twod_threed_util.h File Reference

#include <algorithm>
#include <limits>
#include <utility>
#include "cyber/common/log.h"
#include "modules/perception/common/i_lib/core/i_constant.h"
#include "modules/perception/common/i_lib/geometry/i_line.h"
#include "modules/perception/common/i_lib/geometry/i_util.h"

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Classes
struct	apollo::perception::camera::LineSegment2D< T >

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

Functions
template<typename T >
T	apollo::perception::camera::CalAngleDiff (const T a1, const T a2)
template<typename T >
T	apollo::perception::camera::GetSharpAngle (const T &a, const T &b)
template<typename T >
T	apollo::perception::camera::GetJaccardIndex (const T *bbox_ref, const T &x_min, const T &y_min, const T &x_max, const T &y_max)
template<typename T >
void	apollo::perception::camera::GenRotMatrix (const T &ry, T *rot)
template<typename T >
void	apollo::perception::camera::GenCorners (T h, T w, T l, T *x_cor, T *y_cor, T *z_cor)
template<typename T >
bool	apollo::perception::camera::Occlude (const T *bbox1, const T &h1, const T *bbox2, const T &h2)
template<typename T >
void	apollo::perception::camera::GetBboxFromPts (const T *pts, const int &n, T *bbox)
template<typename T >
int	apollo::perception::camera::GetMinIndexVec (const T *vec, const int &n)
template<typename T >
T	apollo::perception::camera::GetScoreViaRotDimensionCenter (const T *k_mat, int width, int height, const T *bbox, const T *rot, const T *hwl, const T *location, const bool &check_truncation, T *bbox_res=nullptr, T *bbox_near=nullptr)
template<typename T >
bool	apollo::perception::camera::CheckXY (const T &x, const T &y, int width, int height)
template<typename T >
void	apollo::perception::camera::UpdateOffsetZ (T x_start, T z_start, T x_end, T z_end, const std::pair< T, T > &range, T *z_offset)
template<typename T >
void	apollo::perception::camera::GetDxDzForCenterFromGroundLineSeg (const LineSegment2D< T > &ls, const T *plane, const T *pts_c, const T *k_mat, int width, int height, T ratio_x_over_z, T *dx_dz, bool check_lowerbound=true)