Autoware.Auto
lfit.hpp File Reference

This file implements 2D pca on a linked list of points to estimate an oriented bounding box. More...

#include <geometry/bounding_box/eigenbox_2d.hpp>
#include <limits>
#include <utility>
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Classes

struct  autoware::common::geometry::bounding_box::details::LFitWs
 A representation of the M matrix for the L-fit algorithm. More...
 
class  autoware::common::geometry::bounding_box::details::LFitCompare< PointT >
 

Namespaces

 autoware
 This file defines the lanelet2_map_provider_node class.
 
 autoware::common
 
 autoware::common::geometry
 
 autoware::common::geometry::bounding_box
 Functions and types for generating enclosing bounding boxes around a set of points.
 
 autoware::common::geometry::bounding_box::details
 

Functions

template<typename IT >
void autoware::common::geometry::bounding_box::details::init_lfit_ws (const IT begin, const IT end, const std::size_t size, LFitWs &ws)
 Initialize M matrix for L-fit algorithm. More...
 
template<typename PointT >
float32_t autoware::common::geometry::bounding_box::details::solve_lfit (const LFitWs &ws, PointT &dir)
 Solves the L fit problem for a given M matrix. More...
 
template<typename PointT >
void autoware::common::geometry::bounding_box::details::increment_lfit_ws (const PointT &pt, LFitWs &ws)
 Increments L fit M matrix with information in the point. More...
 
template<typename IT >
BoundingBox autoware::common::geometry::bounding_box::details::lfit_bounding_box_2d_impl (const IT begin, const IT end, const std::size_t size)
 The main implementation of L-fitting a bounding box to a list of points. Assumes sufficiently valid, large enough, and appropriately ordered point list. More...
 
template<typename IT , typename PointT >
BoundingBox autoware::common::geometry::bounding_box::lfit_bounding_box_2d (const IT begin, const IT end, const PointT hint, const std::size_t size)
 Compute bounding box which best fits an L-shaped cluster. Uses the method proposed in "Efficient L-shape fitting of laser scanner data for vehicle pose estimation". More...
 
template<typename IT >
BoundingBox autoware::common::geometry::bounding_box::lfit_bounding_box_2d (const IT begin, const IT end)
 Compute bounding box which best fits an L-shaped cluster. Uses the method proposed in "Efficient L-shape fitting of laser scanner data for vehicle pose estimation". This implementation sorts the list using std::sort. More...
 

Detailed Description

This file implements 2D pca on a linked list of points to estimate an oriented bounding box.