apollo::perception::fusion::DstExistenceFusion类 参考

#include <dst_existence_fusion.h>

类 apollo::perception::fusion::DstExistenceFusion 继承关系图:

apollo::perception::fusion::DstExistenceFusion 的协作图:

Public 成员函数
	DstExistenceFusion (TrackPtr track)
	~DstExistenceFusion ()=default
void	UpdateWithMeasurement (const SensorObjectPtr measurement, double target_timestamp, double match_dist) override
	update track existence state with measurement
void	UpdateWithoutMeasurement (const std::string &sensor_id, double measurement_timestamp, double target_timestamp, double min_match_dist) override
	update track state without measurement
std::string	Name () const
double	GetToicScore () const
	Get toic score
double	GetExistenceProbability () const
	Get existence probability
Public 成员函数 继承自 apollo::perception::fusion::BaseExistenceFusion
	BaseExistenceFusion (TrackPtr track)
virtual	~BaseExistenceFusion ()=default

静态 Public 成员函数
static bool	Init (const ExistenceFusionInitOptions &options)
	add dst application
静态 Public 成员函数 继承自 apollo::perception::fusion::BaseExistenceFusion
static bool	Init (const ExistenceFusionInitOptions &options)
	Init base existence fusion config

额外继承的成员函数
Protected 成员函数 继承自 apollo::perception::fusion::BaseExistenceFusion
	DISALLOW_COPY_AND_ASSIGN (BaseExistenceFusion)
Protected 属性 继承自 apollo::perception::fusion::BaseExistenceFusion
TrackPtr	track_ref_ = nullptr

详细描述

在文件 dst_existence_fusion.h 第 52 行定义.

构造及析构函数说明

DstExistenceFusion()

apollo::perception::fusion::DstExistenceFusion::DstExistenceFusion ( TrackPtr  track )

explicit

在文件 dst_existence_fusion.cc 第 42 行定义.

    : BaseExistenceFusion(track),
      fused_toic_(toic_name_),
      fused_existence_(name_) {}

~DstExistenceFusion()

apollo::perception::fusion::DstExistenceFusion::~DstExistenceFusion ( )

default

成员函数说明

GetExistenceProbability()

double apollo::perception::fusion::DstExistenceFusion::GetExistenceProbability

(

)

const

Get existence probability

返回

double

在文件 dst_existence_fusion.cc 第 340 行定义.

                                                         {
  size_t toic_ind = DstManager::Instance()->FodSubsetToInd(
      fused_existence_.Name(), ExistenceDstMaps::EXIST);
  fused_existence_.ComputeProbability();
  const std::vector<double> &existence_probs_vec =
      fused_existence_.GetProbabilityVec();
  return existence_probs_vec[toic_ind];
}

GetToicScore()

double apollo::perception::fusion::DstExistenceFusion::GetToicScore ( ) const

inline

Get toic score

返回

double

在文件 dst_existence_fusion.h 第 92 行定义.

{ return toic_score_; }

Init()

bool apollo::perception::fusion::DstExistenceFusion::Init ( const ExistenceFusionInitOptions &  options )

static

add dst application

参数

options

返回

true

false

在文件 dst_existence_fusion.cc 第 47 行定义.

                                                                       {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
 
  DstExistenceFusionConfig params;
  if (!cyber::common::GetProtoFromFile(config_file, &params)) {
    AERROR << "Read config failed: " << config_file;
    return false;
  }
  for (auto valid_dist : params.camera_valid_dist()) {
    std::string camera_id = valid_dist.camera_name();
    options_.camera_max_valid_dist_[camera_id] = valid_dist.valid_dist();
    AINFO << "dst existence fusion params: " << camera_id
          << " max valid dist: " << options_.camera_max_valid_dist_[camera_id];
  }
 
  options_.track_object_max_match_distance_ =
      params.track_object_max_match_distance();
  AINFO << "dst existence fusion params: "
        << " track_object_max_match_distance: "
        << options_.track_object_max_match_distance_;
 
  DstManager::Instance()->AddApp(name_, existence_dst_maps_.fod_subsets_,
                                 existence_dst_maps_.subset_names_);
 
  DstManager::Instance()->AddApp(toic_name_, toic_dst_maps_.fod_subsets_,
                                 toic_dst_maps_.subset_names_);
 
  return DstManager::Instance()->IsAppAdded(name_) &&
         DstManager::Instance()->IsAppAdded(toic_name_);
}

Name()

std::string apollo::perception::fusion::DstExistenceFusion::Name

(

)

const

在文件 dst_existence_fusion.cc 第 338 行定义.

{ return name_; }

UpdateWithMeasurement()

void apollo::perception::fusion::DstExistenceFusion::UpdateWithMeasurement ( const SensorObjectPtr  measurement, double  target_timestamp, double  match_dist  )

overridevirtual

update track existence state with measurement

参数

measurement
target_timestamp
match_dist

实现了 apollo::perception::fusion::BaseExistenceFusion.

在文件 dst_existence_fusion.cc 第 79 行定义.

                       {
  std::string sensor_id = measurement->GetSensorId();
  double timestamp = measurement->GetTimestamp();
  double max_match_distance = options_.track_object_max_match_distance_;
  double association_prob = 1 - match_dist / max_match_distance;
  if (IsCamera(measurement)) {
    association_prob = 1.0;
  }
  base::ObjectConstPtr obj = measurement->GetBaseObject();
  double exist_factor = GetExistReliability(measurement);
  double decay = ComputeDistDecay(obj, sensor_id, timestamp);
  if (IsRadar(measurement)) {
    decay = ComputeFeatureInfluence(measurement);
  }
  double obj_exist_prob = exist_factor * decay;
  Dst existence_evidence(fused_existence_.Name());
  existence_evidence.SetBba(
      {{ExistenceDstMaps::EXIST, obj_exist_prob},
       {ExistenceDstMaps::EXISTUNKNOWN, 1 - obj_exist_prob}});
  // TODO(all) hard code for fused exist bba
  const double exist_fused_w = 1.0;
  ADEBUG << " before update exist prob: " << GetExistenceProbability();
  fused_existence_ =
      fused_existence_ + existence_evidence * exist_fused_w * association_prob;
  ADEBUG << " update with, EXIST prob: " << GetExistenceProbability()
         << " obj_id " << measurement->GetBaseObject()->track_id
         << " association_prob: " << association_prob << " decay: " << decay
         << " exist_prob: " << obj_exist_prob
         << " sensor_id: " << measurement->GetSensorId()
         << " track_id: " << track_ref_->GetTrackId();
  if (IsCamera(measurement)) {
    UpdateToicWithCameraMeasurement(measurement, match_dist);
  }
  UpdateExistenceState();
}

UpdateWithoutMeasurement()

void apollo::perception::fusion::DstExistenceFusion::UpdateWithoutMeasurement ( const std::string &  sensor_id, double  measurement_timestamp, double  target_timestamp, double  min_match_dist  )

overridevirtual

update track state without measurement

参数

sensor_id
measurement_timestamp
target_timestamp
min_match_dist

实现了 apollo::perception::fusion::BaseExistenceFusion.

在文件 dst_existence_fusion.cc 第 117 行定义.

                                                                         {
  SensorObjectConstPtr camera_object = nullptr;
  if (algorithm::SensorManager::Instance()->IsCamera(sensor_id)) {
    camera_object = track_ref_->GetSensorObject(sensor_id);
    UpdateToicWithoutCameraMeasurement(sensor_id, measurement_timestamp,
                                       min_match_dist);
  }
  SensorObjectConstPtr lidar_object = track_ref_->GetLatestLidarObject();
  SensorObjectConstPtr camera_object_latest =
      track_ref_->GetLatestCameraObject();
  SensorObjectConstPtr radar_object = track_ref_->GetLatestRadarObject();
  if ((lidar_object != nullptr && lidar_object->GetSensorId() == sensor_id) ||
      (camera_object_latest != nullptr &&
       camera_object_latest->GetSensorId() == sensor_id) ||
      (radar_object != nullptr && radar_object->GetSensorId() == sensor_id &&
       lidar_object == nullptr && camera_object_latest == nullptr)) {
    Dst existence_evidence(fused_existence_.Name());
    double unexist_factor = GetUnexistReliability(sensor_id);
    base::ObjectConstPtr obj = track_ref_->GetFusedObject()->GetBaseObject();
    double dist_decay = ComputeDistDecay(obj, sensor_id, measurement_timestamp);
    double obj_unexist_prob = unexist_factor * dist_decay;
    existence_evidence.SetBba(
        {{ExistenceDstMaps::NEXIST, obj_unexist_prob},
         {ExistenceDstMaps::EXISTUNKNOWN, 1 - obj_unexist_prob}});
    // TODO(all) hard code for fused exist bba
    const double unexist_fused_w = 1.0;
    double min_match_dist_score = min_match_dist;
    // if (!sensor_manager->IsCamera(sensor_id)) {
    //   min_match_dist_score = std::max(1 - min_match_dist /
    //   options_.track_object_max_match_distance_, 0.0);
    // }
    ADEBUG << " before update exist prob: " << GetExistenceProbability()
           << " min_match_dist: " << min_match_dist
           << " min_match_dist_score: " << min_match_dist_score;
    fused_existence_ = fused_existence_ + existence_evidence * unexist_fused_w *
                                              (1 - min_match_dist_score);
    ADEBUG << " update without, EXIST prob: " << GetExistenceProbability()
           << " 1 - match_dist_score: " << 1 - min_match_dist_score
           << " sensor_id: " << sensor_id << " dist_decay: " << dist_decay
           << " track_id: " << track_ref_->GetTrackId();
  }
  UpdateExistenceState();
}

---

该类的文档由以下文件生成:

• modules/perception/multi_sensor_fusion/fusion/data_fusion/existence_fusion/dst_existence_fusion/dst_existence_fusion.h
• modules/perception/multi_sensor_fusion/fusion/data_fusion/existence_fusion/dst_existence_fusion/dst_existence_fusion.cc