Apollo 6.0融合模块常用结构体定义汇总

相关链接
Apollo 6.0的高速下载地址、主要功能与融合模块文件夹结构（快速下载Apollo的源代码，纵观Apollo的历史新功能）
Apollo 6.0的融合组件分析（fusion_component）（从融合组件开始分析，分为多个博客分层次地不断向下挖掘分析）
Apollo 6.0融合模块常用结构体定义汇总（用于代码阅读时，结构体成员的速查）
Apollo 6.0 所学及可能可改进问题（阐述作者发现的问题以及可能可以改进的方向，欢迎一起讨论）

含义是作者基于代码猜测，持续更新。

常用结构体定义及其含义

结构体 Frame

文件链接: frame.h

struct alignas(16) Frame {
   
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  Frame() {
    sensor2world_pose.setIdentity(); }

  void Reset() {
   
    timestamp = 0.0;
    objects.clear();
    sensor2world_pose.setIdentity();
    sensor_info.Reset();
    lidar_frame_supplement.Reset();
    radar_frame_supplement.Reset();
    camera_frame_supplement.Reset();
  }
  // @brief sensor information
  SensorInfo sensor_info; //传感器信息

  double timestamp = 0.0;  //帧时间戳
  std::vector<std::shared_ptr<Object>> objects;  //障碍物
  Eigen::Affine3d sensor2world_pose;  //时变的传感器到世界的仿射变换（可能与动态标定相关）

  // sensor-specific frame supplements
  LidarFrameSupplement lidar_frame_supplement; //结构体内主要包括是否开启和传感器原始数据的指针
  RadarFrameSupplement radar_frame_supplement;
  CameraFrameSupplement camera_frame_supplement;
  UltrasonicFrameSupplement ultrasonic_frame_supplement;
};

结构体 SensorInfo

文件链接: sensor_meta.h)

struct SensorInfo {
   
  std::string name = "UNKNONW_SENSOR";  //传感器名称
  SensorType type = SensorType::UNKNOWN_SENSOR_TYPE;  //传感器类型
  SensorOrientation orientation = SensorOrientation::FRONT;  //传感器安装位置
  std::string frame_id = "UNKNOWN_FRAME_ID";  //?? 帧id字符串（可能与传感器数据帧的结构有关）
  void Reset() {
   
    name = "UNKNONW_SENSOR";
    type = SensorType::UNKNOWN_SENSOR_TYPE;
    orientation = SensorOrientation::FRONT;
    frame_id = "UNKNOWN_FRAME_ID";
  }
};

结构体 Object

文件链接: object.h

struct alignas(16) Object {
   
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  Object();
  std::string ToString() const;
  void Reset();

  // @brief object id per frame, required
  int id = -1;

  // @brief convex hull of the object, required
  PointCloud<PointD> polygon;

  // oriented boundingbox information
  // @brief main direction of the object, required
  Eigen::Vector3f direction = Eigen::Vector3f(1, 0, 0);
  /*@brief the yaw angle, theta = 0.0 <=> direction(1, 0, 0),
    currently roll and pitch are not considered,
    make sure direction and theta are consistent, required
  */
  float theta = 0.0f;
  // @brief theta variance, required
  float theta_variance = 0.0f;
  // @brief center of the boundingbox (cx, cy, cz), required
  Eigen::Vector3d center = Eigen::Vector3d(0, 0, 0);
  // @brief covariance matrix of the center uncertainty, required
  Eigen::Matrix3f center_uncertainty;
  /* @brief size = [length, width, height] of boundingbox
     length is the size of the main direction, required
  */
  Eigen::Vector3f size = Eigen::Vector3f(0, 0, 0);
  // @brief size variance, required
  Eigen::Vector3f size_variance = Eigen::Vector3f(0, 0, 0);
  // @brief anchor point, required
  Eigen::Vector3d anchor_point = Eigen::Vector3d(0,