apollo::perception::fusion::PbfGatekeeper类 参考

#include <pbf_gatekeeper.h>

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

apollo::perception::fusion::PbfGatekeeper 的协作图:

Public 成员函数
	PbfGatekeeper ()
	~PbfGatekeeper ()
bool	Init (const GatekeeperInitOptions &options) override
	Initialize
bool	AbleToPublish (const TrackPtr &track) override
	whether able to publish
std::string	Name () const override
	The name of BaseGatekeeper
Public 成员函数 继承自 apollo::perception::fusion::BaseGatekeeper
	BaseGatekeeper ()=default
virtual	~BaseGatekeeper ()=default
	DISALLOW_COPY_AND_ASSIGN (BaseGatekeeper)

详细描述

在文件 pbf_gatekeeper.h 第 45 行定义.

构造及析构函数说明

PbfGatekeeper()

apollo::perception::fusion::PbfGatekeeper::PbfGatekeeper

(

)

在文件 pbf_gatekeeper.cc 第 33 行定义.

{}

~PbfGatekeeper()

apollo::perception::fusion::PbfGatekeeper::~PbfGatekeeper

(

)

在文件 pbf_gatekeeper.cc 第 35 行定义.

{}

成员函数说明

AbleToPublish()

bool apollo::perception::fusion::PbfGatekeeper::AbleToPublish ( const TrackPtr &  track )

overridevirtual

whether able to publish

参数

track

返回

true

false

实现了 apollo::perception::fusion::BaseGatekeeper.

在文件 pbf_gatekeeper.cc 第 63 行定义.

                                                       {
  bool invisible_in_lidar = !(track->IsLidarVisible());
  bool invisible_in_radar = !(track->IsRadarVisible());
  bool invisible_in_camera = !(track->IsCameraVisible());
  if (invisible_in_lidar && invisible_in_radar &&
      (!params_.use_camera_3d || invisible_in_camera)) {
    auto sensor_obj = track->GetFusedObject();
    if (sensor_obj != nullptr && sensor_obj->GetBaseObject()->sub_type !=
                                     base::ObjectSubType::TRAFFICCONE) {
      return false;
    }
  }
  time_t rawtime = static_cast<time_t>(track->GetFusedObject()->GetTimestamp());
 
  // use thread-safe localtime_r instead of localtime
  struct tm timeinfo;
  localtime_r(&rawtime, &timeinfo);
  bool is_night = (timeinfo.tm_hour >= 23);
  if (!LidarAbleToPublish(track) && !RadarAbleToPublish(track, is_night) &&
      !CameraAbleToPublish(track, is_night)) {
    return false;
  }
 
  track->AddTrackedTimes();
  if (params_.use_track_time_pub_strategy &&
      track->GetTrackedTimes() <=
          static_cast<size_t>(params_.pub_track_time_thresh)) {
    return false;
  }
  return true;
}

Init()

bool apollo::perception::fusion::PbfGatekeeper::Init ( const GatekeeperInitOptions &  options )

overridevirtual

Initialize

参数

options

返回

true

false

实现了 apollo::perception::fusion::BaseGatekeeper.

在文件 pbf_gatekeeper.cc 第 37 行定义.

                                                             {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
 
  PbfGatekeeperConfig params;
  if (!cyber::common::GetProtoFromFile(config_file, &params)) {
    AERROR << "Read config failed: " << config_file;
    return false;
  }
 
  params_.publish_if_has_lidar = params.publish_if_has_lidar();
  params_.publish_if_has_radar = params.publish_if_has_radar();
  params_.publish_if_has_camera = params.publish_if_has_camera();
  params_.use_camera_3d = params.use_camera_3d();
  params_.min_radar_confident_distance = params.min_radar_confident_distance();
  params_.max_radar_confident_angle = params.max_radar_confident_angle();
  params_.min_camera_publish_distance = params.min_camera_publish_distance();
  params_.invisible_period_threshold = params.invisible_period_threshold();
  params_.existence_threshold = params.existence_threshold();
  params_.radar_existence_threshold = params.radar_existence_threshold();
  params_.toic_threshold = params.toic_threshold();
  params_.use_track_time_pub_strategy = params.use_track_time_pub_strategy();
  params_.pub_track_time_thresh = params.pub_track_time_thresh();
  return true;
}

Name()

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

inlineoverridevirtual

The name of BaseGatekeeper

返回

std::string

实现了 apollo::perception::fusion::BaseGatekeeper.

在文件 pbf_gatekeeper.h 第 68 行定义.

{ return "PbfGatekeeper"; }

---

该类的文档由以下文件生成:

• modules/perception/multi_sensor_fusion/fusion/gatekeeper/pbf_gatekeeper/pbf_gatekeeper.h
• modules/perception/multi_sensor_fusion/fusion/gatekeeper/pbf_gatekeeper/pbf_gatekeeper.cc