common.h File Reference

#include <algorithm>
#include <limits>
#include <vector>
#include "Eigen/Core"
#include "modules/common/util/eigen_defs.h"
#include "modules/perception/base/box.h"
#include "modules/perception/base/point_cloud.h"

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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 >
bool	apollo::perception::common::IsPointXYInPolygon2DXY (const PointT &point, const base::PointCloud< PointT > &polygon)
template<typename PointT >
bool	apollo::perception::common::IsPointInBBox (const Eigen::Matrix< typename PointT::Type, 3, 1 > &gnd_c, const Eigen::Matrix< typename PointT::Type, 3, 1 > &dir_x, const Eigen::Matrix< typename PointT::Type, 3, 1 > &dir_y, const Eigen::Matrix< typename PointT::Type, 3, 1 > &dir_z, const Eigen::Matrix< typename PointT::Type, 3, 1 > &size, const PointT &point)
template<typename PointCloudT >
void	apollo::perception::common::CalculateBBoxSizeCenter2DXY (const PointCloudT &cloud, const Eigen::Vector3f &dir, Eigen::Vector3f *size, Eigen::Vector3d *center, float minimum_edge_length=std::numeric_limits< float >::epsilon())
template<typename Type >
void	apollo::perception::common::CalculateMostConsistentBBoxDir2DXY (const Eigen::Matrix< Type, 3, 1 > &prev_dir, Eigen::Matrix< Type, 3, 1 > *curr_dir)
template<typename Type >
Type	apollo::perception::common::CalculateIou2DXY (const Eigen::Matrix< Type, 3, 1 > &center0, const Eigen::Matrix< Type, 3, 1 > &size0, const Eigen::Matrix< Type, 3, 1 > &center1, const Eigen::Matrix< Type, 3, 1 > &size1)
template<typename Type >
Type	apollo::perception::common::CalculateIOUBBox (const base::BBox2D< Type > &box1, const base::BBox2D< Type > &box2)
template<typename PointT >
bool	apollo::perception::common::CalculateDistAndDirToSegs (const Eigen::Matrix< typename PointT::Type, 3, 1 > &pt, const base::PointCloud< PointT > &segs, typename PointT::Type *dist, Eigen::Matrix< typename PointT::Type, 3, 1 > *dir)
template<typename PointT >
void	apollo::perception::common::CalculateDistAndDirToBoundary (const Eigen::Matrix< typename PointT::Type, 3, 1 > &pt, const base::PointCloud< PointT > &left_boundary, const base::PointCloud< PointT > &right_boundary, typename PointT::Type *dist, Eigen::Matrix< typename PointT::Type, 3, 1 > *dir)
template<typename PointT >
void	apollo::perception::common::CalculateDistAndDirToBoundary (const Eigen::Matrix< typename PointT::Type, 3, 1 > &pt, const apollo::common::EigenVector< base::PointCloud< PointT >> &left_boundary, const apollo::common::EigenVector< base::PointCloud< PointT >> &right_boundary, typename PointT::Type *dist, Eigen::Matrix< typename PointT::Type, 3, 1 > *dir)