apollo::perception::radar4d::CCRFOneShotTypeFusion类 参考

#include <ccrf_type_fusion.h>

类 apollo::perception::radar4d::CCRFOneShotTypeFusion 继承关系图:

apollo::perception::radar4d::CCRFOneShotTypeFusion 的协作图:

Public 成员函数
EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool	Init (const TypeFusionInitOption &option) override
	INit type fusion
bool	TypeFusion (const TypeFusionOption &option, std::shared_ptr< perception::base::Object > object) override
	Type fusion of objects
std::string	Name () const override
	Get class name
bool	FuseOneShotTypeProbs (const std::shared_ptr< perception::base::Object > &object, Vectord *log_prob)
	Get object type probabilities

Protected 属性
apollo::common::EigenMap< std::string, Matrixd >	smooth_matrices_
Matrixd	confidence_smooth_matrix_

详细描述

在文件 ccrf_type_fusion.h 第 35 行定义.

成员函数说明

FuseOneShotTypeProbs()

bool apollo::perception::radar4d::CCRFOneShotTypeFusion::FuseOneShotTypeProbs	(	const std::shared_ptr< perception::base::Object > &	object,
		Vectord *	log_prob
	)

Get object type probabilities

参数

object	update type probs of the object
log_prob

返回

true

false

Init()

bool apollo::perception::radar4d::CCRFOneShotTypeFusion::Init ( const TypeFusionInitOption &  option )

overridevirtual

INit type fusion

参数

option

返回

true

false

实现了 apollo::perception::radar4d::BaseOneShotTypeFusion.

在文件 ccrf_type_fusion.cc 第 35 行定义.

                                                                    {
  std::string config_file = "ccrf_type_fusion.pb.txt";
  if (!options.config_file.empty()) {
    config_file = options.config_file;
  }
  config_file = GetConfigFile(options.config_path, config_file);
  CcrfTypeFusionConfig config;
  ACHECK(cyber::common::GetProtoFromFile(config_file, &config));
  std::string classifiers_property_file_path =
      GetConfigFile(
          options.config_path, config.classifiers_property_file_path());
  ACHECK(util::LoadMultipleMatricesFile(classifiers_property_file_path,
                                        &smooth_matrices_));
 
  for (auto& pair : smooth_matrices_) {
    util::NormalizeRow(&pair.second);
    pair.second.transposeInPlace();
    AINFO << "Source: " << pair.first;
    AINFO << std::endl << pair.second;
  }
 
  confidence_smooth_matrix_ = Matrixd::Identity();
  auto iter = smooth_matrices_.find("Confidence");
  if (iter != smooth_matrices_.end()) {
    confidence_smooth_matrix_ = iter->second;
    smooth_matrices_.erase(iter);
  }
  AINFO << "Confidence: ";
  AINFO << std::endl << confidence_smooth_matrix_;
 
  return true;
}

Name()

std::string apollo::perception::radar4d::CCRFOneShotTypeFusion::Name ( ) const

inlineoverridevirtual

Get class name

返回

std::string

实现了 apollo::perception::radar4d::BaseOneShotTypeFusion.

在文件 ccrf_type_fusion.h 第 61 行定义.

{ return "CCRFOneShotTypeFusion"; }

TypeFusion()

bool apollo::perception::radar4d::CCRFOneShotTypeFusion::TypeFusion ( const TypeFusionOption &  option, std::shared_ptr< perception::base::Object >  object  )

overridevirtual

Type fusion of objects

参数

option
object

返回

true

false

实现了 apollo::perception::radar4d::BaseOneShotTypeFusion.

类成员变量说明

confidence_smooth_matrix_

Matrixd apollo::perception::radar4d::CCRFOneShotTypeFusion::confidence_smooth_matrix_

protected

在文件 ccrf_type_fusion.h 第 76 行定义.

smooth_matrices_

apollo::common::EigenMap<std::string, Matrixd> apollo::perception::radar4d::CCRFOneShotTypeFusion::smooth_matrices_

protected

在文件 ccrf_type_fusion.h 第 75 行定义.

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该类的文档由以下文件生成:

• modules/perception/radar4d_detection/lib/classifier/ccrf_type_fusion.h
• modules/perception/radar4d_detection/lib/classifier/ccrf_type_fusion.cc