apollo::perception::radar4d::CCRFSequenceTypeFusion类 参考

#include <ccrf_type_fusion.h>

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

apollo::perception::radar4d::CCRFSequenceTypeFusion 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, TrackedObjects *tracked_objects) override
	Type fusion of tracked object
std::string	Name () const override
	Get class name

Protected 成员函数
bool	FuseWithConditionalProbabilityInference (TrackedObjects *tracked_objects)
bool	RecoverFromLogProbability (Vectord *prob, std::vector< float > *dst, perception::base::ObjectType *type)

Protected 属性
CCRFOneShotTypeFusion	one_shot_fuser_
Matrixd	transition_matrix_
apollo::common::EigenVector< Vectord >	fused_oneshot_probs_
apollo::common::EigenVector< Vectord >	fused_sequence_probs_
apollo::common::EigenVector< Vectori >	state_back_trace_
double	s_alpha_ = 1.8

额外继承的成员函数
Public 类型 继承自 apollo::perception::radar4d::BaseSequenceTypeFusion
typedef ObjectSequence::TrackedObjects	TrackedObjects

详细描述

在文件 ccrf_type_fusion.h 第 79 行定义.

成员函数说明

FuseWithConditionalProbabilityInference()

bool apollo::perception::radar4d::CCRFSequenceTypeFusion::FuseWithConditionalProbabilityInference ( TrackedObjects *  tracked_objects )

protected

在文件 ccrf_type_fusion.cc 第 167 行定义.

                                     {
  // AINFO << "Enter fuse with conditional probability inference";
  fused_oneshot_probs_.resize(tracked_objects->size());
 
  std::size_t i = 0;
  for (auto& pair : *tracked_objects) {
    ObjectPtr& object = pair.second;
    if (!one_shot_fuser_.FuseOneShotTypeProbs(object,
                                              &fused_oneshot_probs_[i++])) {
      AERROR << "Failed to fuse one short probs in sequence.";
      return false;
    }
  }
 
  // Use viterbi algorithm to infer the state
  std::size_t length = tracked_objects->size();
  fused_sequence_probs_.resize(length);
  state_back_trace_.resize(length);
 
  fused_sequence_probs_[0] = fused_oneshot_probs_[0];
  // Add priori knowledge to suppress the sudden-appeared object types.
  fused_sequence_probs_[0] += transition_matrix_.row(0).transpose();
 
  for (std::size_t i = 1; i < length; ++i) {
    for (std::size_t right = 0; right < VALID_OBJECT_TYPE; ++right) {
      double prob = 0.0;
      double max_prob = -std::numeric_limits<double>::max();
      std::size_t id = 0;
      for (std::size_t left = 0; left < VALID_OBJECT_TYPE; ++left) {
        prob = fused_sequence_probs_[i - 1](left) +
               transition_matrix_(left, right) * s_alpha_ +
               fused_oneshot_probs_[i](right);
        if (prob > max_prob) {
          max_prob = prob;
          id = left;
        }
      }
      fused_sequence_probs_[i](right) = max_prob;
      state_back_trace_[i](right) = static_cast<int>(id);
    }
  }
  ObjectPtr object = tracked_objects->rbegin()->second;
  RecoverFromLogProbability(&fused_sequence_probs_.back(), &object->type_probs,
                            &object->type);
  return true;
}

Init()

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

overridevirtual

Init type fusion

参数

option

返回

true

false

实现了 apollo::perception::radar4d::BaseSequenceTypeFusion.

在文件 ccrf_type_fusion.cc 第 125 行定义.

                                                                     {
  TypeFusionInitOption one_shot_fuser_options;
  one_shot_fuser_options.config_path = options.config_path;
  ACHECK(one_shot_fuser_.Init(one_shot_fuser_options));
 
  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 transition_property_file_path =
      GetConfigFile(
          options.config_path, config.transition_property_file_path());
  s_alpha_ = config.transition_matrix_alpha();
  ACHECK(util::LoadSingleMatrixFile(transition_property_file_path,
                                    &transition_matrix_));
  transition_matrix_ += Matrixd::Ones() * 1e-6;
  util::NormalizeRow(&transition_matrix_);
  AINFO << "transition matrix";
  AINFO << std::endl << transition_matrix_;
  for (std::size_t i = 0; i < VALID_OBJECT_TYPE; ++i) {
    for (std::size_t j = 0; j < VALID_OBJECT_TYPE; ++j) {
      transition_matrix_(i, j) = log(transition_matrix_(i, j));
    }
  }
  AINFO << std::endl << transition_matrix_;
  return true;
}

Name()

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

inlineoverridevirtual

Get class name

返回

std::string

实现了 apollo::perception::radar4d::BaseSequenceTypeFusion.

在文件 ccrf_type_fusion.h 第 105 行定义.

{ return "CCRFSequenceTypeFusion"; }

RecoverFromLogProbability()

bool apollo::perception::radar4d::CCRFSequenceTypeFusion::RecoverFromLogProbability ( Vectord *  prob, std::vector< float > *  dst, perception::base::ObjectType *  type  )

protected

TypeFusion()

bool apollo::perception::radar4d::CCRFSequenceTypeFusion::TypeFusion ( const TypeFusionOption &  option, TrackedObjects *  tracked_objects  )

overridevirtual

Type fusion of tracked object

参数

option
tracked_objects	update the type probs of the tracked object

返回

true

false

实现了 apollo::perception::radar4d::BaseSequenceTypeFusion.

在文件 ccrf_type_fusion.cc 第 156 行定义.

                                                                         {
  if (tracked_objects == nullptr) {
    return false;
  }
  if (tracked_objects->empty()) {
    return false;
  }
  return FuseWithConditionalProbabilityInference(tracked_objects);
}

类成员变量说明

fused_oneshot_probs_

apollo::common::EigenVector<Vectord> apollo::perception::radar4d::CCRFSequenceTypeFusion::fused_oneshot_probs_

protected

在文件 ccrf_type_fusion.h 第 131 行定义.

fused_sequence_probs_

apollo::common::EigenVector<Vectord> apollo::perception::radar4d::CCRFSequenceTypeFusion::fused_sequence_probs_

protected

在文件 ccrf_type_fusion.h 第 132 行定义.

one_shot_fuser_

CCRFOneShotTypeFusion apollo::perception::radar4d::CCRFSequenceTypeFusion::one_shot_fuser_

protected

在文件 ccrf_type_fusion.h 第 126 行定义.

s_alpha_

double apollo::perception::radar4d::CCRFSequenceTypeFusion::s_alpha_ = 1.8

protected

在文件 ccrf_type_fusion.h 第 136 行定义.

state_back_trace_

apollo::common::EigenVector<Vectori> apollo::perception::radar4d::CCRFSequenceTypeFusion::state_back_trace_

protected

在文件 ccrf_type_fusion.h 第 133 行定义.

transition_matrix_

Matrixd apollo::perception::radar4d::CCRFSequenceTypeFusion::transition_matrix_

protected

在文件 ccrf_type_fusion.h 第 128 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