#include <cipv_camera.h>
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| | Cipv (void) |
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| virtual | ~Cipv (void) |
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| virtual bool | Init (const Eigen::Matrix3d &homography_im2car, const float min_laneline_length_for_cipv=kMinLaneLineLengthForCIPV, const float average_lane_width_in_meter=kAverageLaneWidthInMeter, const float max_vehicle_width_in_meter=kMaxVehicleWidthInMeter, const float average_frame_rate=kAverageFrameRate, const bool image_based_cipv=false, const int debug_level=0) |
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| virtual std::string | Name () const |
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| bool | DetermineCipv (const std::vector< base::LaneLine > &lane_objects, const CipvOptions &options, const Eigen::Affine3d &world2camera, std::vector< std::shared_ptr< base::Object >> *objects) |
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| bool | CollectDrops (const base::MotionBufferPtr &motion_buffer, const Eigen::Affine3d &world2camera, std::vector< std::shared_ptr< base::Object >> *objects) |
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| static float | VehicleDynamics (const uint32_t tick, const float yaw_rate, const float velocity, const float time_unit, float *x, float *y) |
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| static float | VehicleDynamics (const uint32_t tick, const float yaw_rate, const float velocity, const float time_unit, const float vehicle_half_width, float *center_x, float *ceneter_y, float *left_x, float *left_y, float *right_x, float *right_y) |
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| static bool | MakeVirtualEgoLaneFromYawRate (const float yaw_rate, const float velocity, const float offset_distance, LaneLineSimple *left_lane_line, LaneLineSimple *right_lane_line) |
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◆ Cipv()
| apollo::perception::Cipv::Cipv |
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void |
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◆ ~Cipv()
| virtual apollo::perception::Cipv::~Cipv |
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void |
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◆ CollectDrops()
| bool apollo::perception::Cipv::CollectDrops |
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const base::MotionBufferPtr & |
motion_buffer, |
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const Eigen::Affine3d & |
world2camera, |
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std::vector< std::shared_ptr< base::Object >> * |
objects |
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) |
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◆ DetermineCipv()
| bool apollo::perception::Cipv::DetermineCipv |
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const std::vector< base::LaneLine > & |
lane_objects, |
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const CipvOptions & |
options, |
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const Eigen::Affine3d & |
world2camera, |
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std::vector< std::shared_ptr< base::Object >> * |
objects |
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) |
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◆ Init()
| virtual bool apollo::perception::Cipv::Init |
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const Eigen::Matrix3d & |
homography_im2car, |
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const float |
min_laneline_length_for_cipv = kMinLaneLineLengthForCIPV, |
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const float |
average_lane_width_in_meter = kAverageLaneWidthInMeter, |
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const float |
max_vehicle_width_in_meter = kMaxVehicleWidthInMeter, |
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const float |
average_frame_rate = kAverageFrameRate, |
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const bool |
image_based_cipv = false, |
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const int |
debug_level = 0 |
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) |
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◆ MakeVirtualEgoLaneFromYawRate()
| static bool apollo::perception::Cipv::MakeVirtualEgoLaneFromYawRate |
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const float |
yaw_rate, |
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const float |
velocity, |
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const float |
offset_distance, |
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LaneLineSimple * |
left_lane_line, |
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LaneLineSimple * |
right_lane_line |
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◆ Name()
| virtual std::string apollo::perception::Cipv::Name |
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const |
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◆ VehicleDynamics() [1/2]
| static float apollo::perception::Cipv::VehicleDynamics |
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const uint32_t |
tick, |
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const float |
yaw_rate, |
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const float |
velocity, |
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const float |
time_unit, |
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float * |
x, |
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float * |
y |
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◆ VehicleDynamics() [2/2]
| static float apollo::perception::Cipv::VehicleDynamics |
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const uint32_t |
tick, |
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const float |
yaw_rate, |
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const float |
velocity, |
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const float |
time_unit, |
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const float |
vehicle_half_width, |
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float * |
center_x, |
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float * |
ceneter_y, |
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float * |
left_x, |
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float * |
left_y, |
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float * |
right_x, |
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float * |
right_y |
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) |
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static |
The documentation for this class was generated from the following file:
