apollo::perception::radar::HMMatcher类 参考

#include <hm_matcher.h>

类 apollo::perception::radar::HMMatcher 继承关系图:

apollo::perception::radar::HMMatcher 的协作图:

Public 成员函数
	HMMatcher ()=default
virtual	~HMMatcher ()=default
bool	Init (const MatcherInitOptions &options) override
	Init HMMatcher config
bool	Match (const std::vector< RadarTrackPtr > &radar_tracks, const base::Frame &radar_frame, const TrackObjectMatcherOptions &options, std::vector< TrackObjectPair > *assignments, std::vector< size_t > *unassigned_tracks, std::vector< size_t > *unassigned_objects) override
	match radar objects to tracks
std::string	Name () const override
	The name of the HMMatcher
Public 成员函数 继承自 apollo::perception::radar::BaseMatcher
	BaseMatcher ()=default
	Construct a new Base Matcher object
virtual	~BaseMatcher ()=default
virtual void	IDMatch (const std::vector< RadarTrackPtr > &radar_tracks, const base::Frame &radar_frame, std::vector< TrackObjectPair > *assignments, std::vector< size_t > *unassigned_tracks, std::vector< size_t > *unassigned_objects)
	Target association by id.

Protected 成员函数
bool	RefinedTrack (const base::ObjectPtr &track_object, double track_timestamp, const base::ObjectPtr &radar_object, double radar_timestamp) override
	After the IDMatch, then track targets based on their features.
Protected 成员函数 继承自 apollo::perception::radar::BaseMatcher
	FRIEND_TEST (BaseMatcherTest, base_matcher_test)

额外继承的成员函数
静态 Public 成员函数 继承自 apollo::perception::radar::BaseMatcher
static void	SetMaxMatchDistance (double dist)
	Set the Max Match Distance
static double	GetMaxMatchDistance ()
	Get the Max Match Distance
static void	SetBoundMatchDistance (double dist)
	Set the Bound Match Distance
static double	GetBoundMatchDistance ()
	Get the Bound Match Distance
静态 Protected 属性 继承自 apollo::perception::radar::BaseMatcher
static double	s_max_match_distance_ = 2.5
static double	s_bound_match_distance_ = 10.0

详细描述

在文件 hm_matcher.h 第 30 行定义.

构造及析构函数说明

HMMatcher()

apollo::perception::radar::HMMatcher::HMMatcher ( )

default

~HMMatcher()

virtual apollo::perception::radar::HMMatcher::~HMMatcher ( )

virtualdefault

成员函数说明

Init()

bool apollo::perception::radar::HMMatcher::Init ( const MatcherInitOptions &  options )

overridevirtual

Init HMMatcher config

参数

options

init options

返回

true

false

重载 apollo::perception::radar::BaseMatcher .

在文件 hm_matcher.cc 第 32 行定义.

                                                      {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
  MatcherConfig config_params;
  ACHECK(cyber::common::GetProtoFromFile(config_file, &config_params))
      << "Failed to parse MatcherConfig config file.";
  double max_match_distance = config_params.max_match_distance();
  double bound_match_distance = config_params.bound_match_distance();
  BaseMatcher::SetMaxMatchDistance(max_match_distance);
  BaseMatcher::SetBoundMatchDistance(bound_match_distance);
  return true;
}

Match()

bool apollo::perception::radar::HMMatcher::Match ( const std::vector< RadarTrackPtr > &  radar_tracks, const base::Frame &  radar_frame, const TrackObjectMatcherOptions &  options, std::vector< TrackObjectPair > *  assignments, std::vector< size_t > *  unassigned_tracks, std::vector< size_t > *  unassigned_objects  )

overridevirtual

match radar objects to tracks

参数

radar_tracks	global tracks
radar_frame	current radar frame
options	matcher options for future use
assignments	matched pair of tracks and measurements
unassigned_tracks	unmatched tracks
unassigned_objects	unmatched objects

返回

true

false

重载 apollo::perception::radar::BaseMatcher .

在文件 hm_matcher.cc 第 53 行定义.

                                                             {
  IDMatch(radar_tracks, radar_frame, assignments, unassigned_tracks,
          unassigned_objects);
  TrackObjectPropertyMatch(radar_tracks, radar_frame, assignments,
                           unassigned_tracks, unassigned_objects);
  return true;
}

Name()

std::string apollo::perception::radar::HMMatcher::Name ( ) const

inlineoverridevirtual

The name of the HMMatcher

返回

std::string

重载 apollo::perception::radar::BaseMatcher .

在文件 hm_matcher.h 第 68 行定义.

{ return "HMMatcher"; }

RefinedTrack()

bool apollo::perception::radar::HMMatcher::RefinedTrack ( const base::ObjectPtr &  track_object, double  track_timestamp, const base::ObjectPtr &  radar_object, double  radar_timestamp  )

overrideprotectedvirtual

After the IDMatch, then track targets based on their features.

参数

track_object	tracked targets
track_timestamp	target tracked timestamp
radar_object	radar detection objects
radar_timestamp	radar detection timestamp

返回

true

false

重载 apollo::perception::radar::BaseMatcher .

在文件 hm_matcher.cc 第 66 行定义.

                                                     {
  double dist = 0.5 * DistanceBetweenObs(track_object, track_timestamp,
                                         radar_object, radar_timestamp) +
                0.5 * DistanceBetweenObs(radar_object, radar_timestamp,
                                         track_object, track_timestamp);
 
  return dist < BaseMatcher::GetMaxMatchDistance();
}

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该类的文档由以下文件生成:

• modules/perception/radar_detection/lib/tracker/matcher/hm_matcher.h
• modules/perception/radar_detection/lib/tracker/matcher/hm_matcher.cc