apollo::perception::camera::BaseMatcher类 参考

#include <base_matcher.h>

类 apollo::perception::camera::BaseMatcher 继承关系图:

apollo::perception::camera::BaseMatcher 的协作图:

Public 成员函数
	BaseMatcher ()=default
	Construct a new Base Matcher object
virtual	~BaseMatcher ()=default
virtual bool	Init (const MatcherInitOptions &options)
	Init Base Matcher config
virtual bool	Match (const std::vector< CameraTrackPtr > &camera_tracks, const base::Frame &camera_frame, const TrackObjectMatcherOptions &options, std::vector< TrackObjectPair > *assignments, std::vector< size_t > *unassigned_tracks, std::vector< size_t > *unassigned_objects)
	Match camera objects to tracks
virtual std::string	Name () const
	The name of the camera base Matcher

静态 Public 成员函数
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

Protected 成员函数
virtual bool	RefinedTrack (const base::ObjectPtr &track_object, double track_timestamp, const base::ObjectPtr &camera_object, double camera_timestamp)
	track targets based on their features.
	FRIEND_TEST (BaseMatcherTest, base_matcher_test)

静态 Protected 属性
static double	s_max_match_distance_ = 2.5
static double	s_bound_match_distance_ = 10.0

详细描述

在文件 base_matcher.h 第 44 行定义.

构造及析构函数说明

BaseMatcher()

apollo::perception::camera::BaseMatcher::BaseMatcher ( )

default

Construct a new Base Matcher object

~BaseMatcher()

virtual apollo::perception::camera::BaseMatcher::~BaseMatcher ( )

virtualdefault

成员函数说明

FRIEND_TEST()

apollo::perception::camera::BaseMatcher::FRIEND_TEST ( BaseMatcherTest  , base_matcher_test    )

protected

GetBoundMatchDistance()

double apollo::perception::camera::BaseMatcher::GetBoundMatchDistance ( )

static

Get the Bound Match Distance

返回

double

在文件 base_matcher.cc 第 37 行定义.

{ return s_bound_match_distance_; }

GetMaxMatchDistance()

double apollo::perception::camera::BaseMatcher::GetMaxMatchDistance ( )

static

Get the Max Match Distance

返回

double

在文件 base_matcher.cc 第 31 行定义.

{ return s_max_match_distance_; }

Init()

virtual bool apollo::perception::camera::BaseMatcher::Init ( const MatcherInitOptions &  options )

inlinevirtual

Init Base Matcher config

参数

options

init options

返回

true

false

被 apollo::perception::camera::HMMatcher 重载.

在文件 base_matcher.h 第 60 行定义.

{ return true; }

Match()

virtual bool apollo::perception::camera::BaseMatcher::Match ( const std::vector< CameraTrackPtr > &  camera_tracks, const base::Frame &  camera_frame, const TrackObjectMatcherOptions &  options, std::vector< TrackObjectPair > *  assignments, std::vector< size_t > *  unassigned_tracks, std::vector< size_t > *  unassigned_objects  )

inlinevirtual

Match camera objects to tracks

参数

camera_tracks	global tracks
camera_frame	current camera 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

被 apollo::perception::camera::HMMatcher 重载.

在文件 base_matcher.h 第 74 行定义.

                                                            {
    return true;
  }

Name()

virtual std::string apollo::perception::camera::BaseMatcher::Name ( ) const

inlinevirtual

The name of the camera base Matcher

返回

std::string

被 apollo::perception::camera::HMMatcher 重载.

在文件 base_matcher.h 第 88 行定义.

{ return "BaseMatcher"; }

RefinedTrack()

bool apollo::perception::camera::BaseMatcher::RefinedTrack ( const base::ObjectPtr &  track_object, double  track_timestamp, const base::ObjectPtr &  camera_object, double  camera_timestamp  )

protectedvirtual

track targets based on their features.

参数

track_object	tracked targets
track_timestamp	target tracked timestamp
camera_object	camera detection objects
camera_timestamp	camera detection timestamp

返回

true

false

被 apollo::perception::camera::HMMatcher 重载.

在文件 base_matcher.cc 第 39 行定义.

                                                        {
  // This function is supposed to return true in the base class.
  // Specific actions can be overrided in derived classes.
  return true;
}

SetBoundMatchDistance()

void apollo::perception::camera::BaseMatcher::SetBoundMatchDistance ( double  dist )

static

Set the Bound Match Distance

参数

dist

在文件 base_matcher.cc 第 33 行定义.

                                                   {
  s_bound_match_distance_ = dist;
}

SetMaxMatchDistance()

void apollo::perception::camera::BaseMatcher::SetMaxMatchDistance ( double  dist )

static

Set the Max Match Distance

参数

dist

在文件 base_matcher.cc 第 27 行定义.

                                                 {
  s_max_match_distance_ = dist;
}

类成员变量说明

s_bound_match_distance_

double apollo::perception::camera::BaseMatcher::s_bound_match_distance_ = 10.0

staticprotected

在文件 base_matcher.h 第 136 行定义.

s_max_match_distance_

double apollo::perception::camera::BaseMatcher::s_max_match_distance_ = 2.5

staticprotected

在文件 base_matcher.h 第 135 行定义.

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该类的文档由以下文件生成:

• modules/perception/camera_detection_occupancy/interface/base_matcher.h
• modules/perception/camera_detection_occupancy/interface/base_matcher.cc