apollo::perception::fusion::PbfShapeFusion类 参考

#include <pbf_shape_fusion.h>

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

apollo::perception::fusion::PbfShapeFusion 的协作图:

Public 成员函数
	PbfShapeFusion (TrackPtr track)
virtual	~PbfShapeFusion ()=default
bool	Init () override
void	UpdateWithMeasurement (const SensorObjectPtr measurement, double target_timestamp) override
	Update with measurement
void	UpdateWithoutMeasurement (const std::string &sensor_id, double measurement_timestamp, double target_timestamp) override
	Update without measurement
std::string	Name () const override
	The name of BaseShapeFusion
TrackPtr	GetTrack ()
	Get the Track object
Public 成员函数 继承自 apollo::perception::fusion::BaseShapeFusion
	BaseShapeFusion (TrackPtr track)
virtual	~BaseShapeFusion ()=default

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

详细描述

在文件 pbf_shape_fusion.h 第 29 行定义.

构造及析构函数说明

PbfShapeFusion()

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

inlineexplicit

在文件 pbf_shape_fusion.h 第 31 行定义.

: BaseShapeFusion(track) {}

~PbfShapeFusion()

virtual apollo::perception::fusion::PbfShapeFusion::~PbfShapeFusion ( )

virtualdefault

成员函数说明

GetTrack()

TrackPtr apollo::perception::fusion::PbfShapeFusion::GetTrack ( )

inline

Get the Track object

返回

TrackPtr

在文件 pbf_shape_fusion.h 第 69 行定义.

{ return track_ref_; }

Init()

bool apollo::perception::fusion::PbfShapeFusion::Init ( )

overridevirtual

返回

true

false

实现了 apollo::perception::fusion::BaseShapeFusion.

在文件 pbf_shape_fusion.cc 第 25 行定义.

{ return true; }

Name()

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

overridevirtual

The name of BaseShapeFusion

返回

std::string

实现了 apollo::perception::fusion::BaseShapeFusion.

在文件 pbf_shape_fusion.cc 第 65 行定义.

{ return "PbfShapeFusion"; }

UpdateWithMeasurement()

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

overridevirtual

Update with measurement

参数

measurement
target_timestamp

实现了 apollo::perception::fusion::BaseShapeFusion.

在文件 pbf_shape_fusion.cc 第 27 行定义.

                                                                    {
  SensorObjectConstPtr latest_lidar = track_ref_->GetLatestLidarObject();
  SensorObjectConstPtr latest_radar = track_ref_->GetLatestRadarObject();
  SensorObjectConstPtr latest_camera = track_ref_->GetLatestCameraObject();
  if (IsLidar(measurement)) {
    UpdateState(measurement);
  } else if (IsRadar(measurement)) {
    if (latest_lidar == nullptr) {
      if (latest_camera != nullptr) {
        if (std::fabs(measurement->GetTimestamp() -
                      latest_camera->GetTimestamp()) <
            s_camera_radar_time_diff_th_) {
          UpdateShape(latest_camera);
          UpdateCenter(measurement);
        } else {
          // nothing to do
        }
      } else {
        UpdateState(measurement);
      }
    } else {
      // nothing to do
    }
  } else if (IsCamera(measurement) && s_use_camera_3d_) {
    if (latest_lidar == nullptr) {
      UpdateState(measurement);
    } else {
      // nothing to do
    }
  } else {
    // nothing to do;
  }
}

UpdateWithoutMeasurement()

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

overridevirtual

Update without measurement

参数

sensor_id
measurement_timestamp
target_timestamp

实现了 apollo::perception::fusion::BaseShapeFusion.

在文件 pbf_shape_fusion.cc 第 61 行定义.

                                                                       {}

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该类的文档由以下文件生成:

• modules/perception/multi_sensor_fusion/fusion/data_fusion/shape_fusion/pbf_shape_fusion/pbf_shape_fusion.h
• modules/perception/multi_sensor_fusion/fusion/data_fusion/shape_fusion/pbf_shape_fusion/pbf_shape_fusion.cc