autoware::common::geometry::bounding_box Namespace Reference

Functions and types for generating enclosing bounding boxes around a set of points. More...

Namespaces
	details

Typedefs
using	BoundingBox = autoware_auto_msgs::msg::BoundingBox
using	PointXYZIFVIT = std::vector< PointXYZIF >::iterator
using	Point32VIT = std::vector< Point32 >::iterator

Functions
template<typename IT >
void	compute_height (const IT begin, const IT end, BoundingBox &box)
	Computes height of bounding box given a full list of points. More...
template<typename IT >
BoundingBox	eigenbox_2d (const IT begin, const IT end)
	Compute oriented bounding box using PCA. This uses all points in a list, and does not modify the list. The resulting bounding box is not necessarily minimum in any way. More...
template<typename IT , typename PointT >
BoundingBox	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	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...
template<typename IT >
BoundingBox	minimum_area_bounding_box (const IT begin, const IT end)
	Compute the minimum area bounding box given a convex hull of points. This function is exposed in case a user might already have a convex hull via other methods. More...
template<typename IT >
BoundingBox	minimum_perimeter_bounding_box (const IT begin, const IT end)
	Compute the minimum perimeter bounding box given a convex hull of points This function is exposed in case a user might already have a convex hull via other methods. More...
template<typename PointT >
BoundingBox	minimum_area_bounding_box (std::list< PointT > &list)
	Compute the minimum area bounding box given an unstructured list of points. Only a list is supported as it enables the convex hull to be formed in O(n log n) time and without memory allocation. More...
template<typename PointT >
BoundingBox	minimum_perimeter_bounding_box (std::list< PointT > &list)
	Compute the minimum perimeter bounding box given an unstructured list of points Only a list is supported as it enables the convex hull to be formed in O(n log n) time and without memory allocation. More...
template BoundingBox	minimum_area_bounding_box< PointXYZIF > (std::list< PointXYZIF > &list)
template BoundingBox	minimum_perimeter_bounding_box< PointXYZIF > (std::list< PointXYZIF > &list)
template BoundingBox	eigenbox_2d< PointXYZIFVIT > (const PointXYZIFVIT begin, const PointXYZIFVIT end)
template BoundingBox	lfit_bounding_box_2d< PointXYZIFVIT > (const PointXYZIFVIT begin, const PointXYZIFVIT end)
template BoundingBox	minimum_area_bounding_box< Point32 > (std::list< Point32 > &list)
template BoundingBox	minimum_perimeter_bounding_box< Point32 > (std::list< Point32 > &list)
template BoundingBox	eigenbox_2d< Point32VIT > (const Point32VIT begin, const Point32VIT end)
template BoundingBox	lfit_bounding_box_2d< Point32VIT > (const Point32VIT begin, const Point32VIT end)

Detailed Description

Functions and types for generating enclosing bounding boxes around a set of points.

Typedef Documentation

BoundingBox

using autoware::common::geometry::bounding_box::BoundingBox = typedef autoware_auto_msgs::msg::BoundingBox

Point32VIT

using autoware::common::geometry::bounding_box::Point32VIT = typedef std::vector<Point32>::iterator

PointXYZIFVIT

using autoware::common::geometry::bounding_box::PointXYZIFVIT = typedef std::vector<PointXYZIF>::iterator

Function Documentation

compute_height()

template<typename IT >

void autoware::common::geometry::bounding_box::compute_height	(	const IT	begin,
		const IT	end,
		BoundingBox &	box
	)

Computes height of bounding box given a full list of points.

Parameters

[in]	begin	The start of the list of points
[in]	end	One past the end of the list of points
[out]	box	A box for which the z component of centroid, corners, and size gets filled

Template Parameters

IT	An iterator type, must dereference into a point type with float member z, or appropriate point adapter defined

eigenbox_2d()

template<typename IT >

BoundingBox autoware::common::geometry::bounding_box::eigenbox_2d	(	const IT	begin,
		const IT	end
	)

Compute oriented bounding box using PCA. This uses all points in a list, and does not modify the list. The resulting bounding box is not necessarily minimum in any way.

Parameters

[in]	begin	An iterator pointing to the first point in a point list
[in]	end	An iterator pointing to one past the last point in the point list

Template Parameters

IT	An iterator type dereferencable into a point with float members x and y

Returns

An oriented bounding box in x-y. This bounding box has no height information

eigenbox_2d< Point32VIT >()

template BoundingBox autoware::common::geometry::bounding_box::eigenbox_2d< Point32VIT >	(	const Point32VIT	begin,
		const Point32VIT	end
	)

eigenbox_2d< PointXYZIFVIT >()

template BoundingBox autoware::common::geometry::bounding_box::eigenbox_2d< PointXYZIFVIT >	(	const PointXYZIFVIT	begin,
		const PointXYZIFVIT	end
	)

lfit_bounding_box_2d() [1/2]

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.

Returns

An oriented bounding box in x-y. This bounding box has no height information

Parameters

[in]	begin	An iterator pointing to the first point in a point list
[in]	end	An iterator pointing to one past the last point in the point list

Template Parameters

IT	An iterator type dereferencable into a point with float members x and y

lfit_bounding_box_2d() [2/2]

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".

Returns

An oriented bounding box in x-y. This bounding box has no height information

Parameters

[in]	begin	An iterator pointing to the first point in a point list
[in]	end	An iterator pointing to one past the last point in the point list
[in]	size	The number of points in the point list
[in]	hint	An iterator pointing to the point whose normal will be used to sort the list

Returns

A pair where the first element is an iterator pointing to the nearest point, and the second element is the size of the list

Template Parameters

IT	An iterator type dereferencable into a point with float members x and y

Exceptions

std::domain_error

If the number of points is too few

lfit_bounding_box_2d< Point32VIT >()

template BoundingBox autoware::common::geometry::bounding_box::lfit_bounding_box_2d< Point32VIT >	(	const Point32VIT	begin,
		const Point32VIT	end
	)

lfit_bounding_box_2d< PointXYZIFVIT >()

template BoundingBox autoware::common::geometry::bounding_box::lfit_bounding_box_2d< PointXYZIFVIT >	(	const PointXYZIFVIT	begin,
		const PointXYZIFVIT	end
	)

minimum_area_bounding_box() [1/2]

template<typename IT >

BoundingBox autoware::common::geometry::bounding_box::minimum_area_bounding_box	(	const IT	begin,
		const IT	end
	)

Compute the minimum area bounding box given a convex hull of points. This function is exposed in case a user might already have a convex hull via other methods.

Parameters

[in]	begin	An iterator to the first point on a convex hull
[in]	end	An iterator to one past the last point on a convex hull

Returns

A minimum area bounding box, value field is the area

Template Parameters

IT	An iterator type dereferencable into a point type with float members x and y

minimum_area_bounding_box() [2/2]

template<typename PointT >

BoundingBox autoware::common::geometry::bounding_box::minimum_area_bounding_box

(

std::list< PointT > &

list

)

Compute the minimum area bounding box given an unstructured list of points. Only a list is supported as it enables the convex hull to be formed in O(n log n) time and without memory allocation.

Parameters

[in,out]

list

A list of points to form a hull around, gets reordered

Returns

A minimum area bounding box, value field is the area

Template Parameters

PointT

Point type of the lists, must have float members x and y

minimum_area_bounding_box< Point32 >()

template BoundingBox autoware::common::geometry::bounding_box::minimum_area_bounding_box< Point32 >

(

std::list< Point32 > &

list

)

minimum_area_bounding_box< PointXYZIF >()

template BoundingBox autoware::common::geometry::bounding_box::minimum_area_bounding_box< PointXYZIF >

(

std::list< PointXYZIF > &

list

)

minimum_perimeter_bounding_box() [1/2]

template<typename IT >

BoundingBox autoware::common::geometry::bounding_box::minimum_perimeter_bounding_box	(	const IT	begin,
		const IT	end
	)

Compute the minimum perimeter bounding box given a convex hull of points This function is exposed in case a user might already have a convex hull via other methods.

Parameters

[in]	begin	An iterator to the first point on a convex hull
[in]	end	An iterator to one past the last point on a convex hull

Returns

A minimum perimeter bounding box, value field is half the perimeter

Template Parameters

IT	An iterator type dereferencable into a point type with float members x and y

minimum_perimeter_bounding_box() [2/2]

template<typename PointT >

BoundingBox autoware::common::geometry::bounding_box::minimum_perimeter_bounding_box

(

std::list< PointT > &

list

)

Compute the minimum perimeter bounding box given an unstructured list of points Only a list is supported as it enables the convex hull to be formed in O(n log n) time and without memory allocation.

Parameters

[in,out]

list

A list of points to form a hull around, gets reordered

Returns

A minimum perimeter bounding box, value field is half the perimeter

Template Parameters

PointT

Point type of the lists, must have float members x and y

minimum_perimeter_bounding_box< Point32 >()

template BoundingBox autoware::common::geometry::bounding_box::minimum_perimeter_bounding_box< Point32 >

(

std::list< Point32 > &

list

)

minimum_perimeter_bounding_box< PointXYZIF >()

template BoundingBox autoware::common::geometry::bounding_box::minimum_perimeter_bounding_box< PointXYZIF >

(

std::list< PointXYZIF > &

list

)