apollo::perception::fusion::ProbabilisticFusion类 参考

#include <probabilistic_fusion.h>

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

apollo::perception::fusion::ProbabilisticFusion 的协作图:

Public 成员函数
	ProbabilisticFusion ()=default
	~ProbabilisticFusion ()=default
bool	Init (const FusionInitOptions &options) override
	Initialization
bool	Fuse (const base::FrameConstPtr &sensor_frame, std::vector< base::ObjectPtr > *fused_objects) override
	Probabilistic fusion of sensor data, the input is the detection results of different sensors, and the output is the result after fusion
std::string	Name () const override
	The name of BaseFusionSystem
Public 成员函数 继承自 apollo::perception::fusion::BaseFusionSystem
	BaseFusionSystem ()=default
virtual	~BaseFusionSystem ()=default

额外继承的成员函数
Protected 成员函数 继承自 apollo::perception::fusion::BaseFusionSystem
	DISALLOW_COPY_AND_ASSIGN (BaseFusionSystem)

详细描述

在文件 probabilistic_fusion.h 第 43 行定义.

构造及析构函数说明

ProbabilisticFusion()

apollo::perception::fusion::ProbabilisticFusion::ProbabilisticFusion ( )

default

~ProbabilisticFusion()

apollo::perception::fusion::ProbabilisticFusion::~ProbabilisticFusion ( )

default

成员函数说明

Fuse()

bool apollo::perception::fusion::ProbabilisticFusion::Fuse ( const base::FrameConstPtr &  sensor_frame, std::vector< base::ObjectPtr > *  fused_objects  )

overridevirtual

Probabilistic fusion of sensor data, the input is the detection results of different sensors, and the output is the result after fusion

参数

sensor_frame	sensor data
fused_objects	objects after fusion

返回

true

false

实现了 apollo::perception::fusion::BaseFusionSystem.

在文件 probabilistic_fusion.cc 第 102 行定义.

                                                                        {
  if (fused_objects == nullptr) {
    AERROR << "fusion error: fused_objects is nullptr";
    return false;
  }
 
  auto* sensor_data_manager = SensorDataManager::Instance();
  // 1. save frame data
  {
    std::lock_guard<std::mutex> data_lock(data_mutex_);
    if (!params_.use_lidar && sensor_data_manager->IsLidar(sensor_frame)) {
      return true;
    }
    if (!params_.use_radar && sensor_data_manager->IsRadar(sensor_frame)) {
      return true;
    }
    if (!params_.use_camera && sensor_data_manager->IsCamera(sensor_frame)) {
      return true;
    }
 
    bool is_publish_sensor = IsPublishSensor(sensor_frame);
 
    AINFO << "add sensor measurement: " << sensor_frame->sensor_info.name
          << ", obj_cnt : " << sensor_frame->objects.size() << ", "
          << FORMAT_TIMESTAMP(sensor_frame->timestamp);
    sensor_data_manager->AddSensorMeasurements(sensor_frame);
 
    if (!is_publish_sensor) {
      return true;
    }
  }
 
  // 2. query related sensor_frames for fusion
  std::lock_guard<std::mutex> fuse_lock(fuse_mutex_);
  double fusion_time = sensor_frame->timestamp;
  std::vector<SensorFramePtr> frames;
  sensor_data_manager->GetLatestFrames(fusion_time, &frames);
  AINFO << "Get " << frames.size() << " related frames for fusion";
 
  // 3. perform fusion on related frames
  for (const auto& frame : frames) {
    FuseFrame(frame);
  }
 
  // 4. collect fused objects
  CollectFusedObjects(fusion_time, fused_objects);
  return true;
}

Init()

bool apollo::perception::fusion::ProbabilisticFusion::Init ( const FusionInitOptions &  options )

overridevirtual

Initialization

参数

options

返回

true

false

实现了 apollo::perception::fusion::BaseFusionSystem.

在文件 probabilistic_fusion.cc 第 41 行定义.

                                                               {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
  ProbabilisticFusionConfig params;
  if (!cyber::common::GetProtoFromFile(config_file, &params)) {
    AERROR << "Read config failed: " << config_file;
    return false;
  }
 
  params_.use_lidar = params.use_lidar();
  params_.use_radar = params.use_radar();
  params_.use_camera = params.use_camera();
  for (int i = 0; i < params.prohibition_sensors_size(); ++i) {
    params_.prohibition_sensors.push_back(params.prohibition_sensors(i));
  }
 
  // static member initialization from PB config
  Track::SetMaxLidarInvisiblePeriod(params.max_lidar_invisible_period());
  Track::SetMaxRadarInvisiblePeriod(params.max_radar_invisible_period());
  Track::SetMaxCameraInvisiblePeriod(params.max_camera_invisible_period());
  Sensor::SetMaxCachedFrameNumber(params.max_cached_frame_num());
 
  scenes_.reset(new Scene());
 
  // Init data association
  auto data_association_param = params.data_association_param();
  AssociationInitOptions association_init_options;
  association_init_options.config_path = data_association_param.config_path();
  association_init_options.config_file = data_association_param.config_file();
  BaseDataAssociation* matcher =
      BaseDataAssociationRegisterer::GetInstanceByName(
          data_association_param.name());
  CHECK_NOTNULL(matcher);
  matcher_.reset(matcher);
  ACHECK(matcher_->Init(association_init_options))
      << "Fusion matcher init error";
 
  // Init gatekeeper
  auto gatekeeper_param = params.gatekeeper_param();
  GatekeeperInitOptions gatekeeper_init_options;
  gatekeeper_init_options.config_path = gatekeeper_param.config_path();
  gatekeeper_init_options.config_file = gatekeeper_param.config_file();
  BaseGatekeeper* gate_keeper =
      BaseGatekeeperRegisterer::GetInstanceByName(gatekeeper_param.name());
  CHECK_NOTNULL(gate_keeper);
  gate_keeper_.reset(gate_keeper);
  ACHECK(gate_keeper_->Init(gatekeeper_init_options))
      << "Fusion gate_keeper init error";
 
  // Init pbftracker
  auto tracker_param = params.tracker_param();
  TrackerInitOptions tracker_init_options;
  // TODO(zero): pbftracker is dynamically created, so only set the name.
  params_.tracker_method = tracker_param.name();
  tracker_init_options.config_path = tracker_param.config_path();
  tracker_init_options.config_file = tracker_param.config_file();
  bool state = PbfTracker::InitParams(tracker_init_options);
 
  return state;
}

Name()

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

inlineoverridevirtual

The name of BaseFusionSystem

返回

std::string

实现了 apollo::perception::fusion::BaseFusionSystem.

在文件 probabilistic_fusion.h 第 69 行定义.

{ return "ProbabilisticFusion"; }

---

该类的文档由以下文件生成:

• modules/perception/multi_sensor_fusion/fusion/fusion_system/probabilistic_fusion/probabilistic_fusion.h
• modules/perception/multi_sensor_fusion/fusion/fusion_system/probabilistic_fusion/probabilistic_fusion.cc