apollo::perception::lidar::MlfTrackObjectDistance类 参考

#include <mlf_track_object_distance.h>

apollo::perception::lidar::MlfTrackObjectDistance 的协作图:

Public 成员函数
	MlfTrackObjectDistance ()=default
	~MlfTrackObjectDistance ()=default
bool	Init (const MlfTrackObjectDistanceInitOptions &options=MlfTrackObjectDistanceInitOptions())
	Init mlf track object distance
float	ComputeDistance (const TrackedObjectConstPtr &object, const MlfTrackDataConstPtr &track) const
	Compute object track distance
std::string	Name () const
	Get class name

Protected 属性
std::map< std::string, std::vector< float > >	foreground_weight_table_
std::map< std::string, std::vector< float > >	background_weight_table_
double	background_object_match_threshold_ = 4.0
float	euclidean_distance_threshold_ = 2.0
float	out_gate_match_cost_ = 10.0

静态 Protected 属性
static const std::vector< float >	kForegroundDefaultWeight
static const std::vector< float >	kBackgroundDefaultWeight

详细描述

在文件 mlf_track_object_distance.h 第 35 行定义.

构造及析构函数说明

MlfTrackObjectDistance()

apollo::perception::lidar::MlfTrackObjectDistance::MlfTrackObjectDistance ( )

default

~MlfTrackObjectDistance()

apollo::perception::lidar::MlfTrackObjectDistance::~MlfTrackObjectDistance ( )

default

成员函数说明

ComputeDistance()

float apollo::perception::lidar::MlfTrackObjectDistance::ComputeDistance	(	const TrackedObjectConstPtr &	object,
		const MlfTrackDataConstPtr &	track
	)		const

Compute object track distance

参数

object
track	track data

返回

float distance

在文件 mlf_track_object_distance.cc 第 83 行定义.

                                             {
  bool is_background = object->is_background;
  const TrackedObjectConstPtr latest_object = track->GetLatestObject().second;
  std::string key = latest_object->sensor_info.name + object->sensor_info.name;
  const std::vector<float>* weights = nullptr;
  if (is_background) {
    auto iter = background_weight_table_.find(key);
    if (iter == background_weight_table_.end()) {
      weights = &kBackgroundDefaultWeight;
    } else {
      weights = &iter->second;
    }
  } else {
    auto iter = foreground_weight_table_.find(key);
    if (iter == foreground_weight_table_.end()) {
      weights = &kForegroundDefaultWeight;
    } else {
      weights = &iter->second;
    }
  }
  if (weights == nullptr || weights->size() < 7) {
    AERROR << "Invalid weights";
    return 1e+10f;
  }
  float distance = 0.f;
  float delta = 1e-10f;
 
  double current_time = object->object_ptr->latest_tracked_time;
  track->PredictState(current_time);
 
  double time_diff =
      track->age_ ? current_time - track->latest_visible_time_ : 0;
 
  // gate
  float euclidean_distance =
    EuclideanDistance(latest_object, track->predict_.state, object, time_diff);
  if (euclidean_distance > euclidean_distance_threshold_) {
    return out_gate_match_cost_;
  }
 
  if (weights->at(0) > delta) {
    distance +=
        weights->at(0) * LocationDistance(latest_object, track->predict_.state,
                                          object, time_diff);
  }
  if (weights->at(1) > delta) {
    distance +=
        weights->at(1) * DirectionDistance(latest_object, track->predict_.state,
                                           object, time_diff);
  }
  if (weights->at(2) > delta) {
    distance +=
        weights->at(2) * BboxSizeDistance(latest_object, track->predict_.state,
                                          object, time_diff);
  }
  if (weights->at(3) > delta) {
    distance +=
        weights->at(3) * PointNumDistance(latest_object, track->predict_.state,
                                          object, time_diff);
  }
  if (weights->at(4) > delta) {
    distance +=
        weights->at(4) * HistogramDistance(latest_object, track->predict_.state,
                                           object, time_diff);
  }
  if (weights->at(5) > delta) {
    distance += weights->at(5) * CentroidShiftDistance(latest_object,
                                                       track->predict_.state,
                                                       object, time_diff);
  }
  if (weights->at(6) > delta) {
    distance += weights->at(6) *
                BboxIouDistance(latest_object, track->predict_.state, object,
                                time_diff, background_object_match_threshold_);
  }
 
  return distance;
}

Init()

bool apollo::perception::lidar::MlfTrackObjectDistance::Init

(

const MlfTrackObjectDistanceInitOptions &

options = MlfTrackObjectDistanceInitOptions()

)

Init mlf track object distance

参数

options

返回

true

false

在文件 mlf_track_object_distance.cc 第 38 行定义.

                                                      {
  std::string config_file = "mlf_track_object_distance.conf";
  if (!options.config_file.empty()) {
    config_file = options.config_file;
  }
  config_file = GetConfigFile(options.config_path, config_file);
  MlfDistanceConfig config;
  ACHECK(cyber::common::GetProtoFromFile(config_file, &config));
 
  foreground_weight_table_.clear();
  background_weight_table_.clear();
  euclidean_distance_threshold_ = config.euclidean_distance_threshold();
  out_gate_match_cost_ = config.out_gate_match_cost();
  for (int i = 0; i < config.foreground_weights_size(); ++i) {
    const auto& fgws = config.foreground_weights(i);
    const std::string& name = fgws.sensor_name_pair();
    std::vector<float> weights(7, 0.f);
    weights[0] = fgws.location_dist_weight();
    weights[1] = fgws.direction_dist_weight();
    weights[2] = fgws.bbox_size_dist_weight();
    weights[3] = fgws.point_num_dist_weight();
    weights[4] = fgws.histogram_dist_weight();
    weights[5] = fgws.centroid_shift_dist_weight();
    weights[6] = fgws.bbox_iou_dist_weight();
    weights[7] = fgws.semantic_map_dist_weight();
    foreground_weight_table_.emplace(name, weights);
  }
  for (int i = 0; i < config.background_weights_size(); ++i) {
    const auto& bgws = config.background_weights(i);
    const std::string& name = bgws.sensor_name_pair();
    std::vector<float> weights(7, 0.f);
    weights[0] = bgws.location_dist_weight();
    weights[1] = bgws.direction_dist_weight();
    weights[2] = bgws.bbox_size_dist_weight();
    weights[3] = bgws.point_num_dist_weight();
    weights[4] = bgws.histogram_dist_weight();
    weights[5] = bgws.centroid_shift_dist_weight();
    weights[6] = bgws.bbox_iou_dist_weight();
    background_weight_table_.emplace(name, weights);
  }
 
  return true;
}

Name()

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

inline

Get class name

返回

std::string

在文件 mlf_track_object_distance.h 第 65 行定义.

{ return "MlfTrackObjectDistance"; }

类成员变量说明

background_object_match_threshold_

double apollo::perception::lidar::MlfTrackObjectDistance::background_object_match_threshold_ = 4.0

protected

在文件 mlf_track_object_distance.h 第 74 行定义.

background_weight_table_

std::map<std::string, std::vector<float> > apollo::perception::lidar::MlfTrackObjectDistance::background_weight_table_

protected

在文件 mlf_track_object_distance.h 第 69 行定义.

euclidean_distance_threshold_

float apollo::perception::lidar::MlfTrackObjectDistance::euclidean_distance_threshold_ = 2.0

protected

在文件 mlf_track_object_distance.h 第 75 行定义.

foreground_weight_table_

std::map<std::string, std::vector<float> > apollo::perception::lidar::MlfTrackObjectDistance::foreground_weight_table_

protected

在文件 mlf_track_object_distance.h 第 68 行定义.

kBackgroundDefaultWeight

const std::vector< float > apollo::perception::lidar::MlfTrackObjectDistance::kBackgroundDefaultWeight

staticprotected

初始值:

= {
    0.f, 0.f, 0.f, 0.4f, 0.f, 0.6f, 0.0f}

在文件 mlf_track_object_distance.h 第 72 行定义.

kForegroundDefaultWeight

const std::vector< float > apollo::perception::lidar::MlfTrackObjectDistance::kForegroundDefaultWeight

staticprotected

初始值:

= {
    0.7f, 0.2f, 0.3f, 0.1f, 0.2f, 0.f, 0.f}

在文件 mlf_track_object_distance.h 第 71 行定义.

out_gate_match_cost_

float apollo::perception::lidar::MlfTrackObjectDistance::out_gate_match_cost_ = 10.0

protected

在文件 mlf_track_object_distance.h 第 76 行定义.

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该类的文档由以下文件生成:

• modules/perception/lidar_tracking/tracker/multi_lidar_fusion/mlf_track_object_distance.h
• modules/perception/lidar_tracking/tracker/multi_lidar_fusion/mlf_track_object_distance.cc