apollo::perception::benchmark Namespace Reference

Classes
class	AsyncSequenceDataLoader
class	BaseRangeInterface
class	BoxBasedRangeInterface
struct	Cache
struct	CameraSupplement
class	DetectionEvaluation
class	DistanceBasedRangeInterface
class	DistanceBasedRangeRadarInterface
class	Frame
struct	FrameMetrics
class	FrameStatistics
class	LidarOption
struct	LidarSupplement
class	MetaStatistics
struct	Object
struct	ObjectMatch
class	OptionParser
struct	OrientationSimilarityMetric
class	PointCloudFrame
struct	PointXYZIL
struct	PointXYZIT
struct	PointXYZL
struct	PositionMetric
struct	PositionMetricOption
struct	RadarSupplement
class	RoiDistanceBasedRangeInterface
struct	Segment
struct	SensorObjects
class	SequenceDataLoader
class	SequenceMaintainer
class	SequenceSelfStatistics
struct	SPRCTuple
class	ViewBasedRangeInterface
class	Visibility
struct	VisPoint

Typedefs
template<typename ObjectKey >
using	SequenceType = std::map< ObjectKey, ObjectPtr >
typedef std::shared_ptr< Object >	ObjectPtr
typedef std::shared_ptr< const Object >	ObjectConstPtr
using	SeqId = uint32_t
typedef std::shared_ptr< LidarSupplement >	LidarSupplementPtr
typedef std::shared_ptr< const LidarSupplement >	LidarSupplementConstPtr
typedef std::shared_ptr< RadarSupplement >	RadarSupplementPtr
typedef std::shared_ptr< const RadarSupplement >	RadarSupplementConstPtr
typedef std::shared_ptr< CameraSupplement >	CameraSupplementPtr
typedef std::shared_ptr< const CameraSupplement >	CameraSupplementConstPtr
typedef ::pcl::PointIndices	PointIndices
typedef ::pcl::PointIndices::Ptr	PointIndicesPtr
typedef ::pcl::PointXY	Point2d
typedef ::pcl::PointCloud< Point2d >	PointCloud2d
typedef ::pcl::PointCloud< Point2d >::Ptr	PointCloud2dPtr
typedef ::pcl::PointCloud< Point2d >::ConstPtr	PointCloud2dConstPtr
typedef ::pcl::PointCloud< PointXYZIT >	PointXYZITCloud
typedef ::pcl::PointCloud< PointXYZIT >::Ptr	PointXYZITCloudPtr
typedef ::pcl::PointCloud< PointXYZIT >::ConstPtr	PointXYZITCloudConstPtr
typedef ::pcl::PointCloud< PointXYZL >	PointXYZLCloud
typedef ::pcl::PointCloud< PointXYZL >::Ptr	PointXYZLCloudPtr
typedef ::pcl::PointCloud< PointXYZL >::ConstPtr	PointXYZLCloudConstPtr
typedef PointXYZIL	Point
typedef pcl::PointCloud< Point >	PointCloud
typedef pcl::PointCloud< Point >::Ptr	PointCloudPtr
typedef pcl::PointCloud< Point >::ConstPtr	PointCloudConstPtr

Enumerations
enum	RangeType { DISTANCE = 0, VIEW = 1, BOX = 2, ROI = 3 }
enum	Orientation { Orientation::left = 1, Orientation::right = -1, Orientation::collinear = 0 }
enum	ObjectType {   UNKNOWN = 0, UNKNOWN_MOVABLE = 1, UNKNOWN_UNMOVABLE = 2, PEDESTRIAN = 3,   BICYCLE = 4, VEHICLE = 5, MAX_OBJECT_TYPE = 6 }
enum	InternalObjectType {   INT_BACKGROUND = 0, INT_SMALLMOT = 1, INT_PEDESTRIAN = 2, INT_NONMOT = 3,   INT_BIGMOT = 4, INT_UNKNOWN = 5, INT_MAX_OBJECT_TYPE = 6 }
enum	SensorType {   VELODYNE_64 = 0, VELODYNE_16 = 1, RADAR = 2, CAMERA = 3,   UNKNOWN_SENSOR_TYPE = 4 }
enum	UpdateOperation { UpdateOperation::add = 0, UpdateOperation::remove = 1 }

Functions
void	compute_ap_aos (const std::vector< unsigned int > &cumulated_match_num_per_conf, const std::vector< unsigned int > &cumulated_detection_num_per_conf, const unsigned int total_gt_num, const unsigned int recall_dim, double *ap, std::vector< SPRCTuple > *tuples, const std::vector< double > &cumulated_orientation_similarity_per_conf=std::vector< double >(), double *aos=nullptr)
template<typename T >
void	shuffle_by_indices (std::vector< T > *src, const std::vector< std::size_t > &indices)
template<typename T >
void	quaternion_to_rotation_matrix (const T *quat, T *R)
bool	is_point_xy_in_polygon2d_xy (const Point &point, const PointCloud &polygon, float distance_to_boundary)
bool	approx_equal (float a, float b)
bool	strictly_less (float a, float b)
Orientation	compute_orientation (const VisPoint &o, const VisPoint &a, const VisPoint &b)
bool	intersects (const VisPoint &ray, const Segment &segment, VisPoint *intersection)
bool	load_pcl_pcds (const std::string &filename, PointCloudPtr cloud_out, const std::string &cloud_type="xyzit")
bool	load_pcl_pcds_xyzit (const std::string &filename, PointCloudPtr cloud_out)
bool	load_pcl_pcds_xyzl (const std::string &filename, PointCloudPtr cloud_out)
bool	load_frame_objects (const std::string &filename, const std::set< std::string > &black_list, std::vector< ObjectPtr > *objects_out, std::vector< PointCloud > *left_boundary=nullptr, std::vector< PointCloud > *right_boundary=nullptr, std::vector< PointCloud > *road_polygon=nullptr, std::vector< PointCloud > *left_lane_boundary=nullptr, std::vector< PointCloud > *right_lane_boundary=nullptr, PointCloud *cloud=nullptr)
bool	load_sensor2world_pose (const std::string &filename, Eigen::Matrix4d *pose_out)
bool	save_frame_objects (const std::string &filename, const std::vector< ObjectPtr > &objects, const int frame_id=0)
ObjectType	translate_string_to_type (const std::string &str)
unsigned int	translate_type_to_index (const ObjectType &type)
std::string	translate_type_index_to_string (unsigned int index)
std::string	translate_type_to_string (ObjectType type)
SensorType	translate_string_to_sensor_type (const std::string &str)
std::string	translate_sensor_type_to_string (const SensorType &type)
bool	get_bbox_vertices (const ObjectConstPtr object, std::vector< Eigen::Vector3d > *vertices)
bool	fill_objects_with_point_cloud (std::vector< ObjectPtr > *objects, const PointCloudConstPtr cloud)
bool	fill_axis_align_box (ObjectPtr object)

Variables
struct apollo::perception::benchmark::PointXYZIT	EIGEN_ALIGN16

Typedef Documentation

CameraSupplementConstPtr

typedef std::shared_ptr<const CameraSupplement> apollo::perception::benchmark::CameraSupplementConstPtr

CameraSupplementPtr

typedef std::shared_ptr<CameraSupplement> apollo::perception::benchmark::CameraSupplementPtr

LidarSupplementConstPtr

typedef std::shared_ptr<const LidarSupplement> apollo::perception::benchmark::LidarSupplementConstPtr

LidarSupplementPtr

typedef std::shared_ptr<LidarSupplement> apollo::perception::benchmark::LidarSupplementPtr

ObjectConstPtr

typedef std::shared_ptr<const Object> apollo::perception::benchmark::ObjectConstPtr

ObjectPtr

typedef std::shared_ptr<Object> apollo::perception::benchmark::ObjectPtr

Point

typedef PointXYZIL apollo::perception::benchmark::Point

Point2d

typedef ::pcl::PointXY apollo::perception::benchmark::Point2d

PointCloud

typedef pcl::PointCloud<Point> apollo::perception::benchmark::PointCloud

PointCloud2d

typedef ::pcl::PointCloud<Point2d> apollo::perception::benchmark::PointCloud2d

PointCloud2dConstPtr

typedef ::pcl::PointCloud<Point2d>::ConstPtr apollo::perception::benchmark::PointCloud2dConstPtr

PointCloud2dPtr

typedef ::pcl::PointCloud<Point2d>::Ptr apollo::perception::benchmark::PointCloud2dPtr

PointCloudConstPtr

typedef pcl::PointCloud<Point>::ConstPtr apollo::perception::benchmark::PointCloudConstPtr

PointCloudPtr

typedef pcl::PointCloud<Point>::Ptr apollo::perception::benchmark::PointCloudPtr

PointIndices

typedef ::pcl::PointIndices apollo::perception::benchmark::PointIndices

PointIndicesPtr

typedef ::pcl::PointIndices::Ptr apollo::perception::benchmark::PointIndicesPtr

PointXYZITCloud

typedef ::pcl::PointCloud<PointXYZIT> apollo::perception::benchmark::PointXYZITCloud

PointXYZITCloudConstPtr

typedef ::pcl::PointCloud<PointXYZIT>::ConstPtr apollo::perception::benchmark::PointXYZITCloudConstPtr

PointXYZITCloudPtr

typedef ::pcl::PointCloud<PointXYZIT>::Ptr apollo::perception::benchmark::PointXYZITCloudPtr

PointXYZLCloud

typedef ::pcl::PointCloud<PointXYZL> apollo::perception::benchmark::PointXYZLCloud

PointXYZLCloudConstPtr

typedef ::pcl::PointCloud<PointXYZL>::ConstPtr apollo::perception::benchmark::PointXYZLCloudConstPtr

PointXYZLCloudPtr

typedef ::pcl::PointCloud<PointXYZL>::Ptr apollo::perception::benchmark::PointXYZLCloudPtr

RadarSupplementConstPtr

typedef std::shared_ptr<const RadarSupplement> apollo::perception::benchmark::RadarSupplementConstPtr

RadarSupplementPtr

typedef std::shared_ptr<RadarSupplement> apollo::perception::benchmark::RadarSupplementPtr

SeqId

using apollo::perception::benchmark::SeqId = typedef uint32_t

SequenceType

template<typename ObjectKey >

using apollo::perception::benchmark::SequenceType = typedef std::map<ObjectKey, ObjectPtr>

Enumeration Type Documentation

InternalObjectType

enum apollo::perception::benchmark::InternalObjectType

Enumerator
INT_BACKGROUND
INT_SMALLMOT
INT_PEDESTRIAN
INT_NONMOT
INT_BIGMOT
INT_UNKNOWN
INT_MAX_OBJECT_TYPE

ObjectType

enum apollo::perception::benchmark::ObjectType

Enumerator
UNKNOWN
UNKNOWN_MOVABLE
UNKNOWN_UNMOVABLE
PEDESTRIAN
BICYCLE
VEHICLE
MAX_OBJECT_TYPE

Orientation

enum apollo::perception::benchmark::Orientation

strong

Enumerator
left
right
collinear

RangeType

enum apollo::perception::benchmark::RangeType

Enumerator
DISTANCE
VIEW
BOX
ROI

SensorType

enum apollo::perception::benchmark::SensorType

Enumerator
VELODYNE_64
VELODYNE_16
RADAR
CAMERA
UNKNOWN_SENSOR_TYPE

UpdateOperation

enum apollo::perception::benchmark::UpdateOperation

strong

Enumerator
add
remove

Function Documentation

approx_equal()

bool apollo::perception::benchmark::approx_equal ( float  a, float  b  )

inline

compute_ap_aos()

void apollo::perception::benchmark::compute_ap_aos	(	const std::vector< unsigned int > &	cumulated_match_num_per_conf,
		const std::vector< unsigned int > &	cumulated_detection_num_per_conf,
		const unsigned int	total_gt_num,
		const unsigned int	recall_dim,
		double *	ap,
		std::vector< SPRCTuple > *	tuples,
		const std::vector< double > &	cumulated_orientation_similarity_per_conf = std::vector< double >(),
		double *	aos = nullptr
	)

compute_orientation()

Orientation apollo::perception::benchmark::compute_orientation	(	const VisPoint &	o,
		const VisPoint &	a,
		const VisPoint &	b
	)

fill_axis_align_box()

bool apollo::perception::benchmark::fill_axis_align_box

(

ObjectPtr

object

)

fill_objects_with_point_cloud()

bool apollo::perception::benchmark::fill_objects_with_point_cloud	(	std::vector< ObjectPtr > *	objects,
		const PointCloudConstPtr	cloud
	)

get_bbox_vertices()

bool apollo::perception::benchmark::get_bbox_vertices	(	const ObjectConstPtr	object,
		std::vector< Eigen::Vector3d > *	vertices
	)

intersects()

bool apollo::perception::benchmark::intersects	(	const VisPoint &	ray,
		const Segment &	segment,
		VisPoint *	intersection
	)

is_point_xy_in_polygon2d_xy()

bool apollo::perception::benchmark::is_point_xy_in_polygon2d_xy	(	const Point &	point,
		const PointCloud &	polygon,
		float	distance_to_boundary
	)

load_frame_objects()

bool apollo::perception::benchmark::load_frame_objects	(	const std::string &	filename,
		const std::set< std::string > &	black_list,
		std::vector< ObjectPtr > *	objects_out,
		std::vector< PointCloud > *	left_boundary = nullptr,
		std::vector< PointCloud > *	right_boundary = nullptr,
		std::vector< PointCloud > *	road_polygon = nullptr,
		std::vector< PointCloud > *	left_lane_boundary = nullptr,
		std::vector< PointCloud > *	right_lane_boundary = nullptr,
		PointCloud *	cloud = nullptr
	)

load_pcl_pcds()

bool apollo::perception::benchmark::load_pcl_pcds	(	const std::string &	filename,
		PointCloudPtr	cloud_out,
		const std::string &	cloud_type = "xyzit"
	)

load_pcl_pcds_xyzit()

bool apollo::perception::benchmark::load_pcl_pcds_xyzit	(	const std::string &	filename,
		PointCloudPtr	cloud_out
	)

load_pcl_pcds_xyzl()

bool apollo::perception::benchmark::load_pcl_pcds_xyzl	(	const std::string &	filename,
		PointCloudPtr	cloud_out
	)

load_sensor2world_pose()

bool apollo::perception::benchmark::load_sensor2world_pose	(	const std::string &	filename,
		Eigen::Matrix4d *	pose_out
	)

quaternion_to_rotation_matrix()

template<typename T >

void apollo::perception::benchmark::quaternion_to_rotation_matrix	(	const T *	quat,
		T *	R
	)

save_frame_objects()

bool apollo::perception::benchmark::save_frame_objects	(	const std::string &	filename,
		const std::vector< ObjectPtr > &	objects,
		const int	frame_id = 0
	)

shuffle_by_indices()

template<typename T >

void apollo::perception::benchmark::shuffle_by_indices	(	std::vector< T > *	src,
		const std::vector< std::size_t > &	indices
	)

strictly_less()

bool apollo::perception::benchmark::strictly_less ( float  a, float  b  )

inline

translate_sensor_type_to_string()

std::string apollo::perception::benchmark::translate_sensor_type_to_string

(

const SensorType &

type

)

translate_string_to_sensor_type()

SensorType apollo::perception::benchmark::translate_string_to_sensor_type

(

const std::string &

str

)

translate_string_to_type()

ObjectType apollo::perception::benchmark::translate_string_to_type

(

const std::string &

str

)

translate_type_index_to_string()

std::string apollo::perception::benchmark::translate_type_index_to_string

(

unsigned int

index

)

translate_type_to_index()

unsigned int apollo::perception::benchmark::translate_type_to_index

(

const ObjectType &

type

)

translate_type_to_string()

std::string apollo::perception::benchmark::translate_type_to_string

(

ObjectType

type

)

Variable Documentation

EIGEN_ALIGN16

struct apollo::perception::benchmark::PointXYZIL apollo::perception::benchmark::EIGEN_ALIGN16