apollo::perception Namespace Reference

Namespaces
	base
	benchmark
	camera
	common
	fusion
	inference
	lib
	lidar
	map
	onboard
	radar

Classes
class	Cipv
struct	CipvOptions
struct	EgoLane
struct	LaneLineSimple
struct	LineSegment2Df
struct	VanishingPoint

Typedefs
typedef Eigen::Vector2i	Point2Di
typedef Eigen::Vector2f	Point2Df
typedef Eigen::Vector2d	Point2Dd

Enumerations
enum	KeyCode {   KEY_0 = 48, KEY_1 = 49, KEY_2 = 50, KEY_3 = 51,   KEY_4 = 52, KEY_5 = 53, KEY_6 = 54, KEY_7 = 55,   KEY_8 = 56, KEY_9 = 57, KEY_UPPER_A = 65, KEY_UPPER_B = 66,   KEY_UPPER_C = 67, KEY_UPPER_D = 68, KEY_UPPER_E = 69, KEY_UPPER_F = 70,   KEY_UPPER_G = 71, KEY_UPPER_H = 72, KEY_UPPER_I = 73, KEY_UPPER_J = 74,   KEY_UPPER_K = 75, KEY_UPPER_L = 76, KEY_UPPER_M = 77, KEY_UPPER_N = 78,   KEY_UPPER_O = 79, KEY_UPPER_P = 80, KEY_UPPER_Q = 81, KEY_UPPER_R = 82,   KEY_UPPER_S = 83, KEY_UPPER_T = 84, KEY_UPPER_U = 85, KEY_UPPER_V = 86,   KEY_UPPER_W = 87, KEY_UPPER_X = 88, KEY_UPPER_Y = 89, KEY_UPPER_Z = 90,   KEY_LOWER_A = 97, KEY_LOWER_B = 98, KEY_LOWER_C = 99, KEY_LOWER_D = 100,   KEY_LOWER_E = 101, KEY_LOWER_F = 102, KEY_LOWER_G = 103, KEY_LOWER_H = 104,   KEY_LOWER_I = 105, KEY_LOWER_J = 106, KEY_LOWER_K = 107, KEY_LOWER_L = 108,   KEY_LOWER_M = 109, KEY_LOWER_N = 110, KEY_LOWER_O = 111, KEY_LOWER_P = 112,   KEY_LOWER_Q = 113, KEY_LOWER_R = 114, KEY_LOWER_S = 115, KEY_LOWER_T = 116,   KEY_LOWER_U = 117, KEY_LOWER_V = 118, KEY_LOWER_W = 119, KEY_LOWER_X = 120,   KEY_LOWER_Y = 121, KEY_LOWER_Z = 122, KEY_LEFT = 65361, KEY_UP = 65362,   KEY_RIGHT = 65363, KEY_DOWN = 65364, KEY_SHIFT_LEFT = 130897, KEY_SHIFT_RIGHT = 130899,   KEY_CTRL_S = 262259, KEY_ALT_C = 524387, KEY_LEFT_NUM_LOCK_ON = 1113937, KEY_UP_NUM_LOCK_ON = 1113938,   KEY_RIGHT_NUM_LOCK_ON = 1113939, KEY_DOWN_NUM_LOCK_ON = 1113940, KEY_SHIFT_LEFT_NUM_LOCK_ON = 1179475, KEY_SHIFT_RIGHT_NUM_LOCK_ON = 1179473,   KEY_CTRL_S_NUM_LOCK_ON = 1310835, KEY_ALT_C_NUM_LOCK_ON = 1572963 }

Functions
	DECLARE_string (obs_sensor_intrinsic_path)
	DECLARE_string (obs_sensor_meta_path)
	DECLARE_bool (enable_base_object_pool)
	DECLARE_string (config_manager_path)
	DECLARE_string (work_root)

Variables
constexpr float	kMinVelocity = 10.0f
constexpr float	kMaxDistObjectToLaneInMeter = 70.0f
constexpr float	kMaxDistObjectToVirtualLaneInMeter = 10.0f
constexpr float	kMaxDistObjectToLaneInPixel = 10.0f
const std::size_t	kDropsHistorySize = 20
const std::size_t	kMaxObjectNum = 100
const std::size_t	kMaxAllowedSkipObject = 10
constexpr float	kMaxFloat = std::numeric_limits<float>::max()
constexpr float	kLowestFloat = -std::numeric_limits<float>::max()
constexpr float	kMinAngle = kLowestFloat / 180.0f
constexpr float	kFloatEpsilon = 0.000001f
constexpr float	k45DegreeInRadian = static_cast<float>(45.0f * M_PI) / 180.0f
constexpr uint32_t	kMinLaneLineLengthForCIPV = 2
constexpr float	kAverageLaneWidthInMeter = 3.7f
constexpr float	kMaxVehicleWidthInMeter = 1.87f
constexpr float	kMarginVehicleToLane
constexpr float	kSingleVirtualEgolaneWidthInMeter
constexpr float	kHalfVehicleWidthInMeter = kMaxVehicleWidthInMeter / 2.0f
cv::Scalar	black_color = cv::Scalar(0, 0, 0)
cv::Scalar	white_color = cv::Scalar(255, 255, 255)
cv::Scalar	magenta_color = cv::Scalar(255, 0, 255)
cv::Scalar	purple_color = cv::Scalar(128, 0, 128)
cv::Scalar	teal_color = cv::Scalar(128, 128, 0)
cv::Scalar	violet_color = cv::Scalar(238, 130, 238)
cv::Scalar	pink_color = cv::Scalar(203, 192, 255)
cv::Scalar	beige_color = cv::Scalar(220, 245, 245)
cv::Scalar	ivory_color = cv::Scalar(240, 255, 255)
cv::Scalar	azure_color = cv::Scalar(255, 255, 240)
cv::Scalar	cyan_color = cv::Scalar(255, 255, 0)
cv::Scalar	sky_blue_color = cv::Scalar(235, 206, 135)
cv::Scalar	deep_sky_blue_color = cv::Scalar(255, 191, 0)
cv::Scalar	dodger_blue_color = cv::Scalar(255, 144, 30)
cv::Scalar	blue_color = cv::Scalar(255, 0, 0)
cv::Scalar	medium_blue_color = cv::Scalar(205, 0, 0)
cv::Scalar	dark_blue_color = cv::Scalar(139, 0, 0)
cv::Scalar	navy_color = cv::Scalar(128, 0, 0)
cv::Scalar	dark_green_color = cv::Scalar(0, 100, 0)
cv::Scalar	lime_color = cv::Scalar(0, 255, 0)
cv::Scalar	light_green_color = cv::Scalar(144, 238, 144)
cv::Scalar	olive_color = cv::Scalar(0, 128, 128)
cv::Scalar	green_color = cv::Scalar(0, 128, 0)
cv::Scalar	red_color = cv::Scalar(0, 0, 255)
cv::Scalar	coral_color = cv::Scalar(80, 127, 255)
cv::Scalar	salmon_color = cv::Scalar(144, 128, 250)
cv::Scalar	orange_color = cv::Scalar(0, 165, 255)
cv::Scalar	yellow_color = cv::Scalar(0, 255, 255)
cv::Scalar	maroon_color = cv::Scalar(0, 0, 128)
cv::Scalar	light_gray_color = cv::Scalar(100, 100, 100)
cv::Scalar	gray_color = cv::Scalar(128, 128, 128)
cv::Scalar	dark_gray_color = cv::Scalar(170, 170, 170)
cv::Scalar	silver_color = cv::Scalar(192, 192, 192)

Typedef Documentation

Point2Dd

typedef Eigen::Vector2d apollo::perception::Point2Dd

Point2Df

typedef Eigen::Vector2f apollo::perception::Point2Df

Point2Di

typedef Eigen::Vector2i apollo::perception::Point2Di

Enumeration Type Documentation

KeyCode

enum apollo::perception::KeyCode

Enumerator
KEY_0
KEY_1
KEY_2
KEY_3
KEY_4
KEY_5
KEY_6
KEY_7
KEY_8
KEY_9
KEY_UPPER_A
KEY_UPPER_B
KEY_UPPER_C
KEY_UPPER_D
KEY_UPPER_E
KEY_UPPER_F
KEY_UPPER_G
KEY_UPPER_H
KEY_UPPER_I
KEY_UPPER_J
KEY_UPPER_K
KEY_UPPER_L
KEY_UPPER_M
KEY_UPPER_N
KEY_UPPER_O
KEY_UPPER_P
KEY_UPPER_Q
KEY_UPPER_R
KEY_UPPER_S
KEY_UPPER_T
KEY_UPPER_U
KEY_UPPER_V
KEY_UPPER_W
KEY_UPPER_X
KEY_UPPER_Y
KEY_UPPER_Z
KEY_LOWER_A
KEY_LOWER_B
KEY_LOWER_C
KEY_LOWER_D
KEY_LOWER_E
KEY_LOWER_F
KEY_LOWER_G
KEY_LOWER_H
KEY_LOWER_I
KEY_LOWER_J
KEY_LOWER_K
KEY_LOWER_L
KEY_LOWER_M
KEY_LOWER_N
KEY_LOWER_O
KEY_LOWER_P
KEY_LOWER_Q
KEY_LOWER_R
KEY_LOWER_S
KEY_LOWER_T
KEY_LOWER_U
KEY_LOWER_V
KEY_LOWER_W
KEY_LOWER_X
KEY_LOWER_Y
KEY_LOWER_Z
KEY_LEFT
KEY_UP
KEY_RIGHT
KEY_DOWN
KEY_SHIFT_LEFT
KEY_SHIFT_RIGHT
KEY_CTRL_S
KEY_ALT_C
KEY_LEFT_NUM_LOCK_ON
KEY_UP_NUM_LOCK_ON
KEY_RIGHT_NUM_LOCK_ON
KEY_DOWN_NUM_LOCK_ON
KEY_SHIFT_LEFT_NUM_LOCK_ON
KEY_SHIFT_RIGHT_NUM_LOCK_ON
KEY_CTRL_S_NUM_LOCK_ON
KEY_ALT_C_NUM_LOCK_ON

Function Documentation

DECLARE_bool()

apollo::perception::DECLARE_bool

(

enable_base_object_pool

)

DECLARE_string() [1/4]

apollo::perception::DECLARE_string

(

obs_sensor_intrinsic_path

)

DECLARE_string() [2/4]

apollo::perception::DECLARE_string

(

obs_sensor_meta_path

)

DECLARE_string() [3/4]

apollo::perception::DECLARE_string

(

config_manager_path

)

DECLARE_string() [4/4]

apollo::perception::DECLARE_string

(

work_root

)

Variable Documentation

azure_color

cv::Scalar apollo::perception::azure_color = cv::Scalar(255, 255, 240)

beige_color

cv::Scalar apollo::perception::beige_color = cv::Scalar(220, 245, 245)

black_color

cv::Scalar apollo::perception::black_color = cv::Scalar(0, 0, 0)

blue_color

cv::Scalar apollo::perception::blue_color = cv::Scalar(255, 0, 0)

coral_color

cv::Scalar apollo::perception::coral_color = cv::Scalar(80, 127, 255)

cyan_color

cv::Scalar apollo::perception::cyan_color = cv::Scalar(255, 255, 0)

dark_blue_color

cv::Scalar apollo::perception::dark_blue_color = cv::Scalar(139, 0, 0)

dark_gray_color

cv::Scalar apollo::perception::dark_gray_color = cv::Scalar(170, 170, 170)

dark_green_color

cv::Scalar apollo::perception::dark_green_color = cv::Scalar(0, 100, 0)

deep_sky_blue_color

cv::Scalar apollo::perception::deep_sky_blue_color = cv::Scalar(255, 191, 0)

dodger_blue_color

cv::Scalar apollo::perception::dodger_blue_color = cv::Scalar(255, 144, 30)

gray_color

cv::Scalar apollo::perception::gray_color = cv::Scalar(128, 128, 128)

green_color

cv::Scalar apollo::perception::green_color = cv::Scalar(0, 128, 0)

ivory_color

cv::Scalar apollo::perception::ivory_color = cv::Scalar(240, 255, 255)

k45DegreeInRadian

constexpr float apollo::perception::k45DegreeInRadian = static_cast<float>(45.0f * M_PI) / 180.0f

kAverageLaneWidthInMeter

constexpr float apollo::perception::kAverageLaneWidthInMeter = 3.7f

kDropsHistorySize

const std::size_t apollo::perception::kDropsHistorySize = 20

kFloatEpsilon

constexpr float apollo::perception::kFloatEpsilon = 0.000001f

kHalfVehicleWidthInMeter

constexpr float apollo::perception::kHalfVehicleWidthInMeter = kMaxVehicleWidthInMeter / 2.0f

kLowestFloat

constexpr float apollo::perception::kLowestFloat = -std::numeric_limits<float>::max()

kMarginVehicleToLane

constexpr float apollo::perception::kMarginVehicleToLane

Initial value:

=
    (kAverageLaneWidthInMeter - kMaxVehicleWidthInMeter) / 2.0f

kMaxAllowedSkipObject

const std::size_t apollo::perception::kMaxAllowedSkipObject = 10

kMaxDistObjectToLaneInMeter

constexpr float apollo::perception::kMaxDistObjectToLaneInMeter = 70.0f

kMaxDistObjectToLaneInPixel

constexpr float apollo::perception::kMaxDistObjectToLaneInPixel = 10.0f

kMaxDistObjectToVirtualLaneInMeter

constexpr float apollo::perception::kMaxDistObjectToVirtualLaneInMeter = 10.0f

kMaxFloat

constexpr float apollo::perception::kMaxFloat = std::numeric_limits<float>::max()

kMaxObjectNum

const std::size_t apollo::perception::kMaxObjectNum = 100

kMaxVehicleWidthInMeter

constexpr float apollo::perception::kMaxVehicleWidthInMeter = 1.87f

kMinAngle

constexpr float apollo::perception::kMinAngle = kLowestFloat / 180.0f

kMinLaneLineLengthForCIPV

constexpr uint32_t apollo::perception::kMinLaneLineLengthForCIPV = 2

kMinVelocity

constexpr float apollo::perception::kMinVelocity = 10.0f

kSingleVirtualEgolaneWidthInMeter

constexpr float apollo::perception::kSingleVirtualEgolaneWidthInMeter

Initial value:

=
    kMaxVehicleWidthInMeter + kMarginVehicleToLane

light_gray_color

cv::Scalar apollo::perception::light_gray_color = cv::Scalar(100, 100, 100)

light_green_color

cv::Scalar apollo::perception::light_green_color = cv::Scalar(144, 238, 144)

lime_color

cv::Scalar apollo::perception::lime_color = cv::Scalar(0, 255, 0)

magenta_color

cv::Scalar apollo::perception::magenta_color = cv::Scalar(255, 0, 255)

maroon_color

cv::Scalar apollo::perception::maroon_color = cv::Scalar(0, 0, 128)

medium_blue_color

cv::Scalar apollo::perception::medium_blue_color = cv::Scalar(205, 0, 0)

navy_color

cv::Scalar apollo::perception::navy_color = cv::Scalar(128, 0, 0)

olive_color

cv::Scalar apollo::perception::olive_color = cv::Scalar(0, 128, 128)

orange_color

cv::Scalar apollo::perception::orange_color = cv::Scalar(0, 165, 255)

pink_color

cv::Scalar apollo::perception::pink_color = cv::Scalar(203, 192, 255)

purple_color

cv::Scalar apollo::perception::purple_color = cv::Scalar(128, 0, 128)

red_color

cv::Scalar apollo::perception::red_color = cv::Scalar(0, 0, 255)

salmon_color

cv::Scalar apollo::perception::salmon_color = cv::Scalar(144, 128, 250)

silver_color

cv::Scalar apollo::perception::silver_color = cv::Scalar(192, 192, 192)

sky_blue_color

cv::Scalar apollo::perception::sky_blue_color = cv::Scalar(235, 206, 135)

teal_color

cv::Scalar apollo::perception::teal_color = cv::Scalar(128, 128, 0)

violet_color

cv::Scalar apollo::perception::violet_color = cv::Scalar(238, 130, 238)

white_color

cv::Scalar apollo::perception::white_color = cv::Scalar(255, 255, 255)

yellow_color

cv::Scalar apollo::perception::yellow_color = cv::Scalar(0, 255, 255)