apollo::perception::fusion::Dst类 参考

#include <dst_evidence.h>

apollo::perception::fusion::Dst 的协作图:

Public 成员函数
	Dst (const std::string &app_name)
bool	SetBbaVec (const std::vector< double > &bba_vec)
	Set the Bba Vec object
bool	SetBba (const std::map< uint64_t, double > &bba_map)
	Set the Bba object, strictly require the fod in bba_map is valid
void	ComputeSptPlsUct () const
void	ComputeProbability () const
const std::vector< double > &	GetBbaVec () const
	Get the Bba Vec object
const size_t	GetBbaSize () const
	Get the Bba Size object
double	GetSubsetBfmass (uint64_t fod_subset) const
	Get the Subset Bfmass object
double	GetIndBfmass (size_t ind) const
	Get the Ind Bfmass object
const std::vector< double > &	GetSupportVec () const
	Get the Support Vec object
const std::vector< double > &	GetPlausibilityVec () const
	Get the Plausibility Vec object
const std::vector< double > &	GetUncertaintyVec () const
	Get the Uncertainty Vec object
const std::vector< double > &	GetProbabilityVec () const
	Get the Probability Vec object
std::string	PrintBba () const
std::string	Name () const

友元
Dst	operator+ (const Dst &lhs, const Dst &rhs)
Dst	operator* (const Dst &dst_evidence, double w)

详细描述

在文件 dst_evidence.h 第 151 行定义.

构造及析构函数说明

Dst()

apollo::perception::fusion::Dst::Dst ( const std::string &  app_name )

explicit

在文件 dst_evidence.cc 第 195 行定义.

                                  : app_name_(app_name) {
  if (DstManager::Instance()->IsAppAdded(app_name)) {
    dst_data_ptr_ = DstManager::Instance()->GetAppDataPtr(app_name);
    // default BBA provide no more evidence
    bba_vec_.resize(dst_data_ptr_->fod_subsets_.size(), 0.0);
    bba_vec_[dst_data_ptr_->fod_loc_] = 1.0;
  }
}

成员函数说明

ComputeProbability()

void apollo::perception::fusion::Dst::ComputeProbability

(

)

const

在文件 dst_evidence.cc 第 338 行定义.

                                   {
  SelfCheck();
  probability_vec_.clear();
  probability_vec_.resize(bba_vec_.size(), 0.0);
  const auto &combination_relations = dst_data_ptr_->combination_relations_;
  const std::vector<size_t> &fod_subset_cardinalities =
      dst_data_ptr_->fod_subset_cardinalities_;
  for (size_t i = 0; i < combination_relations.size(); ++i) {
    const auto &combination_pairs = combination_relations[i];
    double intersection_card = static_cast<double>(fod_subset_cardinalities[i]);
    for (auto combination_pair : combination_pairs) {
      size_t a_ind = combination_pair.first;
      size_t b_ind = combination_pair.second;
      probability_vec_[a_ind] +=
          intersection_card /
          static_cast<double>(fod_subset_cardinalities[b_ind]) *
          bba_vec_[b_ind];
    }
  }
}

ComputeSptPlsUct()

void apollo::perception::fusion::Dst::ComputeSptPlsUct

(

)

const

在文件 dst_evidence.cc 第 305 行定义.

                                 {
  SelfCheck();
  auto resize_space = [](std::vector<double> &vec, size_t size) {
    vec.clear();
    vec.resize(size, 0.0);
  };
  size_t size = bba_vec_.size();
  resize_space(support_vec_, size);
  resize_space(plausibility_vec_, size);
  resize_space(uncertainty_vec_, size);
  const std::vector<std::vector<size_t>> &subset_relations =
      dst_data_ptr_->subset_relations_;
  const std::vector<std::vector<size_t>> &inter_relations =
      dst_data_ptr_->inter_relations_;
  for (size_t i = 0; i < size; ++i) {
    double &spt = support_vec_[i];
    double &pls = plausibility_vec_[i];
    double &uct = uncertainty_vec_[i];
    const auto &subset_inds = subset_relations[i];
    const auto &inter_inds = inter_relations[i];
    // AINFO << boost::format("inter_size: (%d %d)") % i % inter_inds.size();
    for (auto subset_ind : subset_inds) {
      spt += bba_vec_[subset_ind];
    }
    for (auto inter_ind : inter_inds) {
      pls += bba_vec_[inter_ind];
    }
    // AINFO << boost::format("pls: (%d %lf)") % i % pls;
    uct = pls - spt;
  }
}

GetBbaSize()

const size_t apollo::perception::fusion::Dst::GetBbaSize ( ) const

inline

Get the Bba Size object

返回

const size_t

在文件 dst_evidence.h 第 197 行定义.

{ return bba_vec_.size(); }

GetBbaVec()

const std::vector< double > & apollo::perception::fusion::Dst::GetBbaVec ( ) const

inline

Get the Bba Vec object

返回

const std::vector<double>&

在文件 dst_evidence.h 第 190 行定义.

{ return bba_vec_; }

GetIndBfmass()

double apollo::perception::fusion::Dst::GetIndBfmass

(

size_t

ind

)

const

Get the Ind Bfmass object

参数

ind

返回

double

在文件 dst_evidence.cc 第 220 行定义.

                                         {
  SelfCheck();
  return bba_vec_[ind];
}

GetPlausibilityVec()

const std::vector< double > & apollo::perception::fusion::Dst::GetPlausibilityVec ( ) const

inline

Get the Plausibility Vec object

返回

const std::vector<double>&

在文件 dst_evidence.h 第 227 行定义.

                                                      {
    return plausibility_vec_;
  }

GetProbabilityVec()

const std::vector< double > & apollo::perception::fusion::Dst::GetProbabilityVec ( ) const

inline

Get the Probability Vec object

返回

const std::vector<double>&

在文件 dst_evidence.h 第 245 行定义.

                                                     {
    return probability_vec_;
  }

GetSubsetBfmass()

double apollo::perception::fusion::Dst::GetSubsetBfmass

(

uint64_t

fod_subset

)

const

Get the Subset Bfmass object

参数

fod_subset

返回

double

在文件 dst_evidence.cc 第 214 行定义.

                                                     {
  SelfCheck();
  size_t idx = DstManager::Instance()->FodSubsetToInd(app_name_, fod_subset);
  return bba_vec_[idx];
}

GetSupportVec()

const std::vector< double > & apollo::perception::fusion::Dst::GetSupportVec ( ) const

inline

Get the Support Vec object

返回

const std::vector<double>&

在文件 dst_evidence.h 第 220 行定义.

{ return support_vec_; }

GetUncertaintyVec()

const std::vector< double > & apollo::perception::fusion::Dst::GetUncertaintyVec ( ) const

inline

Get the Uncertainty Vec object

返回

const std::vector<double>&

在文件 dst_evidence.h 第 236 行定义.

                                                     {
    return uncertainty_vec_;
  }

Name()

std::string apollo::perception::fusion::Dst::Name ( ) const

inline

返回

std::string

在文件 dst_evidence.h 第 279 行定义.

{ return app_name_; }

PrintBba()

std::string apollo::perception::fusion::Dst::PrintBba

(

)

const

返回

std::string

在文件 dst_evidence.cc 第 272 行定义.

                              {
  SelfCheck();
  static constexpr size_t total_res_size = 10000;
  static constexpr size_t row_res_size = 1000;
  static auto print_row = [](const std::string &row_header,
                             const std::vector<double> &data) {
    std::string row_str = (boost::format("%19s ") % row_header).str();
    row_str.reserve(row_res_size);
    for (auto flt : data) {
      row_str += (boost::format("%20.6lf") % (flt * 100)).str();
    }
    row_str += "\n";
    return row_str;
  };
  std::string res;
  res.reserve(total_res_size);
  res += "\n";
  // output table header
  std::string header = (boost::format("%20s") % " ").str();
  header.reserve(row_res_size);
  const std::vector<std::string> &fod_subset_names =
      dst_data_ptr_->fod_subset_names_;
  for (const auto &fod_subset_name : fod_subset_names) {
    header += (boost::format("%20s") % fod_subset_name).str();
  }
  res += header + "\n";
  res += print_row("belief_mass", bba_vec_);
  // res += print_row("support", support_vec_);
  // res += print_row("uncertainty", uncertainty_vec_);
  // res += print_row("probability", probability_vec_);
  return res;
}

SetBba()

bool apollo::perception::fusion::Dst::SetBba

(

const std::map< uint64_t, double > &

bba_map

)

Set the Bba object, strictly require the fod in bba_map is valid

参数

bba_map

返回

true

false

在文件 dst_evidence.cc 第 246 行定义.

                                                        {
  SelfCheck();
  std::vector<double> bba_vec(dst_data_ptr_->fod_subsets_.size(), 0.0);
  const auto &subsets_ind_map = dst_data_ptr_->subsets_ind_map_;
  for (auto bba_map_iter : bba_map) {
    uint64_t fod_subset = bba_map_iter.first;
    double belief_mass = bba_map_iter.second;
    auto find_res = subsets_ind_map.find(fod_subset);
    if (find_res == subsets_ind_map.end()) {
      AERROR << "the input bba map has invalid fod subset";
      return false;
    }
    if (belief_mass < 0.0) {
      AWARN << boost::format("belief mass: %lf is not valid. Dst name: %s") %
                   belief_mass % app_name_;
      return false;
    }
    bba_vec[find_res->second] = belief_mass;
  }
  // reset
  // *this = Dst(app_name_);
  bba_vec_ = bba_vec;
  Normalize();
  return true;
}

SetBbaVec()

bool apollo::perception::fusion::Dst::SetBbaVec

(

const std::vector< double > &

bba_vec

)

Set the Bba Vec object

参数

bba_vec

返回

true

false

在文件 dst_evidence.cc 第 225 行定义.

                                                    {
  SelfCheck();
  if (bba_vec.size() != dst_data_ptr_->fod_subsets_.size()) {
    AERROR << boost::format("input bba_vec size: %d !=  Dst subsets size: %d") %
                  bba_vec.size() % dst_data_ptr_->fod_subsets_.size();
    return false;
  }
  // check belief mass valid
  for (auto belief_mass : bba_vec) {
    if (belief_mass < 0.0) {
      AWARN << boost::format(" belief mass: %lf is not valid") % belief_mass;
      return false;
    }
  }
  // reset
  // *this = Dst(app_name_);
  bba_vec_ = bba_vec;
  Normalize();
  return true;
}

友元及相关函数文档

operator*

Dst operator* ( const Dst &  dst_evidence, double  w  )

friend

参数

dst_evidence
w

返回

Dst

在文件 dst_evidence.cc 第 396 行定义.

                                        {
  dst.SelfCheck();
  Dst res(dst.app_name_);
  // check w
  if (w < 0.0 || w > 1.0) {
    AERROR << boost::format(
                  "the weight of bba %lf is not valid, return default bba") %
                  w;
    return res;
  }
  size_t fod_loc = dst.dst_data_ptr_->fod_loc_;
  std::vector<double> &resbba_vec_ = res.bba_vec_;
  const std::vector<double> &bba_vec = dst.bba_vec_;
  for (size_t i = 0; i < resbba_vec_.size(); ++i) {
    if (i == fod_loc) {
      resbba_vec_[i] = 1.0 - w + w * bba_vec[i];
    } else {
      resbba_vec_[i] = w * bba_vec[i];
    }
  }
  return res;
}

operator+

Dst operator+ ( const Dst &  lhs, const Dst &  rhs  )

friend

参数

lhs
rhs

返回

Dst

在文件 dst_evidence.cc 第 370 行定义.

                                              {
  CHECK_EQ(lhs.app_name_, rhs.app_name_)
      << boost::format("lhs Dst(%s) is not equal to rhs Dst(%s)") %
             lhs.app_name_ % rhs.app_name_;
  lhs.SelfCheck();
  rhs.SelfCheck();
  Dst res(lhs.app_name_);
  std::vector<double> &resbba_vec_ = res.bba_vec_;
  const auto &combination_relations = lhs.dst_data_ptr_->combination_relations_;
  for (size_t i = 0; i < resbba_vec_.size(); ++i) {
    const auto &combination_pairs = combination_relations[i];
    // AINFO << "pairs size: " << combination_pairs.size();
    double &belief_mass = resbba_vec_[i];
    belief_mass = 0.0;
    for (auto combination_pair : combination_pairs) {
      // AINFO << boost::format("(%d %d)") % combination_pair.first
      //     % combination_pair.second;
      belief_mass += lhs.GetIndBfmass(combination_pair.first) *
                     rhs.GetIndBfmass(combination_pair.second);
    }
    // AINFO << boost::format("belief_mass: %lf") % belief_mass;
  }
  res.Normalize();
  return res;
}

---

该类的文档由以下文件生成:

• modules/perception/multi_sensor_fusion/common/dst_evidence.h
• modules/perception/multi_sensor_fusion/common/dst_evidence.cc