carla::geom 命名空间参考

命名空间
namespace	deformation

类
class	BoundingBox
class	CubicPolynomial
	Describes a Cubic Polynomial so: f(x) = a + bx + cx^2 + dx^3 更多...
class	GeoLocation
class	Location
class	Math
class	Mesh
	Mesh data container, validator and exporter. 更多...
class	MeshFactory
	Mesh helper generator 更多...
struct	MeshMaterial
	Material that references the vertex index start and end of a mesh where it is affecting. 更多...
class	PointCloudRtree
	Rtree class working with 3D point clouds. 更多...
class	Rotation
class	SegmentCloudRtree
	Rtree class working with 3D segment clouds. 更多...
class	Simplification
class	Transform
class	Vector2D
class	Vector3D
class	Vector3DInt
struct	VertexInfo
struct	VertexNeighbors
struct	VertexWeight

函数
static VertexWeight	ComputeVertexWeight (const MeshFactory::RoadParameters &road_param, const VertexInfo &vertex_info, const VertexInfo &neighbor_info)
std::vector< VertexNeighbors >	GetVertexNeighborhoodAndWeights (const MeshFactory::RoadParameters &road_param, std::vector< std::unique_ptr< Mesh > > &lane_meshes)
static void	LatLonAddMeters (double lat_start, double lon_start, double dx, double dy, double &lat_end, double &lon_end)
	Adds meters dx/dy to given lat/lon and returns new lat/lon.
template<class float_type >
static void	LatLonToMercator (double lat, double lon, double scale, float_type &mx, float_type &my)
	Converts lat/lon/scale to mx/my (mx/my in meters if correct scale is given).
static double	LatToScale (double lat)
	Convert latitude to scale, which is needed by mercator transformations
static void	MercatorToLatLon (double mx, double my, double scale, double &lat, double &lon)
	Converts mx/my/scale to lat/lon (mx/my in meters if correct scale is given).
Mesh	operator+ (const Mesh &lhs, const Mesh &rhs)
std::ostream &	operator<< (std::ostream &out, const Vector3D &vector3D)

变量
static constexpr double	EARTH_RADIUS_EQUA = 6378137.0
	Earth radius at equator [m].
static constexpr double	EPSILON = 10.0 * std::numeric_limits<double>::epsilon()
	We use this epsilon to shift the waypoints away from the edges of the lane sections to avoid floating point precision errors.
static constexpr double	MESH_EPSILON = 50.0 * std::numeric_limits<double>::epsilon()

函数说明

ComputeVertexWeight()

static VertexWeight carla::geom::ComputeVertexWeight ( const MeshFactory::RoadParameters & road_param, const VertexInfo & vertex_info, const VertexInfo & neighbor_info )

static

在文件 MeshFactory.cpp 第 1060 行定义.

引用了 carla::geom::Math::Distance(), carla::geom::VertexInfo::is_static, carla::geom::MeshFactory::RoadParameters::lane_ends_multiplier, carla::geom::VertexInfo::lane_mesh_idx, carla::geom::MeshFactory::RoadParameters::max_weight_distance, carla::geom::MeshFactory::RoadParameters::same_lane_weight_multiplier , 以及 carla::geom::VertexInfo::vertex.

被这些函数引用 GetVertexNeighborhoodAndWeights().

函数调用图:

这是这个函数的调用关系图:

GetVertexNeighborhoodAndWeights()

std::vector< VertexNeighbors > carla::geom::GetVertexNeighborhoodAndWeights	(	const MeshFactory::RoadParameters &	road_param,
		std::vector< std::unique_ptr< Mesh > > &	lane_meshes )

在文件 MeshFactory.cpp 第 1086 行定义.

引用了 ComputeVertexWeight(), carla::geom::VertexNeighbors::neighbors , 以及 carla::geom::VertexNeighbors::vertex.

被这些函数引用 carla::geom::MeshFactory::MergeAndSmooth().

函数调用图:

这是这个函数的调用关系图:

LatLonAddMeters()

static void carla::geom::LatLonAddMeters ( double lat_start, double lon_start, double dx, double dy, double & lat_end, double & lon_end )

static

Adds meters dx/dy to given lat/lon and returns new lat/lon.

在文件 GeoLocation.cpp 第 51 行定义.

引用了 LatLonToMercator(), LatToScale() , 以及 MercatorToLatLon().

被这些函数引用 carla::geom::GeoLocation::Transform().

函数调用图:

这是这个函数的调用关系图:

LatLonToMercator()

template<class float_type >

static void carla::geom::LatLonToMercator ( double lat, double lon, double scale, float_type & mx, float_type & my )

static

Converts lat/lon/scale to mx/my (mx/my in meters if correct scale is given).

在文件 GeoLocation.cpp 第 38 行定义.

引用了 EARTH_RADIUS_EQUA , 以及 carla::geom::Math::ToRadians().

被这些函数引用 LatLonAddMeters().

函数调用图:

这是这个函数的调用关系图:

LatToScale()

static double carla::geom::LatToScale ( double lat )

static

Convert latitude to scale, which is needed by mercator transformations

参数

lat	latitude in degrees (DEG)

返回

scale factor

注解

when converting from lat/lon -> mercator and back again, or vice versa, use the same scale in both transformations!

在文件 GeoLocation.cpp 第 31 行定义.

引用了 carla::geom::Math::ToRadians().

被这些函数引用 LatLonAddMeters().

函数调用图:

这是这个函数的调用关系图:

MercatorToLatLon()

static void carla::geom::MercatorToLatLon ( double mx, double my, double scale, double & lat, double & lon )

static

Converts mx/my/scale to lat/lon (mx/my in meters if correct scale is given).

在文件 GeoLocation.cpp 第 45 行定义.

引用了 EARTH_RADIUS_EQUA.

被这些函数引用 LatLonAddMeters().

这是这个函数的调用关系图:

operator+()

Mesh carla::geom::operator+	(	const Mesh &	lhs,
		const Mesh &	rhs )

在文件 Mesh.cpp 第 385 行定义.

operator<<()

std::ostream & carla::geom::operator<<	(	std::ostream &	out,
		const Vector3D &	vector3D )

在文件 test_geom.cpp 第 18 行定义.

引用了 carla::geom::Vector3D::x, carla::geom::Vector3D::y , 以及 carla::geom::Vector3D::z.

变量说明

EARTH_RADIUS_EQUA

constexpr double carla::geom::EARTH_RADIUS_EQUA = 6378137.0

staticconstexpr

Earth radius at equator [m].

在文件 GeoLocation.cpp 第 23 行定义.

被这些函数引用 LatLonToMercator() , 以及 MercatorToLatLon().

EPSILON

constexpr double carla::geom::EPSILON = 10.0 * std::numeric_limits<double>::epsilon()

staticconstexpr

We use this epsilon to shift the waypoints away from the edges of the lane sections to avoid floating point precision errors.

在文件 MeshFactory.cpp 第 31 行定义.

被这些函数引用 carla::geom::MeshFactory::Generate(), carla::geom::MeshFactory::GenerateOrderedWithMaxLen(), carla::geom::MeshFactory::GenerateSidewalk(), carla::geom::MeshFactory::GenerateSidewalk(), carla::geom::MeshFactory::GenerateTesselated(), carla::geom::MeshFactory::GenerateTesselated(), carla::geom::MeshFactory::GenerateWalls(), carla::geom::MeshFactory::GenerateWallsWithMaxLen() , 以及 carla::geom::MeshFactory::GenerateWithMaxLen().

MESH_EPSILON

constexpr double carla::geom::MESH_EPSILON = 50.0 * std::numeric_limits<double>::epsilon()

staticconstexpr

在文件 MeshFactory.cpp 第 32 行定义.

被这些函数引用 carla::geom::MeshFactory::Generate(), carla::geom::MeshFactory::GenerateLeftWall(), carla::geom::MeshFactory::GenerateRightWall(), carla::geom::MeshFactory::GenerateSidewalk() , 以及 carla::geom::MeshFactory::GenerateTesselated().