apollo::perception::lidar::GnnBipartiteGraphMatcher类 参考

#include <gnn_bipartite_graph_matcher.h>

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

apollo::perception::lidar::GnnBipartiteGraphMatcher 的协作图:

Public 成员函数
	GnnBipartiteGraphMatcher (size_t max_size=1000)
	~GnnBipartiteGraphMatcher ()
void	Match (const BipartiteGraphMatcherOptions &options, std::vector< NodeNodePair > *assignments, std::vector< size_t > *unassigned_rows, std::vector< size_t > *unassigned_cols)
	Match interface
std::string	Name () const
	Get class name
Public 成员函数 继承自 apollo::perception::lidar::BaseBipartiteGraphMatcher
	BaseBipartiteGraphMatcher ()=default
virtual	~BaseBipartiteGraphMatcher ()=default
virtual algorithm::SecureMat< float > *	cost_matrix ()
	Get cost matrix

Protected 属性
std::vector< int >	row_tag_
std::vector< int >	col_tag_
std::vector< int >	ignore_track_
Protected 属性 继承自 apollo::perception::lidar::BaseBipartiteGraphMatcher
algorithm::SecureMat< float > *	cost_matrix_ = nullptr
float	max_match_distance_ = 0.0f

额外继承的成员函数
Public 类型 继承自 apollo::perception::lidar::BaseBipartiteGraphMatcher
typedef std::pair< size_t, size_t >	NodeNodePair

详细描述

在文件 gnn_bipartite_graph_matcher.h 第 59 行定义.

构造及析构函数说明

GnnBipartiteGraphMatcher()

apollo::perception::lidar::GnnBipartiteGraphMatcher::GnnBipartiteGraphMatcher ( size_t  max_size = 1000 )

explicit

在文件 gnn_bipartite_graph_matcher.cc 第 47 行定义.

                                                                  {
  row_tag_.reserve(max_size);
  col_tag_.reserve(max_size);
  cost_matrix_ = new algorithm::SecureMat<float>();
}

~GnnBipartiteGraphMatcher()

apollo::perception::lidar::GnnBipartiteGraphMatcher::~GnnBipartiteGraphMatcher

(

)

在文件 gnn_bipartite_graph_matcher.cc 第 53 行定义.

                                                    {
  if (cost_matrix_ != nullptr) {
    delete cost_matrix_;
  }
}

成员函数说明

Match()

void apollo::perception::lidar::GnnBipartiteGraphMatcher::Match ( const BipartiteGraphMatcherOptions &  options, std::vector< NodeNodePair > *  assignments, std::vector< size_t > *  unassigned_rows, std::vector< size_t > *  unassigned_cols  )

virtual

Match interface

参数

options	match params
assignments	matched pair of objects & tracks
unassigned_rows	unmatched rows
unassigned_cols	unmatched cols

实现了 apollo::perception::lidar::BaseBipartiteGraphMatcher.

在文件 gnn_bipartite_graph_matcher.cc 第 59 行定义.

                                        {
  assignments->clear();
  unassigned_rows->clear();
  unassigned_cols->clear();
  row_tag_.clear();
  col_tag_.clear();
  ignore_track_.clear();
  algorithm::SecureMat<float>* cost_matrix = cost_matrix_;
  float max_dist = options.cost_thresh;
  int num_rows = static_cast<int>(cost_matrix->height());
  int num_cols = static_cast<int>(cost_matrix->width());
  row_tag_.assign(num_rows, 0);
  col_tag_.assign(num_cols, 0);
  ignore_track_.assign(num_rows, 0);
 
  std::vector<MatchCost> match_costs;
  for (int r = 0; r < num_rows; r++) {
    for (int c = 0; c < num_cols; c++) {
      if ((*cost_matrix)(r, c) < max_dist) {
        MatchCost item(r, c, (*cost_matrix)(r, c));
        match_costs.push_back(item);
      }
    }
  }
 
  // sort costs in ascending order
  std::sort(match_costs.begin(), match_costs.end());
 
  // gnn
  for (size_t i = 0; i < match_costs.size(); ++i) {
    size_t rid = match_costs[i].RowIdx();
    size_t cid = match_costs[i].ColIdx();
    // if (row_tag_[rid] == 0 && col_tag_[cid] == 0) {
    //   row_tag_[rid] = 1;
    //   col_tag_[cid] = 1;
    //   assignments->push_back(std::make_pair(rid, cid));
    // }
    if (row_tag_[rid] == 0 && col_tag_[cid] == 0 && ignore_track_[rid] <= 1) {
      row_tag_[rid] = 1;
      col_tag_[cid] = 1;
      assignments->push_back(std::make_pair(rid, cid));
    } else if (row_tag_[rid] == 0 && col_tag_[cid] != 0) {
      ignore_track_[rid]++;
    }
  }
 
  for (int i = 0; i < num_rows; i++) {
    if (row_tag_[i] == 0) {
      unassigned_rows->push_back(i);
    }
  }
 
  for (int i = 0; i < num_cols; i++) {
    if (col_tag_[i] == 0) {
      unassigned_cols->push_back(i);
    }
  }
}

Name()

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

inlinevirtual

Get class name

返回

std::string

实现了 apollo::perception::lidar::BaseBipartiteGraphMatcher.

在文件 gnn_bipartite_graph_matcher.h 第 81 行定义.

{ return "GnnBipartiteGraphMatcher"; }

类成员变量说明

col_tag_

std::vector<int> apollo::perception::lidar::GnnBipartiteGraphMatcher::col_tag_

protected

在文件 gnn_bipartite_graph_matcher.h 第 85 行定义.

ignore_track_

std::vector<int> apollo::perception::lidar::GnnBipartiteGraphMatcher::ignore_track_

protected

在文件 gnn_bipartite_graph_matcher.h 第 86 行定义.

row_tag_

std::vector<int> apollo::perception::lidar::GnnBipartiteGraphMatcher::row_tag_

protected

在文件 gnn_bipartite_graph_matcher.h 第 84 行定义.

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该类的文档由以下文件生成:

• modules/perception/lidar_tracking/tracker/association/gnn_bipartite_graph_matcher.h
• modules/perception/lidar_tracking/tracker/association/gnn_bipartite_graph_matcher.cc