apollo::perception::lidar::MlfTrackObjectMatcher类 参考

#include <mlf_track_object_matcher.h>

apollo::perception::lidar::MlfTrackObjectMatcher 的协作图:

Public 成员函数
	MlfTrackObjectMatcher ()=default
	~MlfTrackObjectMatcher ()=default
bool	Init (const MlfTrackObjectMatcherInitOptions &options=MlfTrackObjectMatcherInitOptions())
	Initalize mlf track object matcher
void	Match (const MlfTrackObjectMatcherOptions &options, const std::vector< TrackedObjectPtr > &objects, const std::vector< MlfTrackDataPtr > &tracks, std::vector< std::pair< size_t, size_t > > *assignments, std::vector< size_t > *unassigned_tracks, std::vector< size_t > *unassigned_objects)
	Match detected objects to tracks
std::string	Name () const
	Get class name

Protected 成员函数
void	ComputeAssociateMatrix (const std::vector< MlfTrackDataPtr > &tracks, const std::vector< TrackedObjectPtr > &new_objects, algorithm::SecureMat< float > *association_mat)
	Compute association matrix

Protected 属性
std::unique_ptr< MlfTrackObjectDistance >	track_object_distance_
BaseBipartiteGraphMatcher *	foreground_matcher_
BaseBipartiteGraphMatcher *	background_matcher_
float	bound_value_ = 100.f
float	max_match_distance_ = 4.0f
bool	use_semantic_map = false

详细描述

在文件 mlf_track_object_matcher.h 第 39 行定义.

构造及析构函数说明

MlfTrackObjectMatcher()

apollo::perception::lidar::MlfTrackObjectMatcher::MlfTrackObjectMatcher ( )

default

~MlfTrackObjectMatcher()

apollo::perception::lidar::MlfTrackObjectMatcher::~MlfTrackObjectMatcher ( )

default

成员函数说明

ComputeAssociateMatrix()

void apollo::perception::lidar::MlfTrackObjectMatcher::ComputeAssociateMatrix ( const std::vector< MlfTrackDataPtr > &  tracks, const std::vector< TrackedObjectPtr > &  new_objects, algorithm::SecureMat< float > *  association_mat  )

protected

Compute association matrix

参数

tracks	maintained tracks for matching
new_objects	new detected objects for matching
association_mat	matrix of association distance

在文件 mlf_track_object_matcher.cc 第 98 行定义.

                                                {
  for (size_t i = 0; i < tracks.size(); ++i) {
    for (size_t j = 0; j < new_objects.size(); ++j) {
      (*association_mat)(i, j) =
          track_object_distance_->ComputeDistance(new_objects[j], tracks[i]);
    }
  }
}

Init()

bool apollo::perception::lidar::MlfTrackObjectMatcher::Init

(

const MlfTrackObjectMatcherInitOptions &

options = MlfTrackObjectMatcherInitOptions()

)

Initalize mlf track object matcher

参数

options

返回

true

false

在文件 mlf_track_object_matcher.cc 第 28 行定义.

                                                     {
  std::string config_file = "mlf_track_object_matcher.conf";
  if (!options.config_file.empty()) {
    config_file = options.config_file;
  }
  config_file = GetConfigFile(options.config_path, config_file);
  MlfTrackObjectMatcherConfig config;
  ACHECK(cyber::common::GetProtoFromFile(config_file, &config));
 
  foreground_matcher_ = BaseBipartiteGraphMatcherRegisterer::GetInstanceByName(
      config.foreground_mathcer_method());
  ACHECK(foreground_matcher_ != nullptr);
  AINFO << "MlfTrackObjectMatcher, fg: " << foreground_matcher_->Name();
  background_matcher_ = BaseBipartiteGraphMatcherRegisterer::GetInstanceByName(
      config.background_matcher_method());
  ACHECK(background_matcher_ != nullptr);
  AINFO << "MlfTrackObjectMatcher, bg: " << background_matcher_->Name();
  foreground_matcher_->cost_matrix()->Reserve(1000, 1000);
  background_matcher_->cost_matrix()->Reserve(1000, 1000);
 
  track_object_distance_.reset(new MlfTrackObjectDistance);
  MlfTrackObjectDistanceInitOptions distance_init_options;
  distance_init_options.config_path = options.config_path;
  ACHECK(track_object_distance_->Init(distance_init_options));
 
  bound_value_ = config.bound_value();
  max_match_distance_ = config.max_match_distance();
  return true;
}

Match()

void apollo::perception::lidar::MlfTrackObjectMatcher::Match	(	const MlfTrackObjectMatcherOptions &	options,
		const std::vector< TrackedObjectPtr > &	objects,
		const std::vector< MlfTrackDataPtr > &	tracks,
		std::vector< std::pair< size_t, size_t > > *	assignments,
		std::vector< size_t > *	unassigned_tracks,
		std::vector< size_t > *	unassigned_objects
	)

Match detected objects to tracks

参数

options
objects	new detected objects for matching
tracks	maintaining tracks for matching
assignments	assignment pair of object & track
unassigned_tracks	racks without matched object
unassigned_objects	objects without matched track

在文件 mlf_track_object_matcher.cc 第 59 行定义.

                                           {
  assignments->clear();
  unassigned_objects->clear();
  unassigned_tracks->clear();
  if (objects.empty() || tracks.empty()) {
    unassigned_objects->resize(objects.size());
    unassigned_tracks->resize(tracks.size());
    std::iota(unassigned_objects->begin(), unassigned_objects->end(), 0);
    std::iota(unassigned_tracks->begin(), unassigned_tracks->end(), 0);
    return;
  }
 
  BipartiteGraphMatcherOptions matcher_options;
  matcher_options.cost_thresh = max_match_distance_;
  matcher_options.bound_value = bound_value_;
 
  BaseBipartiteGraphMatcher *matcher =
      objects[0]->is_background ? background_matcher_ : foreground_matcher_;
 
  algorithm::SecureMat<float> *association_mat = matcher->cost_matrix();
 
  association_mat->Resize(tracks.size(), objects.size());
  ComputeAssociateMatrix(tracks, objects, association_mat);
  matcher->Match(matcher_options, assignments, unassigned_tracks,
                 unassigned_objects);
  for (size_t i = 0; i < assignments->size(); ++i) {
    objects[assignments->at(i).second]->association_score =
        (*association_mat)(assignments->at(i).first,
                           assignments->at(i).second) /
        max_match_distance_;
  }
}

Name()

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

inline

Get class name

返回

std::string

在文件 mlf_track_object_matcher.h 第 76 行定义.

{ return "MlfTrackObjectMatcher"; }

类成员变量说明

background_matcher_

BaseBipartiteGraphMatcher* apollo::perception::lidar::MlfTrackObjectMatcher::background_matcher_

protected

在文件 mlf_track_object_matcher.h 第 93 行定义.

bound_value_

float apollo::perception::lidar::MlfTrackObjectMatcher::bound_value_ = 100.f

protected

在文件 mlf_track_object_matcher.h 第 95 行定义.

foreground_matcher_

BaseBipartiteGraphMatcher* apollo::perception::lidar::MlfTrackObjectMatcher::foreground_matcher_

protected

在文件 mlf_track_object_matcher.h 第 92 行定义.

max_match_distance_

float apollo::perception::lidar::MlfTrackObjectMatcher::max_match_distance_ = 4.0f

protected

在文件 mlf_track_object_matcher.h 第 96 行定义.

track_object_distance_

std::unique_ptr<MlfTrackObjectDistance> apollo::perception::lidar::MlfTrackObjectMatcher::track_object_distance_

protected

在文件 mlf_track_object_matcher.h 第 91 行定义.

use_semantic_map

bool apollo::perception::lidar::MlfTrackObjectMatcher::use_semantic_map = false

protected

在文件 mlf_track_object_matcher.h 第 97 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_matcher.h
• modules/perception/lidar_tracking/tracker/multi_lidar_fusion/mlf_track_object_matcher.cc