apollo::perception::fusion::HMTrackersObjectsAssociation类 参考

#include <hm_tracks_objects_match.h>

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

apollo::perception::fusion::HMTrackersObjectsAssociation 的协作图:

Public 成员函数
	HMTrackersObjectsAssociation ()=default
	~HMTrackersObjectsAssociation ()=default
bool	Init (const AssociationInitOptions &options) override
	initialization
bool	Associate (const AssociationOptions &options, SensorFramePtr sensor_measurements, ScenePtr scene, AssociationResult *association_result) override
	Associate the obstacles measured by the sensor with the obstacles tracked in current scene
std::string	Name () const override
	The name of BaseDataAssociation
Public 成员函数 继承自 apollo::perception::fusion::BaseDataAssociation
	BaseDataAssociation ()=default
virtual	~BaseDataAssociation ()=default
	DISALLOW_COPY_AND_ASSIGN (BaseDataAssociation)

详细描述

在文件 hm_tracks_objects_match.h 第 30 行定义.

构造及析构函数说明

HMTrackersObjectsAssociation()

apollo::perception::fusion::HMTrackersObjectsAssociation::HMTrackersObjectsAssociation ( )

default

~HMTrackersObjectsAssociation()

apollo::perception::fusion::HMTrackersObjectsAssociation::~HMTrackersObjectsAssociation ( )

default

成员函数说明

Associate()

bool apollo::perception::fusion::HMTrackersObjectsAssociation::Associate ( const AssociationOptions &  options, SensorFramePtr  sensor_measurements, ScenePtr  scene, AssociationResult *  association_result  )

overridevirtual

Associate the obstacles measured by the sensor with the obstacles tracked in current scene

参数

options
sensor_measurements	obstacles measured by the sensor
scene	obstacles tracked in current scene
association_result	association result

返回

true

false

实现了 apollo::perception::fusion::BaseDataAssociation.

在文件 hm_tracks_objects_match.cc 第 47 行定义.

                                                           {
  const std::vector<SensorObjectPtr>& sensor_objects =
      sensor_measurements->GetForegroundObjects();
  const std::vector<TrackPtr>& fusion_tracks = scene->GetForegroundTracks();
  std::vector<std::vector<double>> association_mat;
 
  if (fusion_tracks.empty() || sensor_objects.empty()) {
    association_result->unassigned_tracks.resize(fusion_tracks.size());
    association_result->unassigned_measurements.resize(sensor_objects.size());
    std::iota(association_result->unassigned_tracks.begin(),
              association_result->unassigned_tracks.end(), 0);
    std::iota(association_result->unassigned_measurements.begin(),
              association_result->unassigned_measurements.end(), 0);
    return true;
  }
 
  std::string measurement_sensor_id = sensor_objects[0]->GetSensorId();
  double measurement_timestamp = sensor_objects[0]->GetTimestamp();
  track_object_distance_.ResetProjectionCache(measurement_sensor_id,
                                              measurement_timestamp);
  bool do_nothing = (measurement_sensor_id == "radar_front" ||
                     measurement_sensor_id == "radar_rear");
  IdAssign(fusion_tracks, sensor_objects, &association_result->assignments,
           &association_result->unassigned_tracks,
           &association_result->unassigned_measurements, do_nothing, false);
 
  Eigen::Affine3d pose;
  sensor_measurements->GetPose(&pose);
  Eigen::Vector3d ref_point = pose.translation();
 
  ADEBUG << "association_measurement_timestamp@" << measurement_timestamp;
  ComputeAssociationDistanceMat(fusion_tracks, sensor_objects, ref_point,
                                association_result->unassigned_tracks,
                                association_result->unassigned_measurements,
                                &association_mat);
 
  int num_track = static_cast<int>(fusion_tracks.size());
  int num_measurement = static_cast<int>(sensor_objects.size());
  association_result->track2measurements_dist.assign(num_track, 0);
  association_result->measurement2track_dist.assign(num_measurement, 0);
  std::vector<int> track_ind_g2l;
  track_ind_g2l.resize(num_track, -1);
  for (size_t i = 0; i < association_result->unassigned_tracks.size(); ++i) {
    track_ind_g2l[association_result->unassigned_tracks[i]] =
        static_cast<int>(i);
  }
  std::vector<int> measurement_ind_g2l;
  measurement_ind_g2l.resize(num_measurement, -1);
  std::vector<size_t> measurement_ind_l2g =
      association_result->unassigned_measurements;
  for (size_t i = 0; i < association_result->unassigned_measurements.size();
       ++i) {
    measurement_ind_g2l[association_result->unassigned_measurements[i]] =
        static_cast<int>(i);
  }
  std::vector<size_t> track_ind_l2g = association_result->unassigned_tracks;
 
  if (association_result->unassigned_tracks.empty() ||
      association_result->unassigned_measurements.empty()) {
    return true;
  }
 
  bool state = MinimizeAssignment(
      association_mat, track_ind_l2g, measurement_ind_l2g,
      &association_result->assignments, &association_result->unassigned_tracks,
      &association_result->unassigned_measurements);
 
  // start do post assign
  std::vector<TrackMeasurmentPair> post_assignments;
  PostIdAssign(fusion_tracks, sensor_objects,
               association_result->unassigned_tracks,
               association_result->unassigned_measurements, &post_assignments);
  association_result->assignments.insert(association_result->assignments.end(),
                                         post_assignments.begin(),
                                         post_assignments.end());
 
  GenerateUnassignedData(fusion_tracks.size(), sensor_objects.size(),
                         association_result->assignments,
                         &association_result->unassigned_tracks,
                         &association_result->unassigned_measurements);
 
  ComputeDistance(fusion_tracks, sensor_objects,
                  association_result->unassigned_tracks, track_ind_g2l,
                  measurement_ind_g2l, measurement_ind_l2g, association_mat,
                  association_result);
 
  AINFO << "association: measurement_num = " << sensor_objects.size()
        << ", track_num = " << fusion_tracks.size()
        << ", assignments = " << association_result->assignments.size()
        << ", unassigned_tracks = "
        << association_result->unassigned_tracks.size()
        << ", unassigned_measuremnets = "
        << association_result->unassigned_measurements.size();
 
  return state;
}

Init()

bool apollo::perception::fusion::HMTrackersObjectsAssociation::Init ( const AssociationInitOptions &  options )

inlineoverridevirtual

initialization

参数

options

返回

true

false

实现了 apollo::perception::fusion::BaseDataAssociation.

在文件 hm_tracks_objects_match.h 第 42 行定义.

                                                            {
    track_object_distance_.set_distance_thresh(
        static_cast<float>(s_match_distance_thresh_));
    return true;
  }

Name()

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

inlineoverridevirtual

The name of BaseDataAssociation

返回

std::string

实现了 apollo::perception::fusion::BaseDataAssociation.

在文件 hm_tracks_objects_match.h 第 63 行定义.

{ return "HMTrackersObjectsAssociation"; }

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该类的文档由以下文件生成:

• modules/perception/multi_sensor_fusion/fusion/data_association/hm_data_association/hm_tracks_objects_match.h
• modules/perception/multi_sensor_fusion/fusion/data_association/hm_data_association/hm_tracks_objects_match.cc