apollo::perception::camera::OMTObstacleTracker类 参考

#include <omt_obstacle_tracker.h>

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

apollo::perception::camera::OMTObstacleTracker 的协作图:

Public 成员函数
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	OMTObstacleTracker ()=default
	~OMTObstacleTracker ()=default
bool	Init (const ObstacleTrackerInitOptions &options) override
	initialize omt obstacle tracker with options
bool	Process (std::shared_ptr< CameraTrackingFrame > camera_frame)
	main function for tracking
bool	FeatureExtract (CameraTrackingFrame *frame) override
	extract features from the new frame
bool	Predict (CameraTrackingFrame *frame) override
	predict candidate obstales in the new frame candidate obstacle 2D boxes should be filled, required
bool	Associate2D (std::shared_ptr< CameraTrackingFrame > frame) override
	calculate similarity of two objects
bool	Associate3D (std::shared_ptr< CameraTrackingFrame > frame) override
	associate obstales by 3D information associated obstacles with tracking id should be filled, required, smoothed 3D information can be filled, optional.
Public 成员函数 继承自 apollo::perception::camera::BaseObstacleTracker
	BaseObstacleTracker ()=default
virtual	~BaseObstacleTracker ()=default
	DISALLOW_COPY_AND_ASSIGN (BaseObstacleTracker)

Protected 属性
ObjectTemplateManager *	object_template_manager_ = nullptr

详细描述

在文件 omt_obstacle_tracker.h 第 54 行定义.

构造及析构函数说明

OMTObstacleTracker()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW apollo::perception::camera::OMTObstacleTracker::OMTObstacleTracker ( )

default

~OMTObstacleTracker()

apollo::perception::camera::OMTObstacleTracker::~OMTObstacleTracker ( )

default

成员函数说明

Associate2D()

bool apollo::perception::camera::OMTObstacleTracker::Associate2D ( std::shared_ptr< CameraTrackingFrame >  frame )

overridevirtual

calculate similarity of two objects

参数

frame

返回

true

false

associate obstales by 2D information associated obstacles with tracking id should be filled, required, smoothed 2D&3D information can be filled, optional.

参数

frame

返回

true

false

实现了 apollo::perception::camera::BaseObstacleTracker.

在文件 omt_obstacle_tracker.cc 第 425 行定义.

                                              {
  // pre-compute appearance similarities between frames
  inference::CudaUtil::set_device_id(gpu_id_);
  frame_buffer_.push_back(frame);
  // calculate the similarity between the current frame and the previous frames
  std::shared_ptr<CameraTrackingFrame> cur_frame_ptr = frame_buffer_.back();
  for (auto frame_ptr : frame_buffer_) {
    int pre_frame_id = frame_ptr->frame_id;
    int cur_frame_id = cur_frame_ptr->frame_id;
    similar_->Calc(frame_ptr.get(), cur_frame_ptr.get(),
                   similar_map_.get(pre_frame_id, cur_frame_id).get());
  }
 
  // remove oldest frame in Target
  for (auto &target : targets_) {
    target.RemoveOld(frame_buffer_.front()->frame_id);
    ++target.lost_age;
  }
  // clear non Target in targets_
  ClearTargets();
  // correct detection 3d size
  reference_.CorrectSize(frame.get());
 
  TrackObjectPtrs track_objects;
  for (size_t i = 0; i < frame->detected_objects.size(); ++i) {
    TrackObjectPtr track_ptr(new TrackObject);
    track_ptr->object = frame->detected_objects[i];
    track_ptr->object->id = static_cast<int>(i);
    track_ptr->timestamp = frame->timestamp;
    track_ptr->indicator = PatchIndicator(frame->frame_id, static_cast<int>(i),
                                          frame->data_provider->sensor_name());
    track_ptr->object->camera_supplement.sensor_name =
        frame->data_provider->sensor_name();
    ProjectBox(frame->detected_objects[i]->camera_supplement.box,
               frame->project_matrix, &(track_ptr->projected_box));
    track_objects.push_back(track_ptr);
  }
  // wxt todo: solve reference and calibration_service
  used_.clear();
  used_.resize(frame->detected_objects.size(), false);
  // generate hypothesis between existing Targets
  // and track_objects in the new frame
  GenerateHypothesis(track_objects);
  // create new Targets for track_objects that are not
  // associated with any existing Targets
  int new_count = CreateNewTarget(track_objects);
  AINFO << "Create " << new_count << " new target";
 
  for (auto &target : targets_) {
    // remove old Target
    if (target.lost_age > omt_param_.reserve_age()) {
      AINFO << "Target " << target.id << " is lost";
      target.Clear();
    } else {
      // update the sub_type and size of the Target
      target.UpdateType(frame.get());
      // update the 2D center, width and height of the Target
      target.Update2D(frame.get());
    }
  }
 
  // combine targets using iou after association
  CombineDuplicateTargets();
 
  // return filter reulst to original box
  Eigen::Matrix3d inverse_project = frame->project_matrix.inverse();
  for (auto &target : targets_) {
    if (!target.isLost()) {
      ProjectBox(target[-1]->projected_box, inverse_project,
                 &(target[-1]->object->camera_supplement.box));
      RefineBox(target[-1]->object->camera_supplement.box, width_, height_,
                &(target[-1]->object->camera_supplement.box));
    }
  }
  return true;
}

Associate3D()

bool apollo::perception::camera::OMTObstacleTracker::Associate3D ( std::shared_ptr< CameraTrackingFrame >  frame )

overridevirtual

associate obstales by 3D information associated obstacles with tracking id should be filled, required, smoothed 3D information can be filled, optional.

参数

frame

返回

true

false

实现了 apollo::perception::camera::BaseObstacleTracker.

在文件 omt_obstacle_tracker.cc 第 522 行定义.

                                              {
  reference_.UpdateReference(frame.get(), targets_);
  frame->tracked_objects.clear();
  TrackObjectPtrs track_objects;
  // mismatch may lead to an abnormal movement
  // if an abnormal movement is found, remove old target and create new one
  for (auto &target : targets_) {
    if (target.isLost() || target.Size() == 1) {
      continue;
    }
    auto obj = target[-1]->object;
    if (obj->type != base::ObjectType::UNKNOWN_UNMOVABLE) {
      Eigen::VectorXd x = target.world_center.get_state();
      double move = sqr(x[0] - obj->center[0]) + sqr(x[1] - obj->center[1]);
      float obj_2_car_x = obj->camera_supplement.local_center[0];
      float obj_2_car_y = obj->camera_supplement.local_center[2];
      float dis = obj_2_car_x * obj_2_car_x + obj_2_car_y * obj_2_car_y;
      if (move > sqr(omt_param_.abnormal_movement()) * dis) {
        AINFO << "Target " << target.id << " is removed for abnormal movement";
        track_objects.push_back(target.latest_object);
        target.Clear();
      }
    }
  }
  ClearTargets();
  used_.clear();
  used_.resize(track_objects.size(), false);
  int new_count = CreateNewTarget(track_objects);
  AINFO << "Create " << new_count << " new target";
  for (int j = 0; j < new_count; ++j) {
    targets_[targets_.size() - j - 1].Update2D(frame.get());
    targets_[targets_.size() - j - 1].UpdateType(frame.get());
  }
  for (Target &target : targets_) {
    target.Update3D(frame.get());
    if (!target.isLost()) {
      frame->tracked_objects.push_back(target[-1]->object);
      ADEBUG << "Target " << target.id
             << " velocity: " << target.world_center.get_state().transpose()
             << " % " << target.world_center.variance_.diagonal().transpose()
             << " % " << target[-1]->object->velocity.transpose();
    }
  }
  return true;
}

FeatureExtract()

bool apollo::perception::camera::OMTObstacleTracker::FeatureExtract ( CameraTrackingFrame *  frame )

overridevirtual

extract features from the new frame

参数

frame

返回

true

false

实现了 apollo::perception::camera::BaseObstacleTracker.

在文件 omt_obstacle_tracker.cc 第 124 行定义.

                                                                  {
  FeatureExtractorOptions feature_options;
  feature_options.normalized = true;
  bool res = feature_extractor_->Extract(feature_options, frame);
  return res;
}

Init()

bool apollo::perception::camera::OMTObstacleTracker::Init ( const ObstacleTrackerInitOptions &  options )

overridevirtual

initialize omt obstacle tracker with options

参数

options

返回

true

false

实现了 apollo::perception::camera::BaseObstacleTracker.

在文件 omt_obstacle_tracker.cc 第 31 行定义.

                                                                       {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
  if (!cyber::common::GetProtoFromFile(config_file, &omt_param_)) {
    AERROR << "Read config failed: " << config_file;
    return false;
  }
  track_id_ = 0;
  frame_num_ = 0;
  // frame list
  frame_buffer_.set_capacity(omt_param_.img_capability());
  // similar map
  gpu_id_ = options.gpu_id;
  similar_map_.Init(omt_param_.img_capability(), gpu_id_);
  similar_.reset(new GPUSimilar);
  // reference
  width_ = options.image_width;
  height_ = options.image_height;
  reference_.Init(omt_param_.reference(), width_, height_);
  // type change cost file
  std::string type_change_cost_file =
      GetConfigFile(options.config_path, omt_param_.type_change_cost_file());
  std::ifstream fin(type_change_cost_file);
  ACHECK(fin.is_open());
  kTypeAssociatedCost_.clear();
  int n_type = static_cast<int>(base::ObjectSubType::MAX_OBJECT_TYPE);
  for (int i = 0; i < n_type; ++i) {
    kTypeAssociatedCost_.emplace_back(std::vector<float>(n_type, 0));
    for (int j = 0; j < n_type; ++j) {
      fin >> kTypeAssociatedCost_[i][j];
    }
  }
  targets_.clear();
  used_.clear();
 
  // reset object template
  object_template_manager_ = ObjectTemplateManager::Instance();
 
  // reset feature_extractor_;
  PluginParam plugin_param = omt_param_.plugin_param();
  feature_extractor_.reset(
      BaseFeatureExtractorRegisterer::GetInstanceByName(plugin_param.name()));
  if (nullptr == feature_extractor_) {
    AERROR << "Failed to get tracking instance.";
    return false;
  }
 
  // init feature_extractor_
  FeatureExtractorInitOptions feature_init_options;
 
  feature_init_options.input_height = omt_param_.feature_input_height();
  feature_init_options.input_width = omt_param_.feature_input_width();
  feature_init_options.gpu_id = gpu_id_;
  feature_init_options.config_path = plugin_param.config_path();
  feature_init_options.config_file = plugin_param.config_file();
 
  if (!feature_extractor_->Init(feature_init_options)) {
    AERROR << "feature_extracotr init false";
    return false;
  }
 
  // init object template
  ACHECK(ObjectTemplateManager::Instance()->Init());
 
  return true;
}

Predict()

bool apollo::perception::camera::OMTObstacleTracker::Predict ( CameraTrackingFrame *  frame )

overridevirtual

predict candidate obstales in the new frame candidate obstacle 2D boxes should be filled, required

参数

frame

返回

true

false

实现了 apollo::perception::camera::BaseObstacleTracker.

在文件 omt_obstacle_tracker.cc 第 147 行定义.

                                                           {
  for (auto &target : targets_) {
    // use kalman filter to predict the image_center,
    // world_center, world_center_const
    target.Predict(frame);
    auto obj = target.latest_object;
    frame->proposed_objects.push_back(obj->object);
  }
  return true;
}

Process()

bool apollo::perception::camera::OMTObstacleTracker::Process ( std::shared_ptr< CameraTrackingFrame >  camera_frame )

virtual

main function for tracking

参数

camera_frame

返回

true

false

实现了 apollo::perception::camera::BaseObstacleTracker.

在文件 omt_obstacle_tracker.cc 第 98 行定义.

                                                                         {
  if (nullptr == frame) {
    return false;
  }
  if (!FeatureExtract(frame.get())) {
    AERROR << "FeatureExtract failed!";
    return false;
  }
 
  if (!Predict(frame.get())) {
    AERROR << "Predict failed!";
    return false;
  }
 
  if (!Associate2D(frame)) {
    AERROR << "Associate2D failed!";
    return false;
  }
 
  if (!Associate3D(frame)) {
    AERROR << "Associate3D failed!";
    return false;
  }
  return true;
}

类成员变量说明

object_template_manager_

ObjectTemplateManager* apollo::perception::camera::OMTObstacleTracker::object_template_manager_ = nullptr

protected

在文件 omt_obstacle_tracker.h 第 206 行定义.

---

该类的文档由以下文件生成:

• modules/perception/camera_tracking/tracking/omt_obstacle_tracker.h
• modules/perception/camera_tracking/tracking/omt_obstacle_tracker.cc