apollo::perception::fusion::Track类 参考

#include <track.h>

apollo::perception::fusion::Track 的协作图:

Public 成员函数
	Track ()
virtual	~Track ()=default
bool	Initialize (SensorObjectPtr obj, bool is_background=false)
	Initialize
void	Reset ()
SensorObjectConstPtr	GetSensorObject (const std::string &sensor_id) const
	Get the sensor object object
SensorObjectConstPtr	GetLatestLidarObject () const
	Get the latest lidar object object
SensorObjectConstPtr	GetLatestRadarObject () const
	Get the latest radar object object
SensorObjectConstPtr	GetLatestCameraObject () const
	Get the latest camera object object
FusedObjectPtr	GetFusedObject ()
	Get the fused object object
SensorId2ObjectMap &	GetLidarObjects ()
	Get the lidar objects object
const SensorId2ObjectMap &	GetLidarObjects () const
	Get the lidar objects object
SensorId2ObjectMap &	GetRadarObjects ()
	Get the radar objects object
const SensorId2ObjectMap &	GetRadarObjects () const
	Get the radar objects object
SensorId2ObjectMap &	GetCameraObjects ()
	Get the camera objects object
const SensorId2ObjectMap &	GetCameraObjects () const
	Get the camera objects object
int	GetTrackId () const
	Get the track id
double	GetTrackingPeriod () const
	Get the tracking period
size_t	GetTrackedTimes () const
	Get the tracked times
void	AddTrackedTimes ()
	Add the tracked times
double	GetExistenceProb () const
	Get the Existence Prob object
void	SetExistenceProb (double prob)
	Set the Existence Prob object
double	GetToicProb () const
	Get the Toic Prob object
void	SetToicProb (double prob)
	Set the Toic Prob object
bool	IsBackground () const
	Is background
bool	IsAlive () const
	Is tracking lost
bool	IsVisible (const std::string &sensor_id) const
	Is visible
bool	IsLidarVisible () const
	Is lidar visible
bool	IsRadarVisible () const
	Is radar visible
bool	IsCameraVisible () const
	Is camera visible
void	UpdateWithSensorObject (const SensorObjectPtr &obj)
	Update by SensorObject
void	UpdateWithoutSensorObject (const std::string &sensor_id, double measurement_timestamp)
	Update without SensorObject
std::string	DebugString () const
	Debug information

静态 Public 成员函数
static void	SetMaxLidarInvisiblePeriod (double period)
	Set the max lidar invisible period
static void	SetMaxRadarInvisiblePeriod (double period)
	Set the max radar invisible period
static void	SetMaxCameraInvisiblePeriod (double period)
	Set the max camera invisible period
static size_t	GenerateNewTrackId ()
	Generate new track id

Protected 成员函数
void	UpdateSupplementState (const SensorObjectPtr &src_object=nullptr)
	Update supplement state
void	UpdateUnfusedState (const SensorObjectPtr &src_object)
	update no fusion state
SensorObjectConstPtr	GetLatestSensorObject (const SensorId2ObjectMap &objects) const
	Get the Latest Sensor Object object
void	UpdateSensorObject (SensorId2ObjectMap *objects, const SensorObjectPtr &obj)
void	UpdateSensorObjectWithoutMeasurement (SensorId2ObjectMap *objects, const std::string &sensor_id, double measurement_timestamp, double max_invisible_period)
void	UpdateSensorObjectWithMeasurement (SensorId2ObjectMap *objects, const std::string &sensor_id, double measurement_timestamp, double max_invisible_period)
void	UpdateWithSensorObjectForBackground (const SensorObjectPtr &obj)
void	UpdateWithoutSensorObjectForBackground (const std::string &sensor_id, double measurement_timestamp)

Protected 属性
SensorId2ObjectMap	lidar_objects_
SensorId2ObjectMap	radar_objects_
SensorId2ObjectMap	camera_objects_
FusedObjectPtr	fused_object_ = nullptr
double	tracking_period_ = 0.0
double	existence_prob_ = 0.0
double	toic_prob_ = 0.0
bool	is_background_ = false
bool	is_alive_ = true
size_t	tracked_times_ = 0

详细描述

在文件 track.h 第 32 行定义.

构造及析构函数说明

Track()

apollo::perception::fusion::Track::Track

(

)

在文件 track.cc 第 29 行定义.

{ fused_object_.reset(new FusedObject()); }

~Track()

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

virtualdefault

成员函数说明

AddTrackedTimes()

void apollo::perception::fusion::Track::AddTrackedTimes ( )

inline

Add the tracked times

在文件 track.h 第 187 行定义.

{ ++tracked_times_; }

DebugString()

std::string apollo::perception::fusion::Track::DebugString

(

)

const

Debug information

返回

std::string

在文件 track.cc 第 294 行定义.

                                   {
  std::ostringstream oss;
  oss << "fusion_track[id: " << this->GetTrackId() << ", fused_object("
      << fused_object_->GetBaseObject()->ToString() << ")\n";
 
  oss << "lidar_measurments[number: " << lidar_objects_.size() << ",";
  for (auto it = lidar_objects_.begin(); it != lidar_objects_.end(); ++it) {
    oss << "(sensor_id: " << it->first
        << ", invisible_t: " << it->second->GetInvisiblePeriod()
        << ", info: " << it->second->GetBaseObject()->ToString() << ")\n";
  }
  oss << "]\n";
 
  oss << "radar_measurments[number: " << radar_objects_.size() << ",";
  for (auto it = radar_objects_.begin(); it != radar_objects_.end(); ++it) {
    oss << "(sensor_id: " << it->first
        << ", invisible_t: " << it->second->GetInvisiblePeriod()
        << ", info: " << it->second->GetBaseObject()->ToString() << ")\n";
  }
  oss << "]\n";
 
  oss << "camera_measurments[number: " << camera_objects_.size() << ",";
  for (auto it = camera_objects_.begin(); it != camera_objects_.end(); ++it) {
    oss << "(sensor_id: " << it->first
        << ", invisible_t: " << it->second->GetInvisiblePeriod()
        << ", info: " << it->second->GetBaseObject()->ToString() << ")\n";
  }
  oss << "]\n";
  return oss.str();
}

GenerateNewTrackId()

size_t apollo::perception::fusion::Track::GenerateNewTrackId ( )

static

Generate new track id

返回

size_t

在文件 track.cc 第 98 行定义.

                                 {
  int ret_track_id = static_cast<int>(s_track_idx_);
  if (s_track_idx_ == std::numeric_limits<unsigned int>::max()) {
    s_track_idx_ = 1;
  } else {
    s_track_idx_++;
  }
  return ret_track_id;
}

GetCameraObjects() [1/2]

SensorId2ObjectMap & apollo::perception::fusion::Track::GetCameraObjects ( )

inline

Get the camera objects object

返回

SensorId2ObjectMap&

在文件 track.h 第 149 行定义.

{ return camera_objects_; }

GetCameraObjects() [2/2]

const SensorId2ObjectMap & apollo::perception::fusion::Track::GetCameraObjects ( ) const

inline

Get the camera objects object

返回

const SensorId2ObjectMap&

在文件 track.h 第 156 行定义.

                                                            {
    return camera_objects_;
  }

GetExistenceProb()

double apollo::perception::fusion::Track::GetExistenceProb ( ) const

inline

Get the Existence Prob object

返回

double

在文件 track.h 第 194 行定义.

{ return existence_prob_; }

GetFusedObject()

FusedObjectPtr apollo::perception::fusion::Track::GetFusedObject ( )

inline

Get the fused object object

返回

FusedObjectPtr

在文件 track.h 第 110 行定义.

{ return fused_object_; }

GetLatestCameraObject()

SensorObjectConstPtr apollo::perception::fusion::Track::GetLatestCameraObject

(

)

const

Get the latest camera object object

返回

SensorObjectConstPtr

在文件 track.cc 第 83 行定义.

                                                        {
  return GetLatestSensorObject(camera_objects_);
}

GetLatestLidarObject()

SensorObjectConstPtr apollo::perception::fusion::Track::GetLatestLidarObject

(

)

const

Get the latest lidar object object

返回

SensorObjectConstPtr

在文件 track.cc 第 75 行定义.

                                                       {
  return GetLatestSensorObject(lidar_objects_);
}

GetLatestRadarObject()

SensorObjectConstPtr apollo::perception::fusion::Track::GetLatestRadarObject

(

)

const

Get the latest radar object object

返回

SensorObjectConstPtr

在文件 track.cc 第 79 行定义.

                                                       {
  return GetLatestSensorObject(radar_objects_);
}

GetLatestSensorObject()

SensorObjectConstPtr apollo::perception::fusion::Track::GetLatestSensorObject ( const SensorId2ObjectMap &  objects ) const

protected

Get the Latest Sensor Object object

参数

objects

返回

SensorObjectConstPtr

在文件 track.cc 第 87 行定义.

                                             {
  SensorObjectConstPtr obj = nullptr;
  for (auto it = objects.begin(); it != objects.end(); ++it) {
    if (obj == nullptr || obj->GetTimestamp() < it->second->GetTimestamp()) {
      obj = it->second;
    }
  }
  return obj;
}

GetLidarObjects() [1/2]

SensorId2ObjectMap & apollo::perception::fusion::Track::GetLidarObjects ( )

inline

Get the lidar objects object

返回

SensorId2ObjectMap&

在文件 track.h 第 117 行定义.

{ return lidar_objects_; }

GetLidarObjects() [2/2]

const SensorId2ObjectMap & apollo::perception::fusion::Track::GetLidarObjects ( ) const

inline

Get the lidar objects object

返回

const SensorId2ObjectMap&

在文件 track.h 第 124 行定义.

                                                           {
    return lidar_objects_;
  }

GetRadarObjects() [1/2]

SensorId2ObjectMap & apollo::perception::fusion::Track::GetRadarObjects ( )

inline

Get the radar objects object

返回

SensorId2ObjectMap&

在文件 track.h 第 133 行定义.

{ return radar_objects_; }

GetRadarObjects() [2/2]

const SensorId2ObjectMap & apollo::perception::fusion::Track::GetRadarObjects ( ) const

inline

Get the radar objects object

返回

const SensorId2ObjectMap&

在文件 track.h 第 140 行定义.

                                                           {
    return radar_objects_;
  }

GetSensorObject()

SensorObjectConstPtr apollo::perception::fusion::Track::GetSensorObject

(

const std::string &

sensor_id

)

const

Get the sensor object object

参数

sensor_id

返回

SensorObjectConstPtr

在文件 track.cc 第 55 行定义.

                                      {
  auto lidar_it = lidar_objects_.find(sensor_id);
  if (lidar_it != lidar_objects_.end()) {
    return lidar_it->second;
  }
 
  auto radar_it = radar_objects_.find(sensor_id);
  if (radar_it != radar_objects_.end()) {
    return radar_it->second;
  }
 
  auto camera_it = camera_objects_.find(sensor_id);
  if (camera_it != camera_objects_.end()) {
    return camera_it->second;
  }
 
  return nullptr;
}

GetToicProb()

double apollo::perception::fusion::Track::GetToicProb ( ) const

inline

Get the Toic Prob object

返回

double

在文件 track.h 第 208 行定义.

{ return toic_prob_; }

GetTrackedTimes()

size_t apollo::perception::fusion::Track::GetTrackedTimes ( ) const

inline

Get the tracked times

返回

size_t

在文件 track.h 第 181 行定义.

{ return tracked_times_; }

GetTrackId()

int apollo::perception::fusion::Track::GetTrackId ( ) const

inline

Get the track id

返回

int

在文件 track.h 第 165 行定义.

                                {
    return fused_object_->GetBaseObject()->track_id;
  }

GetTrackingPeriod()

double apollo::perception::fusion::Track::GetTrackingPeriod ( ) const

inline

Get the tracking period

返回

double

在文件 track.h 第 174 行定义.

{ return tracking_period_; }

Initialize()

bool apollo::perception::fusion::Track::Initialize	(	SensorObjectPtr	obj,
		bool	is_background = false
	)

Initialize

参数

obj
is_background

返回

true

false

在文件 track.cc 第 31 行定义.

                                                              {
  Reset();
  int track_id = static_cast<int>(GenerateNewTrackId());
  is_background_ = is_background;
  std::shared_ptr<base::Object> fused_base_obj = fused_object_->GetBaseObject();
  std::shared_ptr<const base::Object> sensor_base_obj = obj->GetBaseObject();
  *fused_base_obj = *sensor_base_obj;
  fused_base_obj->track_id = track_id;
  UpdateWithSensorObject(obj);
  return true;
}

IsAlive()

bool apollo::perception::fusion::Track::IsAlive ( ) const

inline

Is tracking lost

返回

true

false

在文件 track.h 第 231 行定义.

{ return is_alive_; }

IsBackground()

bool apollo::perception::fusion::Track::IsBackground ( ) const

inline

Is background

返回

true

false

在文件 track.h 第 223 行定义.

{ return is_background_; }

IsCameraVisible()

bool apollo::perception::fusion::Track::IsCameraVisible

(

)

const

Is camera visible

返回

true

false

在文件 track.cc 第 272 行定义.

                                  {
  for (auto it = camera_objects_.begin(); it != camera_objects_.end(); ++it) {
    if (it->second->GetInvisiblePeriod() < 1.0e-6) {
      return true;
    }
  }
  return false;
}

IsLidarVisible()

bool apollo::perception::fusion::Track::IsLidarVisible

(

)

const

Is lidar visible

返回

true

false

在文件 track.cc 第 254 行定义.

                                 {
  for (auto it = lidar_objects_.begin(); it != lidar_objects_.end(); ++it) {
    if (it->second->GetInvisiblePeriod() < 1.0e-6) {
      return true;
    }
  }
  return false;
}

IsRadarVisible()

bool apollo::perception::fusion::Track::IsRadarVisible

(

)

const

Is radar visible

返回

true

false

在文件 track.cc 第 263 行定义.

                                 {
  for (auto it = radar_objects_.begin(); it != radar_objects_.end(); ++it) {
    if (it->second->GetInvisiblePeriod() < 1.0e-6) {
      return true;
    }
  }
  return false;
}

IsVisible()

bool apollo::perception::fusion::Track::IsVisible

(

const std::string &

sensor_id

)

const

Is visible

参数

sensor_id

返回

true

false

在文件 track.cc 第 249 行定义.

                                                      {
  SensorObjectConstPtr sensor_obj = GetSensorObject(sensor_id);
  return (sensor_obj != nullptr && sensor_obj->GetInvisiblePeriod() < 1.0e-6);
}

Reset()

void apollo::perception::fusion::Track::Reset

(

)

在文件 track.cc 第 43 行定义.

                  {
  fused_object_->GetBaseObject()->track_id = 0;
  lidar_objects_.clear();
  radar_objects_.clear();
  camera_objects_.clear();
  tracking_period_ = 0.0;
  is_background_ = false;
  is_alive_ = true;
  tracked_times_ = 0;
  toic_prob_ = 0.0;
}

SetExistenceProb()

void apollo::perception::fusion::Track::SetExistenceProb ( double  prob )

inline

Set the Existence Prob object

参数

prob

在文件 track.h 第 201 行定义.

{ existence_prob_ = prob; }

SetMaxCameraInvisiblePeriod()

static void apollo::perception::fusion::Track::SetMaxCameraInvisiblePeriod ( double  period )

inlinestatic

Set the max camera invisible period

参数

period

在文件 track.h 第 60 行定义.

                                                                {
    s_max_camera_invisible_period_ = period;
  }

SetMaxLidarInvisiblePeriod()

static void apollo::perception::fusion::Track::SetMaxLidarInvisiblePeriod ( double  period )

inlinestatic

Set the max lidar invisible period

参数

period

在文件 track.h 第 42 行定义.

                                                               {
    s_max_lidar_invisible_period_ = period;
  }

SetMaxRadarInvisiblePeriod()

static void apollo::perception::fusion::Track::SetMaxRadarInvisiblePeriod ( double  period )

inlinestatic

Set the max radar invisible period

参数

period

在文件 track.h 第 51 行定义.

                                                               {
    s_max_radar_invisible_period_ = period;
  }

SetToicProb()

void apollo::perception::fusion::Track::SetToicProb ( double  prob )

inline

Set the Toic Prob object

参数

prob

在文件 track.h 第 215 行定义.

{ toic_prob_ = prob; }

UpdateSensorObject()

void apollo::perception::fusion::Track::UpdateSensorObject ( SensorId2ObjectMap *  objects, const SensorObjectPtr &  obj  )

protected

参数

objects
obj

在文件 track.cc 第 108 行定义.

                                                           {
  std::string sensor_id = obj->GetSensorId();
  auto it = objects->find(sensor_id);
  if (it == objects->end()) {
    (*objects)[sensor_id] = obj;
  } else {
    it->second = obj;
  }
}

UpdateSensorObjectWithMeasurement()

void apollo::perception::fusion::Track::UpdateSensorObjectWithMeasurement ( SensorId2ObjectMap *  objects, const std::string &  sensor_id, double  measurement_timestamp, double  max_invisible_period  )

protected

参数

objects
sensor_id
measurement_timestamp
max_invisible_period

在文件 track.cc 第 193 行定义.

                                                                           {
  for (auto it = objects->begin(); it != objects->end();) {
    if (it->first != sensor_id) {
      double period = measurement_timestamp - it->second->GetTimestamp();
      if (period > max_invisible_period) {
        it->second = nullptr;
        it = objects->erase(it);
      } else {
        ++it;
      }
    } else {
      ++it;
    }
  }
}

UpdateSensorObjectWithoutMeasurement()

void apollo::perception::fusion::Track::UpdateSensorObjectWithoutMeasurement ( SensorId2ObjectMap *  objects, const std::string &  sensor_id, double  measurement_timestamp, double  max_invisible_period  )

protected

参数

objects
sensor_id
measurement_timestamp
max_invisible_period

在文件 track.cc 第 172 行定义.

                                                                              {
  for (auto it = objects->begin(); it != objects->end();) {
    double period = measurement_timestamp - it->second->GetTimestamp();
    if (it->first == sensor_id) {
      it->second->SetInvisiblePeriod(period);
    } else if (it->second->GetInvisiblePeriod() > 0.0) {
      it->second->SetInvisiblePeriod(period);
    }
 
    if (period > max_invisible_period) {
      it->second = nullptr;
      it = objects->erase(it);
    } else {
      ++it;
    }
  }
}

UpdateSupplementState()

void apollo::perception::fusion::Track::UpdateSupplementState ( const SensorObjectPtr &  src_object = nullptr )

protected

Update supplement state

参数

src_object

在文件 track.cc 第 212 行定义.

                                                                   {
  std::shared_ptr<base::Object> dst_obj = fused_object_->GetBaseObject();
  if (src_object != nullptr) {
    std::shared_ptr<const base::Object> src_obj = src_object->GetBaseObject();
    if (IsLidar(src_object)) {
      dst_obj->lidar_supplement = src_obj->lidar_supplement;
    } else if (IsRadar(src_object)) {
      dst_obj->radar_supplement = src_obj->radar_supplement;
    } else if (IsCamera(src_object)) {
      dst_obj->camera_supplement = src_obj->camera_supplement;
    }
  }
 
  if (lidar_objects_.empty()) {
    dst_obj->lidar_supplement.Reset();
  }
  if (radar_objects_.empty()) {
    dst_obj->radar_supplement.Reset();
  }
  if (camera_objects_.empty()) {
    dst_obj->camera_supplement.Reset();
  }
}

UpdateUnfusedState()

void apollo::perception::fusion::Track::UpdateUnfusedState ( const SensorObjectPtr &  src_object )

protected

update no fusion state

参数

src_object

在文件 track.cc 第 236 行定义.

                                                                {
  std::shared_ptr<base::Object> dst_obj = fused_object_->GetBaseObject();
  std::shared_ptr<const base::Object> src_obj = src_object->GetBaseObject();
  if (IsLidar(src_object)) {
    dst_obj->confidence = src_obj->confidence;
    dst_obj->velocity_converged = src_obj->velocity_converged;
  } else if (IsRadar(src_object)) {
    // update nothing temporarily
  } else if (IsCamera(src_object)) {
    dst_obj->confidence = src_obj->confidence;
  }
}

UpdateWithoutSensorObject()

void apollo::perception::fusion::Track::UpdateWithoutSensorObject	(	const std::string &	sensor_id,
		double	measurement_timestamp
	)

Update without SensorObject

参数

sensor_id
measurement_timestamp

在文件 track.cc 第 155 行定义.

                                                                    {
  UpdateSensorObjectWithoutMeasurement(&lidar_objects_, sensor_id,
                                       measurement_timestamp,
                                       s_max_lidar_invisible_period_);
  UpdateSensorObjectWithoutMeasurement(&radar_objects_, sensor_id,
                                       measurement_timestamp,
                                       s_max_radar_invisible_period_);
  UpdateSensorObjectWithoutMeasurement(&camera_objects_, sensor_id,
                                       measurement_timestamp,
                                       s_max_camera_invisible_period_);
 
  UpdateSupplementState();
  is_alive_ = (!lidar_objects_.empty()) || (!radar_objects_.empty()) ||
              (!camera_objects_.empty());
}

UpdateWithoutSensorObjectForBackground()

void apollo::perception::fusion::Track::UpdateWithoutSensorObjectForBackground ( const std::string &  sensor_id, double  measurement_timestamp  )

protected

参数

sensor_id
measurement_timestamp

在文件 track.cc 第 291 行定义.

                                                              {}

UpdateWithSensorObject()

void apollo::perception::fusion::Track::UpdateWithSensorObject

(

const SensorObjectPtr &

obj

)

Update by SensorObject

参数

obj

在文件 track.cc 第 119 行定义.

                                                             {
  std::string sensor_id = obj->GetSensorId();
  SensorId2ObjectMap* objects = nullptr;
  if (IsLidar(obj)) {
    objects = &lidar_objects_;
  } else if (IsRadar(obj)) {
    objects = &radar_objects_;
  } else if (IsCamera(obj)) {
    objects = &camera_objects_;
  } else {
    return;
  }
  UpdateSensorObject(objects, obj);
  double time_diff = obj->GetTimestamp() - fused_object_->GetTimestamp();
  tracking_period_ += time_diff;
 
  UpdateSensorObjectWithMeasurement(&lidar_objects_, sensor_id,
                                    obj->GetTimestamp(),
                                    s_max_lidar_invisible_period_);
  UpdateSensorObjectWithMeasurement(&radar_objects_, sensor_id,
                                    obj->GetTimestamp(),
                                    s_max_radar_invisible_period_);
  UpdateSensorObjectWithMeasurement(&camera_objects_, sensor_id,
                                    obj->GetTimestamp(),
                                    s_max_camera_invisible_period_);
 
  if (is_background_) {
    return UpdateWithSensorObjectForBackground(obj);
  }
 
  fused_object_->GetBaseObject()->latest_tracked_time = obj->GetTimestamp();
  UpdateSupplementState(obj);
  UpdateUnfusedState(obj);
  is_alive_ = true;
}

UpdateWithSensorObjectForBackground()

void apollo::perception::fusion::Track::UpdateWithSensorObjectForBackground ( const SensorObjectPtr &  obj )

protected

参数

obj

在文件 track.cc 第 281 行定义.

                                                                          {
  std::shared_ptr<base::Object> fused_base_object =
      fused_object_->GetBaseObject();
  std::shared_ptr<const base::Object> measurement_base_object =
      obj->GetBaseObject();
  int track_id = fused_base_object->track_id;
  *fused_base_object = *measurement_base_object;
  fused_base_object->track_id = track_id;
}

类成员变量说明

camera_objects_

SensorId2ObjectMap apollo::perception::fusion::Track::camera_objects_

protected

在文件 track.h 第 374 行定义.

existence_prob_

double apollo::perception::fusion::Track::existence_prob_ = 0.0

protected

在文件 track.h 第 378 行定义.

fused_object_

FusedObjectPtr apollo::perception::fusion::Track::fused_object_ = nullptr

protected

在文件 track.h 第 376 行定义.

is_alive_

bool apollo::perception::fusion::Track::is_alive_ = true

protected

在文件 track.h 第 382 行定义.

is_background_

bool apollo::perception::fusion::Track::is_background_ = false

protected

在文件 track.h 第 381 行定义.

lidar_objects_

SensorId2ObjectMap apollo::perception::fusion::Track::lidar_objects_

protected

在文件 track.h 第 372 行定义.

radar_objects_

SensorId2ObjectMap apollo::perception::fusion::Track::radar_objects_

protected

在文件 track.h 第 373 行定义.

toic_prob_

double apollo::perception::fusion::Track::toic_prob_ = 0.0

protected

在文件 track.h 第 379 行定义.

tracked_times_

size_t apollo::perception::fusion::Track::tracked_times_ = 0

protected

在文件 track.h 第 384 行定义.

tracking_period_

double apollo::perception::fusion::Track::tracking_period_ = 0.0

protected

在文件 track.h 第 377 行定义.

---

该类的文档由以下文件生成:

• modules/perception/multi_sensor_fusion/base/track.h
• modules/perception/multi_sensor_fusion/base/track.cc