apollo::perception::fusion::PbfTracker类 参考

#include <pbf_tracker.h>

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

apollo::perception::fusion::PbfTracker 的协作图:

Public 成员函数
	PbfTracker ()=default
virtual	~PbfTracker ()=default
bool	Init (TrackPtr track, SensorObjectPtr measurement) override
	Init
void	UpdateWithMeasurement (const TrackerOptions &options, const SensorObjectPtr measurement, double target_timestamp) override
	Update with measurement
void	UpdateWithoutMeasurement (const TrackerOptions &options, const std::string &sensor_id, double measurement_timestamp, double target_timestamp) override
	Update without measurement
std::string	Name () const override
	The name of BaseTracker
Public 成员函数 继承自 apollo::perception::fusion::BaseTracker
	BaseTracker ()=default
virtual	~BaseTracker ()=default

静态 Public 成员函数
static bool	InitParams (const TrackerInitOptions &options)
	Init params

Protected 成员函数
bool	InitMethods ()
	Init fusion methods
	DISALLOW_COPY_AND_ASSIGN (PbfTracker)
Protected 成员函数 继承自 apollo::perception::fusion::BaseTracker
	DISALLOW_COPY_AND_ASSIGN (BaseTracker)

Protected 属性
std::unique_ptr< BaseTypeFusion >	type_fusion_ = nullptr
std::unique_ptr< BaseMotionFusion >	motion_fusion_ = nullptr
std::unique_ptr< BaseExistenceFusion >	existence_fusion_ = nullptr
std::unique_ptr< BaseShapeFusion >	shape_fusion_ = nullptr
Protected 属性 继承自 apollo::perception::fusion::BaseTracker
TrackPtr	track_ = nullptr

静态 Protected 属性
static std::string	s_type_fusion_method_ = "DstTypeFusion"
static std::string	s_motion_fusion_method_
static std::string	s_shape_fusion_method_ = "PbfShapeFusion"
static std::string	s_existence_fusion_method_

详细描述

在文件 pbf_tracker.h 第 34 行定义.

构造及析构函数说明

PbfTracker()

apollo::perception::fusion::PbfTracker::PbfTracker ( )

default

~PbfTracker()

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

virtualdefault

成员函数说明

DISALLOW_COPY_AND_ASSIGN()

apollo::perception::fusion::PbfTracker::DISALLOW_COPY_AND_ASSIGN ( PbfTracker  )

protected

Init()

bool apollo::perception::fusion::PbfTracker::Init ( TrackPtr  track, SensorObjectPtr  measurement  )

overridevirtual

Init

参数

track
measurement

返回

true

false

实现了 apollo::perception::fusion::BaseTracker.

在文件 pbf_tracker.cc 第 107 行定义.

                                                                 {
  track_ = track;
  if (!InitMethods()) {
    return false;
  }
  motion_fusion_->Init();
  return true;
}

InitMethods()

bool apollo::perception::fusion::PbfTracker::InitMethods ( )

protected

Init fusion methods

返回

true

false

在文件 pbf_tracker.cc 第 75 行定义.

                             {
  if (s_type_fusion_method_ == "DstTypeFusion") {
    type_fusion_.reset(new DstTypeFusion(track_));
  } else {
    AERROR << "Unknown type fusion : " << s_type_fusion_method_;
    return false;
  }
 
  if (s_motion_fusion_method_ == "KalmanMotionFusion") {
    motion_fusion_.reset(new KalmanMotionFusion(track_));
  } else {
    AERROR << "Unknown motion fusion : " << s_motion_fusion_method_;
    return false;
  }
 
  if (s_existence_fusion_method_ == "DstExistenceFusion") {
    existence_fusion_.reset(new DstExistenceFusion(track_));
  } else {
    AERROR << "Unknown existence fusion : " << s_existence_fusion_method_;
    return false;
  }
 
  if (s_shape_fusion_method_ == "PbfShapeFusion") {
    shape_fusion_.reset(new PbfShapeFusion(track_));
  } else {
    AERROR << "Unknown shape fusion : " << s_shape_fusion_method_;
    return false;
  }
 
  return true;
}

InitParams()

bool apollo::perception::fusion::PbfTracker::InitParams ( const TrackerInitOptions &  options )

static

Init params

参数

options

返回

true

false

在文件 pbf_tracker.cc 第 41 行定义.

                                                             {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
 
  PbfTrackerConfig params;
  if (!cyber::common::GetProtoFromFile(config_file, &params)) {
    AERROR << "Read config failed: " << config_file;
    return false;
  }
 
  AINFO << "Load PbfTrackerConfig: " << params.DebugString();
 
  s_type_fusion_method_ = params.type_fusion_param().name();
  s_motion_fusion_method_ = params.motion_fusion_param().name();
  s_shape_fusion_method_ = params.shape_fusion_param().name();
  s_existence_fusion_method_ = params.existence_fusion_param().name();
 
  TypeFusionInitOptions type_fusion_init_options;
  auto type_fusion_param = params.type_fusion_param();
  type_fusion_init_options.config_path = type_fusion_param.config_path();
  type_fusion_init_options.config_file = type_fusion_param.config_file();
  DstTypeFusion::Init(type_fusion_init_options);
 
  ExistenceFusionInitOptions existence_fusion_init_options;
  auto existence_fusion_param = params.existence_fusion_param();
  existence_fusion_init_options.config_path =
      existence_fusion_param.config_path();
  existence_fusion_init_options.config_file =
      existence_fusion_param.config_file();
  DstExistenceFusion::Init(existence_fusion_init_options);
 
  return true;
}

Name()

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

inlineoverridevirtual

The name of BaseTracker

返回

std::string

实现了 apollo::perception::fusion::BaseTracker.

在文件 pbf_tracker.h 第 82 行定义.

{ return "PbfTracker"; }

UpdateWithMeasurement()

void apollo::perception::fusion::PbfTracker::UpdateWithMeasurement ( const TrackerOptions &  options, const SensorObjectPtr  measurement, double  target_timestamp  )

overridevirtual

Update with measurement

参数

options
measurement
target_timestamp

实现了 apollo::perception::fusion::BaseTracker.

在文件 pbf_tracker.cc 第 116 行定义.

                                                                {
  std::string sensor_id = measurement->GetSensorId();
  ADEBUG << "fusion_updating..." << track_->GetTrackId() << " with "
         << sensor_id << "..." << measurement->GetBaseObject()->track_id << "@"
         << FORMAT_TIMESTAMP(measurement->GetTimestamp());
  existence_fusion_->UpdateWithMeasurement(measurement, target_timestamp,
                                           options.match_distance);
  motion_fusion_->UpdateWithMeasurement(measurement, target_timestamp);
  shape_fusion_->UpdateWithMeasurement(measurement, target_timestamp);
  type_fusion_->UpdateWithMeasurement(measurement, target_timestamp);
  track_->UpdateWithSensorObject(measurement);
}

UpdateWithoutMeasurement()

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

overridevirtual

Update without measurement

参数

options
sensor_id
measurement_timestamp
target_timestamp

实现了 apollo::perception::fusion::BaseTracker.

在文件 pbf_tracker.cc 第 131 行定义.

                                                                   {
  existence_fusion_->UpdateWithoutMeasurement(sensor_id, measurement_timestamp,
                                              target_timestamp,
                                              options.match_distance);
  motion_fusion_->UpdateWithoutMeasurement(sensor_id, measurement_timestamp,
                                           target_timestamp);
  shape_fusion_->UpdateWithoutMeasurement(sensor_id, measurement_timestamp,
                                          target_timestamp);
  type_fusion_->UpdateWithoutMeasurement(sensor_id, measurement_timestamp,
                                         target_timestamp,
                                         options.match_distance);
  track_->UpdateWithoutSensorObject(sensor_id, measurement_timestamp);
}

类成员变量说明

existence_fusion_

std::unique_ptr<BaseExistenceFusion> apollo::perception::fusion::PbfTracker::existence_fusion_ = nullptr

protected

在文件 pbf_tracker.h 第 101 行定义.

motion_fusion_

std::unique_ptr<BaseMotionFusion> apollo::perception::fusion::PbfTracker::motion_fusion_ = nullptr

protected

在文件 pbf_tracker.h 第 100 行定义.

s_existence_fusion_method_

std::string apollo::perception::fusion::PbfTracker::s_existence_fusion_method_

staticprotected

初始值:

=              
    "DstExistenceFusion"

在文件 pbf_tracker.h 第 97 行定义.

s_motion_fusion_method_

std::string apollo::perception::fusion::PbfTracker::s_motion_fusion_method_

staticprotected

初始值:

=  
    "KalmanMotionFusion"

在文件 pbf_tracker.h 第 95 行定义.

s_shape_fusion_method_

std::string apollo::perception::fusion::PbfTracker::s_shape_fusion_method_ = "PbfShapeFusion"

staticprotected

在文件 pbf_tracker.h 第 96 行定义.

s_type_fusion_method_

std::string apollo::perception::fusion::PbfTracker::s_type_fusion_method_ = "DstTypeFusion"

staticprotected

在文件 pbf_tracker.h 第 94 行定义.

shape_fusion_

std::unique_ptr<BaseShapeFusion> apollo::perception::fusion::PbfTracker::shape_fusion_ = nullptr

protected

在文件 pbf_tracker.h 第 102 行定义.

type_fusion_

std::unique_ptr<BaseTypeFusion> apollo::perception::fusion::PbfTracker::type_fusion_ = nullptr

protected

在文件 pbf_tracker.h 第 99 行定义.

---

该类的文档由以下文件生成:

• modules/perception/multi_sensor_fusion/fusion/data_fusion/tracker/pbf_tracker/pbf_tracker.h
• modules/perception/multi_sensor_fusion/fusion/data_fusion/tracker/pbf_tracker/pbf_tracker.cc