lidar_frame.h

最新推荐文章于 2023-03-28 20:08:43 发布

__Aaron__

最新推荐文章于 2023-03-28 20:08:43 发布

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分类专栏： lidar perception 文章标签：自动驾驶

本文链接：https://blog.csdn.net/weixin_44032343/article/details/127065687

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lidar 同时被 2 个专栏收录

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apollo代码地址：/apollo/modules/perception/lidar/common/lidar_frame.h

定义了一个LidarFrame结构体

struct LidarFrame

结构体中包含哪些内容呢？

  // point cloud
  std::shared_ptr<base::AttributePointCloud<base::PointF>> cloud;
  // world point cloud
  std::shared_ptr<base::AttributePointCloud<base::PointD>> world_cloud;
  // timestamp
  double timestamp = 0.0;
  // lidar to world pose
  Eigen::Affine3d lidar2world_pose = Eigen::Affine3d::Identity();
  // lidar to world pose
  Eigen::Affine3d novatel2world_pose = Eigen::Affine3d::Identity();
  // hdmap struct
  std::shared_ptr<base::HdmapStruct> hdmap_struct = nullptr;
  // segmented objects
  std::vector<std::shared_ptr<base::Object>> segmented_objects;
  // tracked objects
  std::vector<std::shared_ptr<base::Object>> tracked_objects;
  // point cloud roi indices
  base::PointIndices roi_indices;
  // point cloud non ground indices
  base::PointIndices non_ground_indices;
  // secondary segmentor indices
  base::PointIndices secondary_indices;
  // sensor info
  base::SensorInfo sensor_info;
  // reserve string
  std::string reserve;

内容解释：

cloud：

world_cloud:

timestamp:

lidar2world_psoe: lidar to world pose

novatel2world_pose:

hdmap_struct:

segmented_objects:

tracked_objects:

roi_indices:

non_ground_indices:

secondary_indices:

sensor_info:

reserve:

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ?

 void FilterPointCloud(base::PointCloud<base::PointF> *filtered_cloud,
                        const std::vector<uint32_t> &indices) {
    if (cloud && filtered_cloud) {
      filtered_cloud->CopyPointCloudExclude(*cloud, indices);
    }
  }

FilterPointCloud 通过indices来删除部分点云，在结构体中定义了3中indices，所以可以filter3种类型的点。