apollo::perception::lidar::CCRFMultiShotTypeFusion类 参考

#include <ccrf_type_fusion.h>

类 apollo::perception::lidar::CCRFMultiShotTypeFusion 继承关系图:

apollo::perception::lidar::CCRFMultiShotTypeFusion 的协作图:

Public 成员函数
EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool	Init (const TypeFilterInitOption &option) override
bool	TypeFusion (const TypeFilterOption &option, const std::vector< TrackedObjectConstPtr > &tracked_objects, TrackedObjectPtr new_object) override
std::string	Name () const override

Protected 成员函数
bool	FuseWithConditionalProbabilityInference (const std::vector< TrackedObjectConstPtr > &tracked_objects, TrackedObjectPtr new_object)
bool	RecoverFromLogProbability (Vectord *prob, std::vector< float > *dst, perception::base::ObjectType *type)

Protected 属性
CCRFSingleShotTypeFusion	one_shot_fuser_
Matrixd	transition_matrix_
apollo::common::EigenVector< Vectord >	fused_oneshot_probs_
apollo::common::EigenVector< Vectord >	fused_sequence_probs_
apollo::common::EigenVector< Vectori >	state_back_trace_
double	s_alpha_ = 1.8
bool	debug_log_ = false

额外继承的成员函数
Public 类型 继承自 apollo::perception::lidar::BaseMultiShotTypeFusion
typedef ObjectSequence::TrackedObjects	TrackedObjects

详细描述

在文件 ccrf_type_fusion.h 第 57 行定义.

成员函数说明

FuseWithConditionalProbabilityInference()

bool apollo::perception::lidar::CCRFMultiShotTypeFusion::FuseWithConditionalProbabilityInference ( const std::vector< TrackedObjectConstPtr > &  tracked_objects, TrackedObjectPtr  new_object  )

protected

在文件 ccrf_type_fusion.cc 第 174 行定义.

                                     {
    fused_oneshot_probs_.resize(tracked_objects.size() + 1);
    std::size_t i = 0;
    for (const auto& obj : tracked_objects) {
        // ObjectPtr& object = pair.second;
        if (!one_shot_fuser_.FuseOneShotTypeProbs(obj,
            &fused_oneshot_probs_[i++])) {
            AERROR << "Failed to fuse one short probs in sequence.";
            return false;
        }
    }
    if (!one_shot_fuser_.FuseOneShotTypeProbs(new_object,
        &fused_oneshot_probs_[i++])) {
        AERROR << "Failed to fuse one short probs for new object.";
        return false;
    }
    // Use viterbi algorithm to infer the state
    std::size_t length = fused_oneshot_probs_.size();
    fused_sequence_probs_.resize(length);
    state_back_trace_.resize(length);
 
    fused_sequence_probs_[0] = fused_oneshot_probs_[0];
    // Add priori knowledge to suppress the sudden-appeared object types.
    // fused_sequence_probs_[0] += transition_matrix_.row(0).transpose();
 
    for (std::size_t i = 1; i < length; ++i) {
        for (std::size_t right = 0; right < VALID_OBJECT_TYPE; ++right) {
            double prob = 0.0;
            double max_prob = -std::numeric_limits<double>::max();
            std::size_t id = 0;
            for (std::size_t left = 0; left < VALID_OBJECT_TYPE; ++left) {
                prob = fused_sequence_probs_[i - 1](left)
                       + transition_matrix_(left, right) * s_alpha_
                       + fused_oneshot_probs_[i](right);
                if (prob > max_prob) {
                    max_prob = prob;
                    id = left;
                }
            }
            fused_sequence_probs_[i](right) = max_prob;
            state_back_trace_[i](right) = static_cast<int>(id);
        }
        type_util::ToExp(&fused_sequence_probs_[i]);
        type_util::Normalize(&fused_sequence_probs_[i]);
        type_util::ToLog(&fused_sequence_probs_[i]);
    }
    // ObjectPtr object = tracked_objects->rbegin()->second;
    RecoverFromLogProbability(&fused_sequence_probs_.back(),
        &new_object->type_probs, &new_object->type);
    if (debug_log_) {
        std::stringstream sstr;
        sstr << " total_size: " << fused_oneshot_probs_.size();
        for (size_t i = 0; i < fused_oneshot_probs_.size(); i++) {
            Vectord tmp = fused_oneshot_probs_[i];
            type_util::ToExpStable(&tmp);
            type_util::Normalize(&tmp);
            sstr << " After-Smooth[" << std::to_string(i) << "]: ";
            for (size_t j = 0; j < 4; j++) {
                sstr << tmp(j) << ", ";
            }
        }
        ADEBUG << sstr.str();
    }
    return true;
}

Init()

bool apollo::perception::lidar::CCRFMultiShotTypeFusion::Init ( const TypeFilterInitOption &  option )

overridevirtual

实现了 apollo::perception::lidar::BaseMultiShotTypeFusion.

在文件 ccrf_type_fusion.cc 第 131 行定义.

                                                                      {
    TypeFilterInitOption one_shot_fuser_options;
    one_shot_fuser_options.config_path = options.config_path;
    ACHECK(one_shot_fuser_.Init(one_shot_fuser_options));
 
    std::string config_file = "ccrf_type_fusion.conf";
    if (!options.config_file.empty()) {
        config_file = options.config_file;
    }
    config_file = GetConfigFile(options.config_path, config_file);
    CCRFTypeFusionConfig config;
    ACHECK(cyber::common::GetProtoFromFile(config_file, &config));
 
    std::string transition_property_file_path
            = GetConfigFile(options.config_path,
                config.transition_property_file_path());
    s_alpha_ = config.transition_matrix_alpha();
    debug_log_ = options.debug_log;
    ACHECK(type_util::LoadSingleMatrixFile(transition_property_file_path,
        &transition_matrix_));
    transition_matrix_ += Matrixd::Ones() * 1e-6;
    for (std::size_t i = 0; i < VALID_OBJECT_TYPE; ++i) {
        type_util::NormalizeRow(&transition_matrix_);
    }
    AINFO << "TypeTransitionMatrix: " << std::endl << transition_matrix_;
 
    for (std::size_t i = 0; i < VALID_OBJECT_TYPE; ++i) {
        for (std::size_t j = 0; j < VALID_OBJECT_TYPE; ++j) {
            transition_matrix_(i, j) = log(transition_matrix_(i, j));
        }
    }
    AINFO << "TypeTransitionMatrix(Log): " << std::endl << transition_matrix_;
    return true;
}

Name()

std::string apollo::perception::lidar::CCRFMultiShotTypeFusion::Name ( ) const

inlineoverridevirtual

实现了 apollo::perception::lidar::BaseMultiShotTypeFusion.

在文件 ccrf_type_fusion.h 第 68 行定义.

                                    {
        return "CCRFMultiShotTypeFusion";
    }

RecoverFromLogProbability()

bool apollo::perception::lidar::CCRFMultiShotTypeFusion::RecoverFromLogProbability ( Vectord *  prob, std::vector< float > *  dst, perception::base::ObjectType *  type  )

protected

在文件 ccrf_type_fusion.cc 第 242 行定义.

                                             {
    type_util::ToExpStable(prob);
    type_util::Normalize(prob);
    type_util::FromEigenToVector(*prob, dst);
    *type = static_cast<ObjectType>(std::distance(dst->begin(),
        std::max_element(dst->begin(), dst->end())));
    return true;
}

TypeFusion()

bool apollo::perception::lidar::CCRFMultiShotTypeFusion::TypeFusion ( const TypeFilterOption &  option, const std::vector< TrackedObjectConstPtr > &  tracked_objects, TrackedObjectPtr  new_object  )

overridevirtual

实现了 apollo::perception::lidar::BaseMultiShotTypeFusion.

在文件 ccrf_type_fusion.cc 第 166 行定义.

                                     {
    return FuseWithConditionalProbabilityInference(tracked_objects,
        new_object);
}

类成员变量说明

debug_log_

bool apollo::perception::lidar::CCRFMultiShotTypeFusion::debug_log_ = false

protected

在文件 ccrf_type_fusion.h 第 104 行定义.

fused_oneshot_probs_

apollo::common::EigenVector<Vectord> apollo::perception::lidar::CCRFMultiShotTypeFusion::fused_oneshot_probs_

protected

在文件 ccrf_type_fusion.h 第 98 行定义.

fused_sequence_probs_

apollo::common::EigenVector<Vectord> apollo::perception::lidar::CCRFMultiShotTypeFusion::fused_sequence_probs_

protected

在文件 ccrf_type_fusion.h 第 99 行定义.

one_shot_fuser_

CCRFSingleShotTypeFusion apollo::perception::lidar::CCRFMultiShotTypeFusion::one_shot_fuser_

protected

在文件 ccrf_type_fusion.h 第 93 行定义.

s_alpha_

double apollo::perception::lidar::CCRFMultiShotTypeFusion::s_alpha_ = 1.8

protected

在文件 ccrf_type_fusion.h 第 103 行定义.

state_back_trace_

apollo::common::EigenVector<Vectori> apollo::perception::lidar::CCRFMultiShotTypeFusion::state_back_trace_

protected

在文件 ccrf_type_fusion.h 第 100 行定义.

transition_matrix_

Matrixd apollo::perception::lidar::CCRFMultiShotTypeFusion::transition_matrix_

protected

在文件 ccrf_type_fusion.h 第 95 行定义.

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该类的文档由以下文件生成:

• modules/perception/lidar_tracking/tracker/type_fusion/ccrf_type_fusion.h
• modules/perception/lidar_tracking/tracker/type_fusion/ccrf_type_fusion.cc