velodyne_utility.h File Reference

The utilities of velodyne. More...

#include <string>
#include <vector>
#include "Eigen/Geometry"
#include "modules/common/util/eigen_defs.h"

Include dependency graph for velodyne_utility.h:

Go to the source code of this file.

Classes
struct	apollo::localization::msf::velodyne::VelodyneFrame

Namespaces
	apollo
	PlanningContext is the runtime context in planning. It is persistent across multiple frames.
	apollo::localization
	apollo::localization
	apollo::localization::msf
	apollo::localization::msf
	apollo::localization::msf::velodyne

Functions
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)
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)
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. More...
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. More...
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. More...
bool	apollo::localization::msf::velodyne::LoadExtrinsic (const std::string &file_path, Eigen::Affine3d *extrinsic)
	Save the PCD poses with their timestamps. More...

Detailed Description

The utilities of velodyne.