euclidean_cluster.hpp File Reference

This file defines the euclidean cluster algorithm for object detection. More...

#include <autoware_auto_msgs/msg/bounding_box_array.hpp>
#include <autoware_auto_msgs/msg/point_clusters.hpp>
#include <geometry/spatial_hash.hpp>
#include <euclidean_cluster/visibility_control.hpp>
#include <common/types.hpp>
#include <string>
#include <vector>
#include <utility>

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Classes
struct	autoware::perception::segmentation::euclidean_cluster::PointXYZI
	Simple point struct for memory mapping to and from PointCloud2 type. More...
class	autoware::perception::segmentation::euclidean_cluster::PointXYZII
	Helper point for which euclidean distance is computed only once. More...
class	autoware::perception::segmentation::euclidean_cluster::Config
	Configuration class for euclidean cluster In the future this can become a base class with subclasses defining different threshold functions. This configuration's threshold function currently assumes isotropy, and minor details in the clustering implementation also assume this property. More...
class	autoware::perception::segmentation::euclidean_cluster::EuclideanCluster
	implementation of euclidean clustering for point cloud segmentation This clas implicitly projects points onto a 2D (x-y) plane, and segments according to euclidean distance. This can be thought of as a graph-based approach where points are vertices and edges are defined by euclidean distance The input to this should be nonground points pased through a voxel grid. More...

Namespaces
	autoware
	This file defines the lanelet2_map_provider_node class.
	autoware::perception
	Perception related algorithms and functionality, such as those acting on 3D lidar data, camera data, radar, or ultrasonic information.
	autoware::perception::segmentation
	autoware::perception::segmentation::euclidean_cluster
	Supporting classes for euclidean clustering, an object detection algorithm.
	autoware::perception::segmentation::euclidean_cluster::details
	Common euclidean cluster functions not intended for external use.
	autoware::common
	autoware::common::geometry
	autoware::common::geometry::point_adapter
	Temporary namespace for point adapter methods, for use with nonstandard point types.

Typedefs
using	autoware::perception::segmentation::euclidean_cluster::HashConfig = autoware::common::geometry::spatial_hash::Config2d
using	autoware::perception::segmentation::euclidean_cluster::Hash = autoware::common::geometry::spatial_hash::SpatialHash2d< PointXYZII >
using	autoware::perception::segmentation::euclidean_cluster::Clusters = autoware_auto_msgs::msg::PointClusters
using	autoware::perception::segmentation::euclidean_cluster::Cluster = decltype(Clusters::clusters)::value_type
using	autoware::perception::segmentation::euclidean_cluster::details::BoundingBox = autoware_auto_msgs::msg::BoundingBox
using	autoware::perception::segmentation::euclidean_cluster::details::BoundingBoxArray = autoware_auto_msgs::msg::BoundingBoxArray

Functions
EUCLIDEAN_CLUSTER_PUBLIC BoundingBox	autoware::perception::segmentation::euclidean_cluster::details::compute_lfit_bounding_box (Cluster &cls)
	Compute lfit bounding box from individual cluster. More...
EUCLIDEAN_CLUSTER_PUBLIC BoundingBox	autoware::perception::segmentation::euclidean_cluster::details::compute_eigenbox (const Cluster &cls)
	Compute eigenbox from individual cluster. More...
EUCLIDEAN_CLUSTER_PUBLIC void	autoware::perception::segmentation::euclidean_cluster::details::compute_lfit_bounding_boxes (Clusters &clusters, BoundingBoxArray &boxes)
	Compute lfit bounding boxes from clusters. More...
EUCLIDEAN_CLUSTER_PUBLIC void	autoware::perception::segmentation::euclidean_cluster::details::compute_lfit_bounding_boxes_with_z (Clusters &clusters, BoundingBoxArray &boxes)
	Compute lfit bounding boxes from clusters, including z coordinate. More...
EUCLIDEAN_CLUSTER_PUBLIC void	autoware::perception::segmentation::euclidean_cluster::details::compute_eigenboxes (const Clusters &clusters, BoundingBoxArray &boxes)
	Compute eigenboxes from clusters. More...
EUCLIDEAN_CLUSTER_PUBLIC void	autoware::perception::segmentation::euclidean_cluster::details::compute_eigenboxes_with_z (const Clusters &clusters, BoundingBoxArray &boxes)
	Compute eigenboxes from clusters, including z coordinate. More...
template<>
EUCLIDEAN_CLUSTER_PUBLIC auto	autoware::common::geometry::point_adapter::x_ (const perception::segmentation::euclidean_cluster::PointXYZII &pt)
template<>
EUCLIDEAN_CLUSTER_PUBLIC auto	autoware::common::geometry::point_adapter::y_ (const perception::segmentation::euclidean_cluster::PointXYZII &pt)
template<>
EUCLIDEAN_CLUSTER_PUBLIC auto	autoware::common::geometry::point_adapter::z_ (const perception::segmentation::euclidean_cluster::PointXYZII &pt)

Detailed Description

This file defines the euclidean cluster algorithm for object detection.