apollo::perception::algorithm::HungarianOptimizer< T > 模板类 参考

#include <hungarian_optimizer.h>

apollo::perception::algorithm::HungarianOptimizer< T > 的协作图:

Public 成员函数
	HungarianOptimizer ()
	HungarianOptimizer (const int max_optimization_size)
	~HungarianOptimizer ()
SecureMat< T > *	costs ()
T *	costs (const size_t row, const size_t col)
void	Maximize (std::vector< std::pair< size_t, size_t > > *assignments)
void	Minimize (std::vector< std::pair< size_t, size_t > > *assignments)
void	OptimizationInit ()
void	OptimizationClear ()
void	PrintMatrix ()

详细描述

template<typename T>
class apollo::perception::algorithm::HungarianOptimizer< T >

在文件 hungarian_optimizer.h 第 33 行定义.

构造及析构函数说明

HungarianOptimizer() [1/2]

template<typename T >

apollo::perception::algorithm::HungarianOptimizer< T >::HungarianOptimizer

(

)

在文件 hungarian_optimizer.h 第 230 行定义.

: HungarianOptimizer(1000) {}

HungarianOptimizer() [2/2]

template<typename T >

apollo::perception::algorithm::HungarianOptimizer< T >::HungarianOptimizer ( const int  max_optimization_size )

explicit

在文件 hungarian_optimizer.h 第 233 行定义.

    : max_optimization_size_(max_optimization_size) {
  costs_.Reserve(max_optimization_size, max_optimization_size);
  stars_in_col_.reserve(max_optimization_size);
  rows_covered_.reserve(max_optimization_size);
  cols_covered_.reserve(max_optimization_size);
  assignments_.reserve(max_optimization_size);
  uncov_row_.reserve(max_optimization_size);
  uncov_col_.reserve(max_optimization_size);
}

~HungarianOptimizer()

template<typename T >

apollo::perception::algorithm::HungarianOptimizer< T >::~HungarianOptimizer ( )

inline

在文件 hungarian_optimizer.h 第 41 行定义.

{}

成员函数说明

costs() [1/2]

template<typename T >

SecureMat< T > * apollo::perception::algorithm::HungarianOptimizer< T >::costs ( )

inline

在文件 hungarian_optimizer.h 第 43 行定义.

{ return &costs_; }

costs() [2/2]

template<typename T >

T * apollo::perception::algorithm::HungarianOptimizer< T >::costs ( const size_t  row, const size_t  col  )

inline

在文件 hungarian_optimizer.h 第 45 行定义.

{ return &(costs_(row, col)); }

Maximize()

template<typename T >

void apollo::perception::algorithm::HungarianOptimizer< T >::Maximize

(

std::vector< std::pair< size_t, size_t > > *

assignments

)

在文件 hungarian_optimizer.h 第 248 行定义.

                                                     {
  OptimizationInit();
  /* operate maximizing problem as a minimizing one via substrating original
   * cost from max_cost_ */
  for (size_t row = 0; row < height_; ++row) {
    for (size_t col = 0; col < width_; ++col) {
      costs_(row, col) = max_cost_ - costs_(row, col);
    }
  }
  Minimize(assignments);
}

Minimize()

template<typename T >

void apollo::perception::algorithm::HungarianOptimizer< T >::Minimize

(

std::vector< std::pair< size_t, size_t > > *

assignments

)

在文件 hungarian_optimizer.h 第 265 行定义.

                                                     {
  OptimizationInit();
  DoMunkres();
  FindAssignments(assignments);
  OptimizationClear();
}

OptimizationClear()

template<typename T >

void apollo::perception::algorithm::HungarianOptimizer< T >::OptimizationClear

(

)

在文件 hungarian_optimizer.h 第 321 行定义.

                                              {
  optimization_initialized_ = false;
}

OptimizationInit()

template<typename T >

void apollo::perception::algorithm::HungarianOptimizer< T >::OptimizationInit

(

)

在文件 hungarian_optimizer.h 第 274 行定义.

                                             {
  if (optimization_initialized_) {
    return;
  }
  width_ = costs_.width();
  if (width_ > 0) {
    height_ = costs_.height();
  } else {
    height_ = 0;
  }
 
  matrix_size_ = std::max(height_, width_);
  max_cost_ = 0;
 
  /* generate the expanded cost matrix by adding extra 0s in order to make a
   * square matrix. Meanwhile, find the max cost in the matrix. It may be used
   * later, if we want to maximizing rather than minimizing the overall costs.*/
  costs_.Resize(matrix_size_, matrix_size_);
  for (size_t row = 0; row < matrix_size_; ++row) {
    for (size_t col = 0; col < matrix_size_; ++col) {
      if ((row >= height_) || (col >= width_)) {
        costs_(row, col) = 0;
      } else {
        max_cost_ = std::max(max_cost_, costs_(row, col));
      }
    }
  }
 
  /* initially, none of the cells of the matrix are marked. */
  marks_.Resize(matrix_size_, matrix_size_);
  for (size_t row = 0; row < matrix_size_; ++row) {
    for (size_t col = 0; col < matrix_size_; ++col) {
      marks_(row, col) = Mark::NONE;
    }
  }
 
  stars_in_col_.assign(matrix_size_, 0);
 
  rows_covered_.assign(matrix_size_, false);
  cols_covered_.assign(matrix_size_, false);
 
  assignments_.resize(matrix_size_ * 2);
 
  optimization_initialized_ = true;
}

PrintMatrix()

template<typename T >

void apollo::perception::algorithm::HungarianOptimizer< T >::PrintMatrix

(

)

在文件 hungarian_optimizer.h 第 465 行定义.

                                        {
  for (size_t row = 0; row < matrix_size_; ++row) {
    for (size_t col = 0; col < matrix_size_; ++col) {
      printf("%g ", costs_(row, col));
 
      if (IsStarred(row, col)) {
        printf("*");
      }
 
      if (IsPrimed(row, col)) {
        printf("'");
      }
    }
    printf("\n");
  }
}

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该类的文档由以下文件生成:

• modules/perception/common/algorithm/graph/hungarian_optimizer.h