)
template<class T >
T	abs (const T &x)
template<class T >
int	sign (const T &x)
template<class T >
T	square (const T &x)
template<class T >
T	bound (const T &x, const T &min, const T &max)
template<class T >
bool	check_bound (const T &x, const T &min, const T &max)
int	vlib_round (float x)
int	vlib_round (double x)
double	gaussian (double val, double sigma)
bool	operator< (const edge &a, const edge &b)
Universe *	segment_graph (int num_vertices, int num_edges, edge *edges, float c)
float	diff (Image< float > *I, int x1, int y1, int x2, int y2)
Image< int > *	segment_image (Image< float > *im, float sigma, float c, int min_size, int *num_ccs)
void	GPUAssert (cudaError_t code, const char *file, int line, bool abort=true)
	PERCEPTION_REGISTER_REGISTERER (BaseBipartiteGraphMatcher)
	PERCEPTION_REGISTER_REGISTERER (BaseClassifier)
	PERCEPTION_REGISTER_REGISTERER (BaseGroundDetector)
	PERCEPTION_REGISTER_REGISTERER (BaseLidarDetector)
	PERCEPTION_REGISTER_REGISTERER (BaseLidarObstacleDetection)
	PERCEPTION_REGISTER_REGISTERER (BaseLidarObstacleTracking)
	PERCEPTION_REGISTER_REGISTERER (BaseMultiTargetTracker)
	PERCEPTION_REGISTER_REGISTERER (BaseObjectFilter)
	PERCEPTION_REGISTER_REGISTERER (BasePointCloudPreprocessor)
	PERCEPTION_REGISTER_REGISTERER (BaseROIFilter)
template<typename T >
bool	DrawPolygonMask (const typename PolygonScanCvter< T >::Polygon &polygon, Bitmap2D *bitmap, const double extend_dist=0.0, const bool no_edge_table=false)
template<typename T >
bool	DrawPolygonsMask (const std::vector< typename PolygonScanCvter< T >::Polygon > &polygons, Bitmap2D *bitmap, const double extend_dist=0.0, const bool no_edge_table=false)
	PERCEPTION_REGISTER_REGISTERER (SceneServiceContent)
	PERCEPTION_REGISTER_REGISTERER (SceneService)
float	LocationDistance (const TrackedObjectConstPtr &last_object, const Eigen::VectorXf &track_predict, const TrackedObjectConstPtr &new_object, const double time_diff)
float	DirectionDistance (const TrackedObjectConstPtr &last_object, const Eigen::VectorXf &track_predict, const TrackedObjectConstPtr &new_object, const double time_diff)
float	BboxSizeDistance (const TrackedObjectConstPtr &last_object, const Eigen::VectorXf &track_predict, const TrackedObjectConstPtr &new_object, const double time_diff)
float	PointNumDistance (const TrackedObjectConstPtr &last_object, const Eigen::VectorXf &track_predict, const TrackedObjectConstPtr &new_object, const double time_diff)
float	HistogramDistance (const TrackedObjectConstPtr &last_object, const Eigen::VectorXf &track_predict, const TrackedObjectConstPtr &new_object, const double time_diff)
float	CentroidShiftDistance (const TrackedObjectConstPtr &last_object, const Eigen::VectorXf &track_predict, const TrackedObjectConstPtr &cur_obj, const double time_diff)
float	BboxIouDistance (const TrackedObjectConstPtr &last_object, const Eigen::VectorXf &track_predict, const TrackedObjectConstPtr &cur_obj, const double time_diff, double match_threshold)
void	MeasureAnchorPointVelocity (TrackedObjectPtr new_object, const TrackedObjectConstPtr &old_object, const double &time_diff)
void	MeasureBboxCenterVelocity (TrackedObjectPtr new_object, const TrackedObjectConstPtr &old_object, const double &time_diff)
void	MeasureBboxCornerVelocity (TrackedObjectPtr new_object, const TrackedObjectConstPtr &old_object, const double &time_diff)
	PERCEPTION_REGISTER_REGISTERER (MlfBaseFilter)

Variables
struct apollo::perception::lidar::PCLPointXYZIT	EIGEN_ALIGN16
const double	kPI = 3.1415926535897932384626433832795
const double	WIDTH = 4.0
const double	RED_WEIGHT = 0.299
const double	GREEN_WEIGHT = 0.587
const double	BLUE_WEIGHT = 0.114

Typedef Documentation

CPoint

typedef pcl::PointXYZRGB apollo::perception::lidar::CPoint

CPointCloud

typedef pcl::PointCloud<CPoint> apollo::perception::lidar::CPointCloud

CPointCloudConstPtr

typedef pcl::PointCloud<CPoint>::ConstPtr apollo::perception::lidar::CPointCloudConstPtr

CPointCloudPtr

typedef pcl::PointCloud<CPoint>::Ptr apollo::perception::lidar::CPointCloudPtr

GroundServiceConstPtr

typedef std::shared_ptr<const GroundService> apollo::perception::lidar::GroundServiceConstPtr

GroundServiceContentConstPtr

typedef std::shared_ptr<const GroundServiceContent> apollo::perception::lidar::GroundServiceContentConstPtr

GroundServiceContentPtr

typedef std::shared_ptr<GroundServiceContent> apollo::perception::lidar::GroundServiceContentPtr

GroundServicePtr

typedef std::shared_ptr<GroundService> apollo::perception::lidar::GroundServicePtr

LidarFramePool

typedef base::ConcurrentObjectPool<LidarFrame, kLidarFramePoolSize, LidarFrameInitializer> apollo::perception::lidar::LidarFramePool

Matrixd

typedef Eigen::Matrix<double, VALID_OBJECT_TYPE, VALID_OBJECT_TYPE> apollo::perception::lidar::Matrixd

MlfTrackDataConstPtr

typedef std::shared_ptr<const MlfTrackData> apollo::perception::lidar::MlfTrackDataConstPtr

MlfTrackDataPool

typedef base::ConcurrentObjectPool<MlfTrackData, kTrackDataPoolSize, MlfTrackDataInitializer> apollo::perception::lidar::MlfTrackDataPool

MlfTrackDataPtr

typedef std::shared_ptr<MlfTrackData> apollo::perception::lidar::MlfTrackDataPtr

ROIServiceConstPtr

typedef std::shared_ptr<const ROIService> apollo::perception::lidar::ROIServiceConstPtr

ROIServiceContentConstPtr

typedef std::shared_ptr<const ROIServiceContent> apollo::perception::lidar::ROIServiceContentConstPtr

ROIServiceContentPtr

typedef std::shared_ptr<ROIServiceContent> apollo::perception::lidar::ROIServiceContentPtr

ROIServicePtr

typedef std::shared_ptr<ROIService> apollo::perception::lidar::ROIServicePtr

SceneServiceConstPtr

typedef std::shared_ptr<const SceneService> apollo::perception::lidar::SceneServiceConstPtr

SceneServiceContentConstPtr

typedef std::shared_ptr<const SceneServiceContent> apollo::perception::lidar::SceneServiceContentConstPtr

SceneServiceContentPtr

typedef std::shared_ptr<SceneServiceContent> apollo::perception::lidar::SceneServiceContentPtr

SceneServicePtr

typedef std::shared_ptr<SceneService> apollo::perception::lidar::SceneServicePtr

SppClusterConstPtr

typedef std::shared_ptr<const SppCluster> apollo::perception::lidar::SppClusterConstPtr

SppClusterPool

typedef base::LightObjectPool<SppCluster, kSppClusterPoolSize, SppClusterInitializer, base::SensorType::VELODYNE_64> apollo::perception::lidar::SppClusterPool

SppClusterPtr

typedef std::shared_ptr<SppCluster> apollo::perception::lidar::SppClusterPtr

SppLabelImageConstPtr

typedef std::shared_ptr<const SppLabelImage> apollo::perception::lidar::SppLabelImageConstPtr

SppLabelImagePtr

typedef std::shared_ptr<SppLabelImage> apollo::perception::lidar::SppLabelImagePtr

TrackDataConstPtr

typedef std::shared_ptr<const TrackData> apollo::perception::lidar::TrackDataConstPtr

TrackDataPool

typedef base::ConcurrentObjectPool<TrackData, kTrackDataPoolSize, TrackDataInitializer> apollo::perception::lidar::TrackDataPool

TrackDataPtr

typedef std::shared_ptr<TrackData> apollo::perception::lidar::TrackDataPtr

TrackedObjectConstPtr

typedef std::shared_ptr<const TrackedObject> apollo::perception::lidar::TrackedObjectConstPtr

TrackedObjectPool

typedef base::ConcurrentObjectPool<TrackedObject, kTrackedObjectPoolSize, TrackedObjectInitializer> apollo::perception::lidar::TrackedObjectPool

TrackedObjectPtr

typedef std::shared_ptr<TrackedObject> apollo::perception::lidar::TrackedObjectPtr

uchar

typedef unsigned char apollo::perception::lidar::uchar

Vectord

typedef Eigen::Matrix<double, VALID_OBJECT_TYPE, 1> apollo::perception::lidar::Vectord

Vectori

typedef Eigen::Matrix<int, VALID_OBJECT_TYPE, 1> apollo::perception::lidar::Vectori

Enumeration Type Documentation

anonymous enum

anonymous enum

Enumerator
VALID_OBJECT_TYPE

LidarErrorCode

enum apollo::perception::lidar::LidarErrorCode

strong

Enumerator
Succeed
InitError
PointCloudPreprocessorError
MapManagerError
DetectionError
ObjectBuilderError
ObjectFilterError
ClassifierError
TrackerError

LidarPointLabel

enum apollo::perception::lidar::LidarPointLabel

strong

Enumerator
UNKNOWN
ROI
GROUND
OBJECT
MAX_LABEL

MetaType

enum apollo::perception::lidar::MetaType

strong

Enumerator
META_UNKNOWN
META_SMALLMOT
META_BIGMOT
META_NONMOT
META_PEDESTRIAN
MAX_META_TYPE

MotionState

enum apollo::perception::lidar::MotionState

strong

Enumerator
STATIC
SKEPTICAL_MOVE
TRUSTED_MOVE

SppClassType

enum apollo::perception::lidar::SppClassType

strong

Enumerator
OTHERS
SMALLMOT
BIGMOT
CYCLIST
PEDESTRIAN
CONE
MAX_TYPE

Function Documentation

abs()

template<class T >

T apollo::perception::lidar::abs ( const T &  x )

inline

BboxIouDistance()

float apollo::perception::lidar::BboxIouDistance	(	const TrackedObjectConstPtr &	last_object,
		const Eigen::VectorXf &	track_predict,
		const TrackedObjectConstPtr &	cur_obj,
		const double	time_diff,
		double	match_threshold
	)

BboxSizeDistance()

float apollo::perception::lidar::BboxSizeDistance	(	const TrackedObjectConstPtr &	last_object,
		const Eigen::VectorXf &	track_predict,
		const TrackedObjectConstPtr &	new_object,
		const double	time_diff
	)

bound()

template<class T >

T apollo::perception::lidar::bound ( const T &  x, const T &  min, const T &  max  )

inline

CentroidShiftDistance()

float apollo::perception::lidar::CentroidShiftDistance	(	const TrackedObjectConstPtr &	last_object,
		const Eigen::VectorXf &	track_predict,
		const TrackedObjectConstPtr &	cur_obj,
		const double	time_diff
	)

check_bound()

template<class T >

bool apollo::perception::lidar::check_bound ( const T &  x, const T &  min, const T &  max  )

inline

ComputeObjectShapeFromPolygon()

void apollo::perception::lidar::ComputeObjectShapeFromPolygon	(	std::shared_ptr< base::Object >	object,
		bool	use_world_cloud = false
	)

convolve_even()

void apollo::perception::lidar::convolve_even	(	Image< float > *	src,
		Image< float > *	dst,
		const std::vector< float > &	mask
	)

convolve_odd()

void apollo::perception::lidar::convolve_odd	(	Image< float > *	src,
		Image< float > *	dst,
		const std::vector< float > &	mask
	)

diff()

float apollo::perception::lidar::diff ( Image< float > *  I, int  x1, int  y1, int  x2, int  y2  )

inline

DirectionDistance()

float apollo::perception::lidar::DirectionDistance	(	const TrackedObjectConstPtr &	last_object,
		const Eigen::VectorXf &	track_predict,
		const TrackedObjectConstPtr &	new_object,
		const double	time_diff
	)

DisjointSetFind()

template<class T >

T* apollo::perception::lidar::DisjointSetFind

(

T *

x

)

DisjointSetFindLoop()

template<class T >

T* apollo::perception::lidar::DisjointSetFindLoop

(

T *

x

)

DisjointSetFindRecursive()

template<class T >

T* apollo::perception::lidar::DisjointSetFindRecursive

(

T *

x

)

DisjointSetMakeSet()

template<class T >

void apollo::perception::lidar::DisjointSetMakeSet

(

T *

x

)

DisjointSetMerge()

template<class T >

void apollo::perception::lidar::DisjointSetMerge	(	T *	x,
		const T *	y
	)

DisjointSetUnion()

template<class T >

void apollo::perception::lidar::DisjointSetUnion	(	T *	x,
		T *	y
	)

DownSampleCloudByVoxelGrid()

void apollo::perception::lidar::DownSampleCloudByVoxelGrid ( const pcl::PointCloud< pcl::PointXYZI >::Ptr &  cloud_ptr, const pcl::PointCloud< pcl::PointXYZI >::Ptr &  filtered_cloud_ptr, float  lx = 0.01f, float  ly = 0.01f, float  lz = 0.01f  )

inline

DrawPolygonMask()

template<typename T >

bool apollo::perception::lidar::DrawPolygonMask	(	const typename PolygonScanCvter< T >::Polygon &	polygon,
		Bitmap2D *	bitmap,
		const double	extend_dist = 0.0,
		const bool	no_edge_table = false
	)

DrawPolygonsMask()

template<typename T >

bool apollo::perception::lidar::DrawPolygonsMask	(	const std::vector< typename PolygonScanCvter< T >::Polygon > &	polygons,
		Bitmap2D *	bitmap,
		const double	extend_dist = 0.0,
		const bool	no_edge_table = false
	)

F2I()

int apollo::perception::lidar::F2I ( float  val, float  ori, float  scale  )

inline

gaussian()

double apollo::perception::lidar::gaussian ( double  val, double  sigma  )

inline

GetBoundingBox2d()

void apollo::perception::lidar::GetBoundingBox2d	(	const std::shared_ptr< base::Object > &	object,
		base::PointCloud< base::PointD > *	box,
		double	expand = 0.0
	)

GPUAssert()

void apollo::perception::lidar::GPUAssert ( cudaError_t  code, const char *  file, int  line, bool  abort = true  )

inline

GroupPc2Pixel()

void apollo::perception::lidar::GroupPc2Pixel ( float  pc_x, float  pc_y, float  scale, float  range, int *  x, int *  y  )

inline

HistogramDistance()

float apollo::perception::lidar::HistogramDistance	(	const TrackedObjectConstPtr &	last_object,
		const Eigen::VectorXf &	track_predict,
		const TrackedObjectConstPtr &	new_object,
		const double	time_diff
	)

image_float2uchar() [1/2]

Image<uchar>* apollo::perception::lidar::image_float2uchar	(	Image< float > *	input,
		float	min,
		float	max
	)

image_float2uchar() [2/2]

Image<uchar>* apollo::perception::lidar::image_float2uchar

(

Image< float > *

input

)

image_gray2rgb()

Image<rgb>* apollo::perception::lidar::image_gray2rgb

(

Image< uchar > *

input

)

image_int2float()

Image<float>* apollo::perception::lidar::image_int2float

(

Image< int > *

input

)

image_long2uchar() [1/2]

Image<uchar>* apollo::perception::lidar::image_long2uchar	(	Image< uint32_t > *	input,
		uint32_t	min,
		uint32_t	max
	)

image_long2uchar() [2/2]

Image<uchar>* apollo::perception::lidar::image_long2uchar

(

Image< uint32_t > *

input

)

image_rgb2gray()

Image<uchar>* apollo::perception::lidar::image_rgb2gray

(

Image< rgb > *

input

)

image_short2uchar() [1/2]

Image<uchar>* apollo::perception::lidar::image_short2uchar	(	Image< uint16_t > *	input,
		uint16_t	min,
		uint16_t	max
	)

image_short2uchar() [2/2]

Image<uchar>* apollo::perception::lidar::image_short2uchar

(

Image< uint16_t > *

input

)

image_uchar2float()

Image<float>* apollo::perception::lidar::image_uchar2float

(

Image< uchar > *

input

)

image_uchar2long()

Image<uint32_t>* apollo::perception::lidar::image_uchar2long

(

Image< uchar > *

input

)

laplacian()

Image<float>* apollo::perception::lidar::laplacian

(

Image< float > *

src

)

LoadPCLPCD()

bool apollo::perception::lidar::LoadPCLPCD ( const std::string &  file_path, base::PointFCloud *  cloud_out  )

inline

LocationDistance()

float apollo::perception::lidar::LocationDistance	(	const TrackedObjectConstPtr &	last_object,
		const Eigen::VectorXf &	track_predict,
		const TrackedObjectConstPtr &	new_object,
		const double	time_diff
	)

MAKE_FILTER()

apollo::perception::lidar::MAKE_FILTER	(	fgauss	,
		exp(-0.5 *square(i/sigma))
	)

MeasureAnchorPointVelocity()

void apollo::perception::lidar::MeasureAnchorPointVelocity	(	TrackedObjectPtr	new_object,
		const TrackedObjectConstPtr &	old_object,
		const double &	time_diff
	)

MeasureBboxCenterVelocity()

void apollo::perception::lidar::MeasureBboxCenterVelocity	(	TrackedObjectPtr	new_object,
		const TrackedObjectConstPtr &	old_object,
		const double &	time_diff
	)

MeasureBboxCornerVelocity()

void apollo::perception::lidar::MeasureBboxCornerVelocity	(	TrackedObjectPtr	new_object,
		const TrackedObjectConstPtr &	old_object,
		const double &	time_diff
	)

min_max()

template<class T >

void apollo::perception::lidar::min_max	(	Image< T > *	im,
		T *	ret_min,
		T *	ret_max
	)

normalize()

void apollo::perception::lidar::normalize

(

std::vector< float > *

mask_input

)

operator<()

bool apollo::perception::lidar::operator<	(	const edge &	a,
		const edge &	b
	)

operator==()

bool apollo::perception::lidar::operator== ( const rgb &  a, const rgb &  b  )

inline

Pc2Pixel()

int apollo::perception::lidar::Pc2Pixel ( float  in_pc, float  in_range, float  out_size  )

inline

PERCEPTION_REGISTER_REGISTERER() [1/15]

apollo::perception::lidar::PERCEPTION_REGISTER_REGISTERER

(

BaseOneShotTypeFusion

)

PERCEPTION_REGISTER_REGISTERER() [2/15]

apollo::perception::lidar::PERCEPTION_REGISTER_REGISTERER

(

SceneServiceContent

)

PERCEPTION_REGISTER_REGISTERER() [3/15]

apollo::perception::lidar::PERCEPTION_REGISTER_REGISTERER

(

BaseMultiTargetTracker

)

PERCEPTION_REGISTER_REGISTERER() [4/15]

apollo::perception::lidar::PERCEPTION_REGISTER_REGISTERER

(

BaseClassifier

)

PERCEPTION_REGISTER_REGISTERER() [5/15]

apollo::perception::lidar::PERCEPTION_REGISTER_REGISTERER

(

BaseROIFilter

)

PERCEPTION_REGISTER_REGISTERER() [6/15]

apollo::perception::lidar::PERCEPTION_REGISTER_REGISTERER

(

BaseGroundDetector

)

PERCEPTION_REGISTER_REGISTERER() [7/15]

apollo::perception::lidar::PERCEPTION_REGISTER_REGISTERER

(

BaseSequenceTypeFusion

)

PERCEPTION_REGISTER_REGISTERER() [8/15]

apollo::perception::lidar::PERCEPTION_REGISTER_REGISTERER

(

BaseObjectFilter

)

PERCEPTION_REGISTER_REGISTERER() [9/15]

apollo::perception::lidar::PERCEPTION_REGISTER_REGISTERER

(

BaseLidarDetector

)

PERCEPTION_REGISTER_REGISTERER() [10/15]

apollo::perception::lidar::PERCEPTION_REGISTER_REGISTERER

(

BaseLidarObstacleTracking

)

PERCEPTION_REGISTER_REGISTERER() [11/15]

apollo::perception::lidar::PERCEPTION_REGISTER_REGISTERER

(

MlfBaseFilter

)

PERCEPTION_REGISTER_REGISTERER() [12/15]

apollo::perception::lidar::PERCEPTION_REGISTER_REGISTERER

(

BaseBipartiteGraphMatcher

)

PERCEPTION_REGISTER_REGISTERER() [13/15]

apollo::perception::lidar::PERCEPTION_REGISTER_REGISTERER

(

BaseLidarObstacleDetection

)

PERCEPTION_REGISTER_REGISTERER() [14/15]

apollo::perception::lidar::PERCEPTION_REGISTER_REGISTERER

(

BasePointCloudPreprocessor

)

PERCEPTION_REGISTER_REGISTERER() [15/15]

apollo::perception::lidar::PERCEPTION_REGISTER_REGISTERER

(

SceneService

)

Pixel2Pc()

float apollo::perception::lidar::Pixel2Pc ( int  in_pixel, float  in_size, float  out_range  )

inline

PointNumDistance()

float apollo::perception::lidar::PointNumDistance	(	const TrackedObjectConstPtr &	last_object,
		const Eigen::VectorXf &	track_predict,
		const TrackedObjectConstPtr &	new_object,
		const double	time_diff
	)

segment_graph()

Universe* apollo::perception::lidar::segment_graph	(	int	num_vertices,
		int	num_edges,
		edge *	edges,
		float	c
	)

segment_image()

Image<int>* apollo::perception::lidar::segment_image	(	Image< float > *	im,
		float	sigma,
		float	c,
		int	min_size,
		int *	num_ccs
	)

sign()

template<class T >

int apollo::perception::lidar::sign ( const T &  x )

inline

smooth() [1/2]

Image<float>* apollo::perception::lidar::smooth	(	Image< float > *	src,
		float	sigma
	)

smooth() [2/2]

Image<float>* apollo::perception::lidar::smooth	(	Image< uchar > *	src,
		float	sigma
	)

square()

template<class T >

T apollo::perception::lidar::square ( const T &  x )

inline

threshold()

template<class T >

Image<uchar>* apollo::perception::lidar::threshold	(	Image< T > *	src,
		int	t
	)

TransformFromPCLXYZI()

void apollo::perception::lidar::TransformFromPCLXYZI ( const pcl::PointCloud< pcl::PointXYZI >::Ptr &  org_cloud_ptr, const base::PointFCloudPtr &  out_cloud_ptr  )

inline

TransformToPCLXYZI()

template<typename PointT >

void apollo::perception::lidar::TransformToPCLXYZI ( const base::AttributePointCloud< PointT > &  org_cloud, const pcl::PointCloud< pcl::PointXYZI >::Ptr &  out_cloud_ptr  )

inline

vlib_round() [1/2]

int apollo::perception::lidar::vlib_round ( float  x )

inline

vlib_round() [2/2]

int apollo::perception::lidar::vlib_round ( double  x )

inline

Variable Documentation

BLUE_WEIGHT

const double apollo::perception::lidar::BLUE_WEIGHT = 0.114

EIGEN_ALIGN16

struct apollo::perception::lidar::TrackedObject apollo::perception::lidar::EIGEN_ALIGN16

GREEN_WEIGHT

const double apollo::perception::lidar::GREEN_WEIGHT = 0.587

kPI

const double apollo::perception::lidar::kPI = 3.1415926535897932384626433832795

RED_WEIGHT

const double apollo::perception::lidar::RED_WEIGHT = 0.299

WIDTH

const double apollo::perception::lidar::WIDTH = 4.0