Autoware.Auto
feature_generator.hpp
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1 // Copyright 2020-2021 Arm Ltd., TierIV
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef APOLLO_LIDAR_SEGMENTATION__FEATURE_GENERATOR_HPP_
16 #define APOLLO_LIDAR_SEGMENTATION__FEATURE_GENERATOR_HPP_
17 
18 #include <pcl/io/pcd_io.h>
19 #include <pcl/point_types.h>
20 #include <sensor_msgs/msg/point_cloud2.hpp>
21 #include <common/types.hpp>
25 
26 #include <memory>
27 
28 namespace autoware
29 {
30 namespace perception
31 {
32 namespace segmentation
33 {
34 namespace apollo_lidar_segmentation
35 {
38 
40 class APOLLO_LIDAR_SEGMENTATION_LOCAL FeatureGenerator
41 {
42 private:
43  const bool8_t use_intensity_feature_;
44  const bool8_t use_constant_feature_;
45  const float32_t min_height_;
46  const float32_t max_height_;
47  std::shared_ptr<FeatureMapInterface> map_ptr_;
48 
49 public:
58  explicit FeatureGenerator(
59  int32_t width, int32_t height, int32_t range, bool8_t use_intensity_feature,
60  bool8_t use_constant_feature, float32_t min_height, float32_t max_height);
61 
65  std::shared_ptr<FeatureMapInterface> generate(
66  const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & pc_ptr);
67 };
68 } // namespace apollo_lidar_segmentation
69 } // namespace segmentation
70 } // namespace perception
71 } // namespace autoware
72 #endif // APOLLO_LIDAR_SEGMENTATION__FEATURE_GENERATOR_HPP_
types.hpp
This file includes common type definition.
feature_map.hpp
autoware::perception::segmentation::apollo_lidar_segmentation::FeatureGenerator
A FeatureMap generator based on channel feature information.
Definition: feature_generator.hpp:40
autoware::common::types::bool8_t
bool bool8_t
Definition: types.hpp:39
autoware
This file defines the lanelet2_map_provider_node class.
Definition: quick_sort.hpp:24
autoware::common::types::float32_t
float float32_t
Definition: types.hpp:45
visibility_control.hpp
util.hpp