osi_utils.cpp File Reference

#include "osi_utils.hpp"
#include <fstream>
#include <string>
#include <Eigen/Geometry>
#include <google/protobuf/util/json_util.h>
#include <cloe/utility/geometry.hpp>
#include "osi_common.pb.h"
#include "osi_sensordata.pb.h"

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Functions
void	osii::osi_to_json (const osi3::SensorData &data, std::string *json_string)
void	osii::osi_to_file (const osi3::SensorData &data, const std::string &fname)
Eigen::Vector3d	osii::osi_vector3d_xyz_to_vector3d (const osi3::Vector3d osi_coord)
void	osii::vector3d_to_osi_vector3d_xyz (const Eigen::Vector3d &vec, osi3::Vector3d *osi_vec)
Eigen::Vector3d	osii::osi_dimension3d_lwh_to_vector3d (const osi3::Dimension3d osi_dim)
Eigen::Vector3d	osii::osi_orientation3d_rpy_to_vector3d (const osi3::Orientation3d osi_ori)
void	osii::vector3d_to_osi_orientation_rpy (const Eigen::Vector3d &vec, osi3::Orientation3d *osi_ori)
Eigen::Vector3d	osii::osi_vehicle_attrib_rear_offset_to_vector3d (const osi3::MovingObject::VehicleAttributes &osi_va)
template<typename T >
Eigen::Isometry3d	osii::osi_position_orientation_to_pose (const T &osi_T)
template Eigen::Isometry3d	osii::osi_position_orientation_to_pose< osi3::BaseMoving > (const osi3::BaseMoving &osi_T)
template Eigen::Isometry3d	osii::osi_position_orientation_to_pose< osi3::MountingPosition > (const osi3::MountingPosition &osi_T)
void	osii::pose_to_osi_position_orientation (const Eigen::Isometry3d &pose_in, osi3::BaseMoving &base)
void	osii::osi_transform_base_moving (const osi3::BaseMoving &base_ref, osi3::BaseMoving &base)

Function Documentation

osi_dimension3d_lwh_to_vector3d()

Eigen::Vector3d osii::osi_dimension3d_lwh_to_vector3d

(

const osi3::Dimension3d

osi_dim

)

Convert a osi3::Dimension3d (l, w, h) into Eigen::Vector3d.

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osi_orientation3d_rpy_to_vector3d()

Eigen::Vector3d osii::osi_orientation3d_rpy_to_vector3d

(

const osi3::Orientation3d

osi_ori

)

Convert a osi3::Orientation3d (r, p, y) into Eigen::Vector3d.

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osi_position_orientation_to_pose()

template<typename T >

Eigen::Isometry3d osii::osi_position_orientation_to_pose

(

const T &

osi_T

)

Convert OSI position and orientation to pose.

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osi_to_file()

void osii::osi_to_file	(	const osi3::SensorData &	data,
		const std::string &	fname
	)

Write OSI sensor data message to a .json file.

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osi_transform_base_moving()

void osii::osi_transform_base_moving	(	const osi3::BaseMoving &	base_ref,
		osi3::BaseMoving &	base
	)

Transform OSI BaseMoving into given reference frame.

Parameters

base_ref	Reference frame position/orientation in common coordinate system.
base	Base in common coordinate system, to be transformed into base_ref frame.

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osi_vector3d_xyz_to_vector3d()

Eigen::Vector3d osii::osi_vector3d_xyz_to_vector3d

(

const osi3::Vector3d

osi_coord

)

Convert osi3::Vector3d (x, y, z) into Eigen::Vector3d.

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osi_vehicle_attrib_rear_offset_to_vector3d()

Eigen::Vector3d osii::osi_vehicle_attrib_rear_offset_to_vector3d

(

const osi3::MovingObject::VehicleAttributes &

osi_va

)

Convert vehicle attribute bbcenter_to_rear into Eigen::Vector3d.

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pose_to_osi_position_orientation()

void osii::pose_to_osi_position_orientation	(	const Eigen::Isometry3d &	,
		osi3::BaseMoving &	base
	)

Convert object pose to OSI BaseMoving.

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vector3d_to_osi_vector3d_xyz()

void osii::vector3d_to_osi_vector3d_xyz	(	const Eigen::Vector3d &	vec,
		osi3::Vector3d *	osi_vec
	)

Convert Eigen::Vector3d into osi3::Vector3d (x, y, z).

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