apollo::perception::lidar::MlfEngine类 参考

#include <mlf_engine.h>

类 apollo::perception::lidar::MlfEngine 继承关系图:

apollo::perception::lidar::MlfEngine 的协作图:

Public 成员函数
	MlfEngine ()=default
virtual	~MlfEngine ()=default
bool	Init (const MultiTargetTrackerInitOptions &options=MultiTargetTrackerInitOptions()) override
	Init mlf engine
bool	Track (const MultiTargetTrackerOptions &options, LidarFrame *frame) override
	Track segmented objects from multiple lidar sensors
std::string	Name () const override
	Get class name
Public 成员函数 继承自 apollo::perception::lidar::BaseMultiTargetTracker
	BaseMultiTargetTracker ()=default
virtual	~BaseMultiTargetTracker ()=default

Protected 成员函数
void	SplitAndTransformToTrackedObjects (const std::vector< base::ObjectPtr > &objects, const base::SensorInfo &sensor_info, double frame_timestamp)
	Split foreground/background objects and attach to tracked objects
void	TrackObjectMatchAndAssign (const MlfTrackObjectMatcherOptions &match_options, const std::vector< TrackedObjectPtr > &objects, const std::string &name, std::vector< MlfTrackDataPtr > *tracks)
	Match tracks and objets and object-track assignment
void	TrackStateFilter (const std::vector< MlfTrackDataPtr > &tracks, double frame_timestamp)
	Filter tracks
void	CollectTrackedResult (LidarFrame *frame)
	Collect track results and store in frame tracked objects
void	RemoveStaleTrackData (const std::string &name, double timestamp, std::vector< MlfTrackDataPtr > *tracks)
	Remove stale track data for memory management
void	ObjectsDebugInfo (LidarFrame *frame, bool foreground_log=true)
	Output object-detection-model results and latest track results
void	TrackDebugInfo (LidarFrame *frame)
void	Clear ()
	Clear all data

Protected 属性
std::vector< MlfTrackDataPtr >	foreground_track_data_
std::vector< MlfTrackDataPtr >	background_track_data_
std::vector< TrackedObjectPtr >	foreground_objects_
std::vector< TrackedObjectPtr >	background_objects_
std::unique_ptr< MlfTracker >	tracker_
std::unique_ptr< MlfTrackObjectMatcher >	matcher_
Eigen::Vector3d	global_to_local_offset_
Eigen::Affine3d	sensor_to_local_pose_
bool	use_histogram_for_match_ = true
size_t	histogram_bin_size_ = 10
bool	output_predict_objects_ = false
double	reserved_invisible_time_ = 0.3
bool	use_frame_timestamp_ = false
bool	set_static_outside_hdmap_ = false
bool	use_semantic_map_ = false
bool	print_debug_log_ = false
double	delay_output_ = 0.3
size_t	pub_track_times_ = 1

详细描述

在文件 mlf_engine.h 第 34 行定义.

构造及析构函数说明

MlfEngine()

apollo::perception::lidar::MlfEngine::MlfEngine ( )

default

~MlfEngine()

virtual apollo::perception::lidar::MlfEngine::~MlfEngine ( )

virtualdefault

成员函数说明

Clear()

void apollo::perception::lidar::MlfEngine::Clear ( )

protected

Clear all data

在文件 mlf_engine.cc 第 36 行定义.

                      {
  foreground_objects_.clear();
  background_objects_.clear();
  foreground_track_data_.clear();
  background_track_data_.clear();
}

CollectTrackedResult()

void apollo::perception::lidar::MlfEngine::CollectTrackedResult ( LidarFrame *  frame )

protected

Collect track results and store in frame tracked objects

参数

frame

lidar frame

在文件 mlf_engine.cc 第 216 行定义.

                                                      {
  auto& tracked_objects = frame->tracked_objects;
  tracked_objects.clear();
  size_t num_objects =
      foreground_track_data_.size() + background_track_data_.size();
  base::ObjectPool::Instance().BatchGet(num_objects, &tracked_objects);
  size_t pos = 0;
  size_t num_predict = 0;
  size_t num_delay_output = 0;
  size_t num_front_critical_reserve = 0;
  size_t num_blind_trafficcone = 0;
  auto collect = [&](std::vector<MlfTrackDataPtr>* tracks) {
    for (auto& track_data : *tracks) {
      // if (!output_predict_objects_ &&
      //      track_data->is_current_state_predicted_) {
      //   ++num_predict;
      // } else {
      //   if (!track_data->ToObject(-global_to_local_offset_,
      //        frame->timestamp, tracked_objects[pos], true)) {
      //     AERROR << "Tracking failed";
      //     continue;
      //   }
      //   ++pos;
      // }
      if (track_data->age_ <= pub_track_times_) {
          if (track_data->is_front_critical_track_) {
              ADEBUG << "[DelayOutput] track_id: " << track_data->track_id_
                    << " time is " << std::to_string(frame->timestamp)
                    << " not output";
          }
          ++num_delay_output;
          continue;
      }
      track_data->is_reserve_blind_cone_ = false;
      // == false -> OUTPUT
      if (!track_data->is_current_state_predicted_) {
          if (!track_data->ToObject(-global_to_local_offset_,
              frame->timestamp, tracked_objects[pos], true)) {
              AERROR << "Tracking failed";
              continue;
          }
          ++pos;
          ADEBUG << "track_id: " << track_data->track_id_
                 << " detetcted, obj-time is "
                 << std::to_string(frame->timestamp) << " and output";
          continue;
      } else {
          // == true: output_predict_objects_ == true -> OUTPUT
          if (output_predict_objects_) {
              if (!track_data->ToObject(-global_to_local_offset_,
                  frame->timestamp, tracked_objects[pos], true)) {
                  AERROR << "Tracking failed";
                  continue;
              }
              ++pos;
              continue;
          } else {
              // output_predict_objects_ == false
              // should judge front-critical and time
              TrackedObjectConstPtr latest_object =
                  track_data->GetLatestObject().second;
              // front-critical and within time -> OUTPUT
              if (latest_object != nullptr &&
                  track_data->is_front_critical_track_ &&
                  latest_object->output_velocity.head<2>().norm() < 0.01 &&
                  frame->timestamp -
                      track_data->GetLatestObject().first <= delay_output_) {
                  ++num_front_critical_reserve;
                  AINFO << "track_id: " << track_data->track_id_
                        << " missed, obj-time is "
                        << std::to_string(track_data->GetLatestObject().first)
                        << " and predict output";
                  if (!track_data->ToObject(-global_to_local_offset_,
                       frame->timestamp, tracked_objects[pos], false)) {
                      AERROR << "Tracking failed";
                      continue;
                  }
                  ++pos;
                  continue;
              } else if (JudgeBlindTrafficCone(track_data, frame->timestamp,
                  -global_to_local_offset_, frame->lidar2world_pose,
                  frame->lidar2novatel_extrinsics)) {
                  ++num_blind_trafficcone;
                  if (!track_data->ToObject(-global_to_local_offset_,
                       frame->timestamp, tracked_objects[pos], false)) {
                      AERROR << "Tracking failed";
                      continue;
                  }
                  track_data->is_reserve_blind_cone_ = true;
                  ++pos;
                  continue;
              } else {
                  // NO front-critical or beyond time -> NO OUTPUT
                  ++num_predict;
                  continue;
              }
          }
      }
    }
  };
  collect(&foreground_track_data_);
  collect(&background_track_data_);
  AINFO << "MlfEngine, num_predict: " << num_predict
        << " num delay_output: " << num_delay_output
        << " num front_critical: " << num_front_critical_reserve
        << " num blind trafficcone: " << num_blind_trafficcone
        << " num_objects: " << num_objects;
  if (num_predict > num_objects) {
    AERROR << "num_predict > num_objects";
    return;
  }
  tracked_objects.resize(num_objects - num_predict - num_delay_output);
}

Init()

bool apollo::perception::lidar::MlfEngine::Init ( const MultiTargetTrackerInitOptions &  options = MultiTargetTrackerInitOptions() )

overridevirtual

Init mlf engine

参数

options

返回

true

false

实现了 apollo::perception::lidar::BaseMultiTargetTracker.

在文件 mlf_engine.cc 第 43 行定义.

                                                                 {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
  MlfEngineConfig config;
  ACHECK(cyber::common::GetProtoFromFile(config_file, &config));
 
  Clear();
 
  use_histogram_for_match_ = config.use_histogram_for_match();
  histogram_bin_size_ = config.histogram_bin_size();
  output_predict_objects_ = config.output_predict_objects();
  reserved_invisible_time_ = config.reserved_invisible_time();
  use_frame_timestamp_ = config.use_frame_timestamp();
  set_static_outside_hdmap_ = config.set_static_outside_hdmap();
  print_debug_log_ = config.print_debug_log();
  delay_output_ = config.delay_time_output();
  pub_track_times_ = config.pub_track_times();
 
  matcher_.reset(new MlfTrackObjectMatcher);
  MlfTrackObjectMatcherInitOptions matcher_init_options;
  matcher_init_options.config_path = options.config_path;
  ACHECK(matcher_->Init(matcher_init_options));
 
  tracker_.reset(new MlfTracker);
  MlfTrackerInitOptions tracker_init_options;
  tracker_init_options.config_path = options.config_path;
  ACHECK(tracker_->Init(tracker_init_options));
  return true;
}

Name()

std::string apollo::perception::lidar::MlfEngine::Name ( ) const

inlineoverridevirtual

Get class name

返回

std::string

实现了 apollo::perception::lidar::BaseMultiTargetTracker.

在文件 mlf_engine.h 第 66 行定义.

{ return "MlfEngine"; };

ObjectsDebugInfo()

void apollo::perception::lidar::MlfEngine::ObjectsDebugInfo ( LidarFrame *  frame, bool  foreground_log = true  )

protected

Output object-detection-model results and latest track results

参数

frame	lidar frame
log	model or cluster

在文件 mlf_engine.cc 第 352 行定义.

                                                                       {
    size_t objcnt = 0;
    for (auto obj : frame->segmented_objects) {
        if (foreground_log && !obj->lidar_supplement.is_background) {
            objcnt++;
        }
        if (!foreground_log && obj->lidar_supplement.is_background) {
            objcnt++;
        }
    }
    std::stringstream ssstr;
    if (foreground_log) {
        ssstr << "[Foreground-objects] timestamp: "
              << std::to_string(frame->timestamp) << " objs: " << objcnt
              << std::endl;
    } else {
        ssstr << "[Background-objects] timestamp: "
              << std::to_string(frame->timestamp) << " objs: " << objcnt
              << std::endl;
    }
    for (auto obj : frame->segmented_objects) {
        if (foreground_log && obj->lidar_supplement.is_background) {
            continue;
        }
        if (!foreground_log && !obj->lidar_supplement.is_background) {
            continue;
        }
        ssstr << "id = " << obj->id << ": " << obj->center(0) << ", "
              << obj->center(1) << ", " << obj->center(2) << ", "
              << obj->size(0) << ", " << obj->size(1) << ", "
              << obj->size(2) << ", " << obj->theta << ", "
              << static_cast<int>(obj->type) << std::endl;
    }
    AINFO << ssstr.str();
}

RemoveStaleTrackData()

void apollo::perception::lidar::MlfEngine::RemoveStaleTrackData ( const std::string &  name, double  timestamp, std::vector< MlfTrackDataPtr > *  tracks  )

protected

Remove stale track data for memory management

参数

name
timestamp
tracks	to be cleaned

在文件 mlf_engine.cc 第 330 行定义.

                                                                         {
  size_t pos = 0;
  for (size_t i = 0; i < tracks->size(); ++i) {
    float reserve_time = reserved_invisible_time_;
    if (tracks->at(i)->is_front_critical_track_ &&
        reserved_invisible_time_ < delay_output_) {
        reserve_time = delay_output_;
    }
    if (tracks->at(i)->latest_visible_time_ + reserve_time >= timestamp ||
        tracks->at(i)->is_reserve_blind_cone_) {
      if (i != pos) {
        tracks->at(pos) = tracks->at(i);
      }
      ++pos;
    }
  }
  AINFO << "MlfEngine: " << name << " remove stale tracks, from "
        << tracks->size() << " to " << pos;
  tracks->resize(pos);
}

SplitAndTransformToTrackedObjects()

void apollo::perception::lidar::MlfEngine::SplitAndTransformToTrackedObjects ( const std::vector< base::ObjectPtr > &  objects, const base::SensorInfo &  sensor_info, double  frame_timestamp  )

protected

Split foreground/background objects and attach to tracked objects

参数

objects
sensor_info

在文件 mlf_engine.cc 第 148 行定义.

                                                               {
  std::vector<TrackedObjectPtr> tracked_objects;
  TrackedObjectPool::Instance().BatchGet(objects.size(), &tracked_objects);
  foreground_objects_.clear();
  background_objects_.clear();
  for (size_t i = 0; i < objects.size(); ++i) {
    double tracked_time = objects[i]->latest_tracked_time;
    double timestamp = use_frame_timestamp_ ? frame_timestamp : tracked_time;
    tracked_objects[i]->AttachObject(objects[i], sensor_to_local_pose_,
                      global_to_local_offset_, sensor_info, timestamp);
    if (!objects[i]->lidar_supplement.is_background &&
        use_histogram_for_match_) {
      tracked_objects[i]->histogram_bin_size = histogram_bin_size_;
      tracked_objects[i]->ComputeShapeFeatures();
    }
    if (objects[i]->lidar_supplement.is_background) {
      background_objects_.push_back(tracked_objects[i]);
    } else {
      foreground_objects_.push_back(tracked_objects[i]);
    }
  }
  AINFO << "MlfEngine: " << sensor_info.name
        << " foreground: " << foreground_objects_.size()
        << " background: " << background_objects_.size();
}

Track()

bool apollo::perception::lidar::MlfEngine::Track ( const MultiTargetTrackerOptions &  options, LidarFrame *  frame  )

overridevirtual

Track segmented objects from multiple lidar sensors

参数

options	tracker options
frame	lidar frame

返回

true

false

实现了 apollo::perception::lidar::BaseMultiTargetTracker.

在文件 mlf_engine.cc 第 73 行定义.

                                         {
  // 0. modify objects timestamp if necessary
  if (use_frame_timestamp_) {
    for (auto& object : frame->segmented_objects) {
      object->latest_tracked_time = frame->timestamp;
    }
  }
  if (print_debug_log_) {
    ObjectsDebugInfo(frame, true);
    ObjectsDebugInfo(frame, false);
  }
  // 1. add global offset to pose (only when no track exists)
  if (foreground_track_data_.empty() && background_track_data_.empty()) {
    global_to_local_offset_ = -frame->lidar2world_pose.translation();
  }
  sensor_to_local_pose_ = frame->lidar2world_pose;
  sensor_to_local_pose_.pretranslate(global_to_local_offset_);
  // 2. split fg and bg objects, and transform to tracked objects
  SplitAndTransformToTrackedObjects(frame->segmented_objects,
                                    frame->sensor_info, frame->timestamp);
  // 3. assign tracked objects to tracks
  MlfTrackObjectMatcherOptions match_options;
  TrackObjectMatchAndAssign(match_options, foreground_objects_, "foreground",
                            &foreground_track_data_);
  TrackObjectMatchAndAssign(match_options, background_objects_, "background",
                            &background_track_data_);
  // 4. state filter in tracker if is main sensor
  bool is_main_sensor = algorithm::SensorManager::Instance()->IsMainSensor(
      frame->sensor_info.name);
  if (is_main_sensor) {
    TrackStateFilter(foreground_track_data_, frame->timestamp);
    TrackStateFilter(background_track_data_, frame->timestamp);
  }
  // 5. track to object if is main sensor
  if (print_debug_log_) {
    TrackDebugInfo(frame);
  }
  frame->tracked_objects.clear();
  if (is_main_sensor) {
    CollectTrackedResult(frame);
  }
  // 6. remove stale data
  RemoveStaleTrackData("foreground", frame->timestamp, &foreground_track_data_);
  RemoveStaleTrackData("background", frame->timestamp, &background_track_data_);
 
  // Startegy: Set velocity and acceleration to ZERO outside hdmap_struct
  // temporarily located here, best is in mlf_motion_refiner.cc
  auto roi = frame->hdmap_struct;
  if (!set_static_outside_hdmap_ || roi == nullptr ||
      (roi->road_polygons.empty() && roi->junction_polygons.empty() &&
       roi->road_boundary.empty())) {
    AINFO << "MlfEngine publish objects: " << frame->tracked_objects.size()
          << " sensor_name: " << frame->sensor_info.name
          << " at timestamp: " << frame->timestamp;
    return true;
  }
  std::stringstream sstr;
  sstr << "Object Outside Hdmap. Set velocity to zero. track_id: ";
  for (auto obj : frame->tracked_objects) {
    if (algorithm::IsObjectInRoi(roi, obj)) {
      continue;
    }
    obj->velocity = Eigen::Vector3f::Zero();
    obj->acceleration = Eigen::Vector3f::Zero();
    sstr << obj->track_id << ", ";
  }
  AINFO << sstr.str();
 
  AINFO << "MlfEngine publish objects: " << frame->tracked_objects.size()
        << " sensor_name: " << frame->sensor_info.name
        << " at timestamp: " << frame->timestamp;
  return true;
}

TrackDebugInfo()

void apollo::perception::lidar::MlfEngine::TrackDebugInfo ( LidarFrame *  frame )

protected

在文件 mlf_engine.cc 第 388 行定义.

                                                {
    std::stringstream sstr;
    sstr << "[This frame TrackDataDebugInfo]: timestamp: "
         << std::to_string(frame->timestamp) << " tracks: "
         << foreground_track_data_.size() << std::endl;
    sstr << "lidar2world_pose: " << sensor_to_local_pose_(0, 0) << ", "
         << sensor_to_local_pose_(0, 1) << ", " << sensor_to_local_pose_(0, 2)
         << ", " << sensor_to_local_pose_(0, 3) << ", "
         << sensor_to_local_pose_(1, 0) << ", " << sensor_to_local_pose_(1, 1)
         << ", " << sensor_to_local_pose_(1, 2) << ", "
         << sensor_to_local_pose_(1, 3) << ", " << sensor_to_local_pose_(2, 0)
         << ", " << sensor_to_local_pose_(2, 1) << ", "
         << sensor_to_local_pose_(2, 2) << ", " << sensor_to_local_pose_(2, 3)
         << ", "<< sensor_to_local_pose_(3, 0) << ", "
         << sensor_to_local_pose_(3, 1) << ", " << sensor_to_local_pose_(3, 2)
         << ", " << sensor_to_local_pose_(3, 3) << ", "
         << std::to_string(global_to_local_offset_(0)) << ", "
         << std::to_string(global_to_local_offset_(1)) << ", "
         << std::to_string(global_to_local_offset_(2)) << std::endl;
 
    auto debug_info = [&](std::vector<MlfTrackDataPtr>* tracks) {
        for (auto& track_data : *tracks) {
            const TrackedObjectConstPtr latest_obj =
                track_data->GetLatestObject().second;
            sstr << " track_id = " << track_data->track_id_ << ": "
                 << latest_obj->center(0) << ", " << latest_obj->center(1)
                 << ", " << latest_obj->center(2) << ", "
                 << latest_obj->size(0) << ", " << latest_obj->size(1) << ", "
                 << latest_obj->size(2) << ", "
                 << latest_obj->output_direction(0) << ", "
                 << latest_obj->output_direction(1) << ", "
                 << latest_obj->output_direction(2) << ", "
                 << static_cast<int>(latest_obj->type) << ", "
                 << std::to_string(latest_obj->object_ptr->latest_tracked_time)
                 << std::endl;
        }
    };
    debug_info(&foreground_track_data_);
    AINFO << sstr.str();
}

TrackObjectMatchAndAssign()

void apollo::perception::lidar::MlfEngine::TrackObjectMatchAndAssign ( const MlfTrackObjectMatcherOptions &  match_options, const std::vector< TrackedObjectPtr > &  objects, const std::string &  name, std::vector< MlfTrackDataPtr > *  tracks  )

protected

Match tracks and objets and object-track assignment

参数

match_options	match options
objects	for match
name
tracks	tracks for match and assignment

在文件 mlf_engine.cc 第 176 行定义.

                                        {
  std::vector<std::pair<size_t, size_t>> assignments;
  std::vector<size_t> unassigned_tracks;
  std::vector<size_t> unassigned_objects;
  matcher_->Match(match_options, objects, *tracks, &assignments,
                  &unassigned_tracks, &unassigned_objects);
  AINFO << "MlfEngine: " + name + " assignments " << assignments.size()
        << " unassigned_tracks " << unassigned_tracks.size()
        << " unassigned_objects " << unassigned_objects.size();
  // 1. for assignment, push object to cache of track_data
  for (auto& pair : assignments) {
    const size_t track_id = pair.first;
    const size_t object_id = pair.second;
    tracks->at(track_id)->PushTrackedObjectToCache(objects[object_id]);
  }
  // 2. for unassigned_objects, create new tracks
  for (auto& id : unassigned_objects) {
    MlfTrackDataPtr track_data = MlfTrackDataPool::Instance().Get();
    tracker_->InitializeTrack(track_data, objects[id]);
    tracks->push_back(track_data);
  }
}

TrackStateFilter()

void apollo::perception::lidar::MlfEngine::TrackStateFilter ( const std::vector< MlfTrackDataPtr > &  tracks, double  frame_timestamp  )

protected

Filter tracks

参数

tracks	for filter
frame_timestamp

在文件 mlf_engine.cc 第 202 行定义.

                                                         {
  std::vector<TrackedObjectPtr> objects;
  for (auto& track_data : tracks) {
    track_data->GetAndCleanCachedObjectsInTimeInterval(&objects);
    for (auto& obj : objects) {
      tracker_->UpdateTrackDataWithObject(track_data, obj);
    }
    if (objects.empty()) {
      tracker_->UpdateTrackDataWithoutObject(frame_timestamp, track_data);
    }
  }
}

类成员变量说明

background_objects_

std::vector<TrackedObjectPtr> apollo::perception::lidar::MlfEngine::background_objects_

protected

在文件 mlf_engine.h 第 144 行定义.

background_track_data_

std::vector<MlfTrackDataPtr> apollo::perception::lidar::MlfEngine::background_track_data_

protected

在文件 mlf_engine.h 第 141 行定义.

delay_output_

double apollo::perception::lidar::MlfEngine::delay_output_ = 0.3

protected

在文件 mlf_engine.h 第 162 行定义.

foreground_objects_

std::vector<TrackedObjectPtr> apollo::perception::lidar::MlfEngine::foreground_objects_

protected

在文件 mlf_engine.h 第 143 行定义.

foreground_track_data_

std::vector<MlfTrackDataPtr> apollo::perception::lidar::MlfEngine::foreground_track_data_

protected

在文件 mlf_engine.h 第 140 行定义.

global_to_local_offset_

Eigen::Vector3d apollo::perception::lidar::MlfEngine::global_to_local_offset_

protected

在文件 mlf_engine.h 第 150 行定义.

histogram_bin_size_

size_t apollo::perception::lidar::MlfEngine::histogram_bin_size_ = 10

protected

在文件 mlf_engine.h 第 155 行定义.

matcher_

std::unique_ptr<MlfTrackObjectMatcher> apollo::perception::lidar::MlfEngine::matcher_

protected

在文件 mlf_engine.h 第 148 行定义.

output_predict_objects_

bool apollo::perception::lidar::MlfEngine::output_predict_objects_ = false

protected

在文件 mlf_engine.h 第 156 行定义.

print_debug_log_

bool apollo::perception::lidar::MlfEngine::print_debug_log_ = false

protected

在文件 mlf_engine.h 第 161 行定义.

pub_track_times_

size_t apollo::perception::lidar::MlfEngine::pub_track_times_ = 1

protected

在文件 mlf_engine.h 第 163 行定义.

reserved_invisible_time_

double apollo::perception::lidar::MlfEngine::reserved_invisible_time_ = 0.3

protected

在文件 mlf_engine.h 第 157 行定义.

sensor_to_local_pose_

Eigen::Affine3d apollo::perception::lidar::MlfEngine::sensor_to_local_pose_

protected

在文件 mlf_engine.h 第 151 行定义.

set_static_outside_hdmap_

bool apollo::perception::lidar::MlfEngine::set_static_outside_hdmap_ = false

protected

在文件 mlf_engine.h 第 159 行定义.

tracker_

std::unique_ptr<MlfTracker> apollo::perception::lidar::MlfEngine::tracker_

protected

在文件 mlf_engine.h 第 146 行定义.

use_frame_timestamp_

bool apollo::perception::lidar::MlfEngine::use_frame_timestamp_ = false

protected

在文件 mlf_engine.h 第 158 行定义.

use_histogram_for_match_

bool apollo::perception::lidar::MlfEngine::use_histogram_for_match_ = true

protected

在文件 mlf_engine.h 第 154 行定义.

use_semantic_map_

bool apollo::perception::lidar::MlfEngine::use_semantic_map_ = false

protected

在文件 mlf_engine.h 第 160 行定义.

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该类的文档由以下文件生成:

• modules/perception/lidar_tracking/tracker/multi_lidar_fusion/mlf_engine.h
• modules/perception/lidar_tracking/tracker/multi_lidar_fusion/mlf_engine.cc