#include <lidar_frame.h>

Collaboration diagram for apollo::perception::lidar::LidarFrame:

Public Member Functions
void	Reset ()

void	FilterPointCloud (base::PointCloud< base::PointF > *filtered_cloud, const std::vector< uint32_t > &indices)

Public Attributes
std::shared_ptr< base::AttributePointCloud< base::PointF > >	cloud

std::shared_ptr< base::AttributePointCloud< base::PointD > >	world_cloud

double	timestamp = 0.0

Eigen::Affine3d	lidar2world_pose = Eigen::Affine3d::Identity()

std::shared_ptr< base::HdmapStruct >	hdmap_struct = nullptr

std::vector< std::shared_ptr< base::Object > >	segmented_objects

std::vector< std::shared_ptr< base::Object > >	tracked_objects

base::PointIndices	roi_indices

base::PointIndices	non_ground_indices

base::PointIndices	secondary_indices

base::SensorInfo	sensor_info

std::string	reserve

Member Function Documentation

◆ FilterPointCloud()

void apollo::perception::lidar::LidarFrame::FilterPointCloud	(	base::PointCloud< base::PointF > *	filtered_cloud,
		const std::vector< uint32_t > &	indices
	)

inline

◆ Reset()

void apollo::perception::lidar::LidarFrame::Reset ( )

inline

Member Data Documentation

◆ cloud

std::shared_ptr<base::AttributePointCloud<base::PointF> > apollo::perception::lidar::LidarFrame::cloud

◆ hdmap_struct

std::shared_ptr<base::HdmapStruct> apollo::perception::lidar::LidarFrame::hdmap_struct = nullptr

◆ lidar2world_pose

Eigen::Affine3d apollo::perception::lidar::LidarFrame::lidar2world_pose = Eigen::Affine3d::Identity()

◆ non_ground_indices

base::PointIndices apollo::perception::lidar::LidarFrame::non_ground_indices

◆ reserve

std::string apollo::perception::lidar::LidarFrame::reserve

◆ roi_indices

base::PointIndices apollo::perception::lidar::LidarFrame::roi_indices

◆ secondary_indices

base::PointIndices apollo::perception::lidar::LidarFrame::secondary_indices

◆ segmented_objects

std::vector<std::shared_ptr<base::Object> > apollo::perception::lidar::LidarFrame::segmented_objects

◆ sensor_info

base::SensorInfo apollo::perception::lidar::LidarFrame::sensor_info

◆ timestamp

double apollo::perception::lidar::LidarFrame::timestamp = 0.0

◆ tracked_objects

std::vector<std::shared_ptr<base::Object> > apollo::perception::lidar::LidarFrame::tracked_objects

◆ world_cloud

std::shared_ptr<base::AttributePointCloud<base::PointD> > apollo::perception::lidar::LidarFrame::world_cloud

The documentation for this struct was generated from the following file:

modules/perception/lidar/common/lidar_frame.h

Public Member Functions

Public Attributes