carla::sensor::data::SemanticLidarDetection类 参考

Helper class to store and serialize the data generated by a RawLidar. 更多...

#include <SemanticLidarData.h>

carla::sensor::data::SemanticLidarDetection 的协作图:

Public 成员函数
	SemanticLidarDetection ()=default
	SemanticLidarDetection (float x, float y, float z, float cosTh, uint32_t idx, uint32_t tag)
	SemanticLidarDetection (geom::Location p, float cosTh, uint32_t idx, uint32_t tag)
void	WriteDetection (std::ostream &out) const
void	WritePlyHeaderInfo (std::ostream &out) const

Public 属性
float	cos_inc_angle {}
uint32_t	object_idx {}
uint32_t	object_tag {}
geom::Location	point {}

详细描述

Helper class to store and serialize the data generated by a RawLidar.

The header of a Lidar measurement consists of an array of uint32_t's in the following layout

{ Horizontal angle (float), Channel count, Point count of channel 0, ... Point count of channel n, }

The points are stored in an array of detections, each detection consist in four floats, the point detected and the angle between the casted ray and the normal of the hitted object, and two unsigned integers, the index and the semantic tag of the hitted object

{ X0, Y0, Z0, Cos(TH0), idx_0, tag_0 ... Xn, Yn, Zn, Cos(THn), idx_n, tag_n }

在文件 SemanticLidarData.h 第 56 行定义.

构造及析构函数说明

SemanticLidarDetection() [1/3]

carla::sensor::data::SemanticLidarDetection::SemanticLidarDetection ( )

default

SemanticLidarDetection() [2/3]

carla::sensor::data::SemanticLidarDetection::SemanticLidarDetection ( float x, float y, float z, float cosTh, uint32_t idx, uint32_t tag )

inline

在文件 SemanticLidarData.h 第 65 行定义.

SemanticLidarDetection() [3/3]

carla::sensor::data::SemanticLidarDetection::SemanticLidarDetection ( geom::Location p, float cosTh, uint32_t idx, uint32_t tag )

inline

在文件 SemanticLidarData.h 第 67 行定义.

成员函数说明

WriteDetection()

void carla::sensor::data::SemanticLidarDetection::WriteDetection ( std::ostream & out ) const

inline

在文件 SemanticLidarData.h 第 79 行定义.

引用了 cos_inc_angle, object_idx, object_tag, point, carla::geom::Vector3D::x, carla::geom::Vector3D::y , 以及 carla::geom::Vector3D::z.

WritePlyHeaderInfo()

void carla::sensor::data::SemanticLidarDetection::WritePlyHeaderInfo ( std::ostream & out ) const

inline

在文件 SemanticLidarData.h 第 70 行定义.

类成员变量说明

cos_inc_angle

float carla::sensor::data::SemanticLidarDetection::cos_inc_angle {}

在文件 SemanticLidarData.h 第 59 行定义.

被这些函数引用 ARayCastSemanticLidar::ComputeRawDetection() , 以及 WriteDetection().

object_idx

uint32_t carla::sensor::data::SemanticLidarDetection::object_idx {}

在文件 SemanticLidarData.h 第 60 行定义.

被这些函数引用 ARayCastSemanticLidar::ComputeRawDetection() , 以及 WriteDetection().

object_tag

uint32_t carla::sensor::data::SemanticLidarDetection::object_tag {}

在文件 SemanticLidarData.h 第 61 行定义.

被这些函数引用 ARayCastSemanticLidar::ComputeRawDetection() , 以及 WriteDetection().

point

geom::Location carla::sensor::data::SemanticLidarDetection::point {}

在文件 SemanticLidarData.h 第 58 行定义.

被这些函数引用 ARayCastLidar::ComputeIntensity(), ARayCastSemanticLidar::ComputeRawDetection() , 以及 WriteDetection().

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该类的文档由以下文件生成:

• SemanticLidarData.h