apollo::perception::lidar::MultiHmBipartiteGraphMatcher类 参考

#include <multi_hm_bipartite_graph_matcher.h>

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

apollo::perception::lidar::MultiHmBipartiteGraphMatcher 的协作图:

Public 成员函数
	MultiHmBipartiteGraphMatcher ()
	~MultiHmBipartiteGraphMatcher ()
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
algorithm::GatedHungarianMatcher< float >	optimizer_
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 multi_hm_bipartite_graph_matcher.h 第 29 行定义.

构造及析构函数说明

MultiHmBipartiteGraphMatcher()

apollo::perception::lidar::MultiHmBipartiteGraphMatcher::MultiHmBipartiteGraphMatcher

(

)

在文件 multi_hm_bipartite_graph_matcher.cc 第 26 行定义.

                                                           {
  cost_matrix_ = optimizer_.mutable_global_costs();
}

~MultiHmBipartiteGraphMatcher()

apollo::perception::lidar::MultiHmBipartiteGraphMatcher::~MultiHmBipartiteGraphMatcher

(

)

在文件 multi_hm_bipartite_graph_matcher.cc 第 30 行定义.

                                                            {
  cost_matrix_ = nullptr;
}

成员函数说明

Match()

void apollo::perception::lidar::MultiHmBipartiteGraphMatcher::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 multi_hm_bipartite_graph_matcher.cc 第 34 行定义.

                                        {
  algorithm::GatedHungarianMatcher<float>::OptimizeFlag opt_flag =
      algorithm::GatedHungarianMatcher<float>::OptimizeFlag::OPTMIN;
  optimizer_.Match(options.cost_thresh, options.bound_value, opt_flag,
                   assignments, unassigned_rows, unassigned_cols);
}

Name()

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

inlinevirtual

Get class name

返回

std::string

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

在文件 multi_hm_bipartite_graph_matcher.h 第 51 行定义.

{ return "MultiHmBipartiteGraphMatcher"; }

类成员变量说明

optimizer_

algorithm::GatedHungarianMatcher<float> apollo::perception::lidar::MultiHmBipartiteGraphMatcher::optimizer_

protected

在文件 multi_hm_bipartite_graph_matcher.h 第 54 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/multi_hm_bipartite_graph_matcher.h
• modules/perception/lidar_tracking/tracker/association/multi_hm_bipartite_graph_matcher.cc