apollo::perception::lidar::MlfTracker类 参考

#include <mlf_tracker.h>

apollo::perception::lidar::MlfTracker 的协作图:

Public 成员函数
	MlfTracker ()=default
	~MlfTracker ()
bool	Init (const MlfTrackerInitOptions options=MlfTrackerInitOptions())
	Init mlf tracker
void	InitializeTrack (MlfTrackDataPtr new_track_data, TrackedObjectPtr new_object)
	Initialize new track data and push new object to cache
void	UpdateTrackDataWithObject (MlfTrackDataPtr track_data, TrackedObjectPtr new_object)
	Update track data with object
void	UpdateTrackDataWithoutObject (double timestamp, MlfTrackDataPtr track_data)
	Update track data without object
std::string	Name () const
	Get class name

Protected 成员函数
int	GetNextTrackId ()
	Get next track id

Protected 属性
std::vector< MlfBaseFilter * >	filters_
int	global_track_id_counter_ = 0
MlfFilterOptions	filter_options_

详细描述

在文件 mlf_tracker.h 第 37 行定义.

构造及析构函数说明

MlfTracker()

apollo::perception::lidar::MlfTracker::MlfTracker ( )

default

~MlfTracker()

apollo::perception::lidar::MlfTracker::~MlfTracker ( )

inline

在文件 mlf_tracker.h 第 40 行定义.

                {
    for (auto& filter : filters_) {
      delete filter;
    }
  }

成员函数说明

GetNextTrackId()

int apollo::perception::lidar::MlfTracker::GetNextTrackId ( )

inlineprotected

Get next track id

返回

int track id

在文件 mlf_tracker.h 第 94 行定义.

                       {
    if (global_track_id_counter_ == std::numeric_limits<int>::max()) {
      global_track_id_counter_ = 0;
    }
    return global_track_id_counter_++;
  }

Init()

bool apollo::perception::lidar::MlfTracker::Init

(

const MlfTrackerInitOptions

options = MlfTrackerInitOptions()

)

Init mlf tracker

参数

options

返回

true

false

在文件 mlf_tracker.cc 第 26 行定义.

                                                         {
  std::string config_file = "mlf_tracker.conf";
  if (!options.config_file.empty()) {
    config_file = options.config_file;
  }
  config_file = GetConfigFile(options.config_path, config_file);
  MlfTrackerConfig config;
  ACHECK(cyber::common::GetProtoFromFile(config_file, &config));
 
  for (int i = 0; i < config.filter_name_size(); ++i) {
    const auto& name = config.filter_name(i);
    MlfBaseFilter* filter = MlfBaseFilterRegisterer::GetInstanceByName(name);
    ACHECK(filter);
    MlfFilterInitOptions filter_init_options;
    filter_init_options.config_path = options.config_path;
    ACHECK(filter->Init(filter_init_options));
    filters_.push_back(filter);
    AINFO << "MlfTracker add filter: " << filter->Name();
  }
 
  return true;
}

InitializeTrack()

void apollo::perception::lidar::MlfTracker::InitializeTrack	(	MlfTrackDataPtr	new_track_data,
		TrackedObjectPtr	new_object
	)

Initialize new track data and push new object to cache

参数

new_track_data	new track data
new_object	new object

在文件 mlf_tracker.cc 第 49 行定义.

                                                              {
  new_track_data->Reset(new_object, GetNextTrackId());
  new_track_data->is_current_state_predicted_ = false;
  new_track_data->is_front_critical_track_ =
      new_object->object_ptr->is_front_critical;
}

Name()

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

inline

Get class name

返回

std::string

在文件 mlf_tracker.h 第 86 行定义.

{ return "MlfTracker"; }

UpdateTrackDataWithObject()

void apollo::perception::lidar::MlfTracker::UpdateTrackDataWithObject	(	MlfTrackDataPtr	track_data,
		TrackedObjectPtr	new_object
	)

Update track data with object

参数

track_data	history track data
new_object	new object

在文件 mlf_tracker.cc 第 57 行定义.

                                                                        {
  // Update trackable state:
  //   1.change background to foreground if it's matched with foreground track
  //   2.update foreground_track_prob_
  //   3.change bacground obj is_background state if it's MOVING or OBJECT
  track_data->UpdateTrackableState(new_object);
  // 1. state filter and store belief in new_object
  for (auto& filter : filters_) {
    filter->UpdateWithObject(filter_options_, track_data, new_object);
  }
  // 2. push new_obect to track_data
  track_data->PushTrackedObjectToTrack(new_object);
  track_data->is_current_state_predicted_ = false;
  track_data->is_front_critical_track_ =
      new_object->object_ptr->is_front_critical;
}

UpdateTrackDataWithoutObject()

void apollo::perception::lidar::MlfTracker::UpdateTrackDataWithoutObject	(	double	timestamp,
		MlfTrackDataPtr	track_data
	)

Update track data without object

参数

timestamp
track_data	history track data

在文件 mlf_tracker.cc 第 75 行定义.

                                                                          {
  for (auto& filter : filters_) {
    filter->UpdateWithoutObject(filter_options_, timestamp, track_data);
  }
  track_data->is_current_state_predicted_ = true;
}

类成员变量说明

filter_options_

MlfFilterOptions apollo::perception::lidar::MlfTracker::filter_options_

protected

在文件 mlf_tracker.h 第 107 行定义.

filters_

std::vector<MlfBaseFilter*> apollo::perception::lidar::MlfTracker::filters_

protected

在文件 mlf_tracker.h 第 103 行定义.

global_track_id_counter_

int apollo::perception::lidar::MlfTracker::global_track_id_counter_ = 0

protected

在文件 mlf_tracker.h 第 105 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_tracker.h
• modules/perception/lidar_tracking/tracker/multi_lidar_fusion/mlf_tracker.cc