Autoware.Auto
autoware::perception::segmentation::apollo_lidar_segmentation Namespace Reference

Classes

class  ApolloLidarSegmentation
 Handle the neural network inference over the input point cloud. More...
 
class  ApolloLidarSegmentationPostProcessor
 Post-precessing step of the TVM pipeline. More...
 
class  ApolloLidarSegmentationPreProcessor
 Pre-precessing step of the TVM pipeline. More...
 
class  Cluster2D
 Handle the ouput of the CNN-based prediction by obtaining information on individual cells. More...
 
class  FeatureGenerator
 A FeatureMap generator based on channel feature information. More...
 
struct  FeatureMap
 FeatureMap with no extra feature channels. More...
 
struct  FeatureMapInterface
 Abstract interface for FeatureMap. More...
 
struct  FeatureMapWithConstant
 FeatureMap with a constant feature channel. More...
 
struct  FeatureMapWithConstantAndIntensity
 FeatureMap with constant and intensity feature channels. More...
 
struct  FeatureMapWithIntensity
 FeatureMap with an intensity feature channel. More...
 
struct  Obstacle
 Internal obstacle representation. More...
 

Enumerations

enum  MetaType {
  MetaType::META_UNKNOWN, MetaType::META_SMALLMOT, MetaType::META_NONMOT, MetaType::META_PEDESTRIAN,
  MetaType::MAX_META_TYPE
}
 Internal obstacle classification categories. More...
 

Functions

template<class T >
void DisjointSetMakeSet (T *x)
 Add a new element in a new set. More...
 
template<class T >
T * DisjointSetFindRecursive (T *x)
 Recusively follow the chain of parent pointers from the input until reaching a root. More...
 
template<class T >
T * DisjointSetFind (T *x)
 Find the root of the set x belongs to. More...
 
template<class T >
void DisjointSetUnion (T *x, T *y)
 Replace the set containing x and the set containing y with their union. More...
 
float32_t calcApproximateLog (float32_t num)
 Use a lookup table to compute the natural logarithm of 1+num. More...
 
int32_t F2I (float32_t val, float32_t ori, float32_t scale)
 Project a point from a pointcloud to a 2D map. More...
 
int32_t Pc2Pixel (float32_t in_pc, float32_t in_range, float32_t out_size)
 Transform a pointcloud scale to a pixel scale. More...
 
float32_t Pixel2Pc (int32_t in_pixel, float32_t in_size, float32_t out_range)
 Transform a pixel scale to a pointcloud scale. More...
 

Variables

static LogTable log_table
 

Enumeration Type Documentation

◆ MetaType

Internal obstacle classification categories.

Enumerator
META_UNKNOWN 
META_SMALLMOT 
META_NONMOT 
META_PEDESTRIAN 
MAX_META_TYPE 

Function Documentation

◆ calcApproximateLog()

float32_t autoware::perception::segmentation::apollo_lidar_segmentation::calcApproximateLog ( float32_t  num)

Use a lookup table to compute the natural logarithm of 1+num.

Parameters
[in]num
Returns
ln(1+num)

◆ DisjointSetFind()

template<class T >
T* autoware::perception::segmentation::apollo_lidar_segmentation::DisjointSetFind ( T *  x)

Find the root of the set x belongs to.

Parameters
[in,out]xThe set element.
Returns
The root of the set containing x.

◆ DisjointSetFindRecursive()

template<class T >
T* autoware::perception::segmentation::apollo_lidar_segmentation::DisjointSetFindRecursive ( T *  x)

Recusively follow the chain of parent pointers from the input until reaching a root.

Parameters
[in,out]xThe element which root is looked for.
Returns
The root of the set containing x.

◆ DisjointSetMakeSet()

template<class T >
void autoware::perception::segmentation::apollo_lidar_segmentation::DisjointSetMakeSet ( T *  x)

Add a new element in a new set.

Parameters
[in,out]xThe element to be added.

◆ DisjointSetUnion()

template<class T >
void autoware::perception::segmentation::apollo_lidar_segmentation::DisjointSetUnion ( T *  x,
T *  y 
)

Replace the set containing x and the set containing y with their union.

Parameters
[in,out]xAn element of a first set.
[in,out]yAn element of a second set.

◆ F2I()

int32_t autoware::perception::segmentation::apollo_lidar_segmentation::F2I ( float32_t  val,
float32_t  ori,
float32_t  scale 
)
inline

Project a point from a pointcloud to a 2D map.

Parameters
[in]valCoordinate of the point in the pointcloud.
[in]oriDiameter of area containing the pointcloud.
[in]scaleScaling factor from pointcloud size to grid size.
Returns
The grid in which the point is.

◆ Pc2Pixel()

int32_t autoware::perception::segmentation::apollo_lidar_segmentation::Pc2Pixel ( float32_t  in_pc,
float32_t  in_range,
float32_t  out_size 
)
inline

Transform a pointcloud scale to a pixel scale.

Parameters
[in]in_pcCoordinate of the point in the pointcloud.
[in]in_rangeRange of the pointcloud.
[in]out_sizeSize of the grid.
Returns
The distance to the point in pixel scale.

◆ Pixel2Pc()

float32_t autoware::perception::segmentation::apollo_lidar_segmentation::Pixel2Pc ( int32_t  in_pixel,
float32_t  in_size,
float32_t  out_range 
)
inline

Transform a pixel scale to a pointcloud scale.

Parameters
[in]in_pixelCoordinate of the cell in the grid.
[in]in_sizeSize of the grid.
[in]out_rangeRange of the pointcloud.
Returns
The distance to the cell in pointcloud scale.

Variable Documentation

◆ log_table

LogTable autoware::perception::segmentation::apollo_lidar_segmentation::log_table
static