apollo::perception::lidar::CCRFSingleShotTypeFusion类 参考

#include <ccrf_type_fusion.h>

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

apollo::perception::lidar::CCRFSingleShotTypeFusion 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, TrackedObjectPtr new_object) override
std::string	Name () const override
bool	FuseOneShotTypeProbs (const TrackedObjectConstPtr &new_object, Vectord *log_prob)

Protected 属性
apollo::common::EigenMap< std::string, Matrixd >	smooth_matrices_
Matrixd	confidence_smooth_matrix_
bool	debug_log_ = false

详细描述

在文件 ccrf_type_fusion.h 第 35 行定义.

成员函数说明

FuseOneShotTypeProbs()

bool apollo::perception::lidar::CCRFSingleShotTypeFusion::FuseOneShotTypeProbs	(	const TrackedObjectConstPtr &	new_object,
		Vectord *	log_prob
	)

在文件 ccrf_type_fusion.cc 第 85 行定义.

                                                                {
    const auto& object = new_object->object_ptr;
    if (log_prob == nullptr) {
        return false;
    }
    const auto& vecs = object->lidar_supplement.raw_probs;
    const auto& names = object->lidar_supplement.raw_classification_methods;
    if (vecs.empty()) {
        return false;
    }
 
    log_prob->setZero();
 
    Vectord single_prob;
    static const Vectord epsilon = Vectord::Ones() * 1e-6;
    float conf = object->confidence;
    for (size_t i = 0; i < vecs.size(); ++i) {
        auto& vec = vecs[i];
        // avoid parsing-wrong-type-probs
        size_t type_count = static_cast<size_t>(ObjectType::MAX_OBJECT_TYPE);
        if (vec.size() != type_count) {
            AERROR << "[TypeFilter] Encounter Unknown type_probs";
            continue;
        }
        type_util::FromStdToVector(vec, &single_prob);
        auto iter = smooth_matrices_.find(names[i]);
        if (iter == smooth_matrices_.end()) {
            single_prob = single_prob + epsilon;
        } else {
            single_prob = iter->second * single_prob + epsilon;
        }
        type_util::Normalize(&single_prob);
        // p(c|x) = p(c|x,o)p(o|x)+ p(c|x,~o)p(~o|x)
        Vectord tmp = confidence_smooth_matrix_ * single_prob;
        type_util::Normalize(&tmp);
        single_prob = conf * single_prob + (1.0 - conf) * tmp;
 
        type_util::Normalize(&single_prob);
        type_util::ToLog(&single_prob);
        *log_prob += single_prob;
    }
 
    return true;
}

Init()

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

overridevirtual

实现了 apollo::perception::lidar::BaseSingleShotTypeFusion.

在文件 ccrf_type_fusion.cc 第 36 行定义.

                                                                       {
    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 classifiers_property_file_path
            = GetConfigFile(options.config_path,
                config.classifiers_property_file_path());
    debug_log_ = options.debug_log;
    ACHECK(type_util::LoadMultipleMatricesFile(classifiers_property_file_path,
        &smooth_matrices_));
 
    for (auto& pair : smooth_matrices_) {
        type_util::NormalizeRow(&pair.second);
        pair.second.transposeInPlace();
        AINFO << "Source: " << pair.first << std::endl << pair.second;
    }
 
    confidence_smooth_matrix_ = Matrixd::Identity();
    auto iter = smooth_matrices_.find("Confidence");
    if (iter != smooth_matrices_.end()) {
        confidence_smooth_matrix_ = iter->second;
        smooth_matrices_.erase(iter);
    }
    AINFO << "ConfSmoothMatrix: " << std::endl << confidence_smooth_matrix_;
 
    return true;
}

Name()

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

inlineoverridevirtual

实现了 apollo::perception::lidar::BaseSingleShotTypeFusion.

在文件 ccrf_type_fusion.h 第 44 行定义.

                                    {
        return "CCRFSingleShotTypeFusion";
    }

TypeFusion()

bool apollo::perception::lidar::CCRFSingleShotTypeFusion::TypeFusion ( const TypeFilterOption &  option, TrackedObjectPtr  new_object  )

overridevirtual

实现了 apollo::perception::lidar::BaseSingleShotTypeFusion.

在文件 ccrf_type_fusion.cc 第 69 行定义.

                                 {
    Vectord log_prob;
    if (!FuseOneShotTypeProbs(new_object, &log_prob)) {
        return false;
    }
    type_util::ToExp(&log_prob);
    type_util::Normalize(&log_prob);
    type_util::FromEigenToVector(log_prob, &(new_object->type_probs));
    new_object->type = static_cast<ObjectType>(std::distance(
        new_object->type_probs.begin(),
        std::max_element(new_object->type_probs.begin(),
                new_object->type_probs.end())));
    return true;
}

类成员变量说明

confidence_smooth_matrix_

Matrixd apollo::perception::lidar::CCRFSingleShotTypeFusion::confidence_smooth_matrix_

protected

在文件 ccrf_type_fusion.h 第 53 行定义.

debug_log_

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

protected

在文件 ccrf_type_fusion.h 第 54 行定义.

smooth_matrices_

apollo::common::EigenMap<std::string, Matrixd> apollo::perception::lidar::CCRFSingleShotTypeFusion::smooth_matrices_

protected

在文件 ccrf_type_fusion.h 第 52 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