apollo::perception::radar4d::FusedClassifier类 参考

#include <fused_classifier.h>

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

apollo::perception::radar4d::FusedClassifier 的协作图:

Public 成员函数
	FusedClassifier ()=default
	~FusedClassifier ()=default
bool	Init (const ClassifierInitOptions &options=ClassifierInitOptions()) override
	Init fused classifier
bool	Classify (const ClassifierOptions &options, RadarFrame *frame) override
	Classify objects and update type info
std::string	Name () const override
	Get class name
Public 成员函数 继承自 apollo::perception::radar4d::BaseClassifier
	BaseClassifier ()=default
virtual	~BaseClassifier ()=default

详细描述

在文件 fused_classifier.h 第 35 行定义.

构造及析构函数说明

FusedClassifier()

apollo::perception::radar4d::FusedClassifier::FusedClassifier ( )

default

~FusedClassifier()

apollo::perception::radar4d::FusedClassifier::~FusedClassifier ( )

default

成员函数说明

Classify()

bool apollo::perception::radar4d::FusedClassifier::Classify ( const ClassifierOptions &  options, RadarFrame *  frame  )

overridevirtual

Classify objects and update type info

参数

options
frame	radar frame

返回

true

false

实现了 apollo::perception::radar4d::BaseClassifier.

在文件 fused_classifier.cc 第 56 行定义.

                                                  {
  if (frame == nullptr) {
    return false;
  }
  std::vector<ObjectPtr>* objects = use_tracked_objects_
                                        ? &(frame->tracked_objects)
                                        : &(frame->segmented_objects);
  if (enable_temporal_fusion_ && frame->timestamp > 0.0) {
    // sequence fusion
    AINFO << "Combined classifier, temporal fusion";
    sequence_.AddTrackedFrameObjects(*objects, frame->timestamp);
    ObjectSequence::TrackedObjects tracked_objects;
    for (auto& object : *objects) {
      if (object->radar4d_supplement.is_background) {
        object->type_probs.assign(static_cast<int>(ObjectType::MAX_OBJECT_TYPE),
                                  0);
        object->type = ObjectType::UNKNOWN_UNMOVABLE;
        object->type_probs[static_cast<int>(ObjectType::UNKNOWN_UNMOVABLE)] =
            1.0;
        continue;
      }
      const int track_id = object->track_id;
      sequence_.GetTrackInTemporalWindow(track_id, &tracked_objects,
                                         temporal_window_);
      if (tracked_objects.empty()) {
        AERROR << "Find zero-length track, so skip.";
        continue;
      }
      if (object != tracked_objects.rbegin()->second) {
        AERROR << "There must exist some timestamp in disorder, so skip.";
        continue;
      }
      if (!sequence_fuser_->TypeFusion(option_, &tracked_objects)) {
        AERROR << "Failed to fuse types, so break.";
        break;
      }
    }
  } else {
    // one shot fusion
    AINFO << "Combined classifier, one shot fusion";
    for (auto& object : *objects) {
      if (object->radar4d_supplement.is_background) {
        object->type_probs.assign(static_cast<int>(ObjectType::MAX_OBJECT_TYPE),
                                  0);
        object->type = ObjectType::UNKNOWN_UNMOVABLE;
        object->type_probs[static_cast<int>(ObjectType::UNKNOWN_UNMOVABLE)] =
            1.0;
        continue;
      }
      if (!one_shot_fuser_->TypeFusion(option_, object)) {
        AERROR << "Failed to fuse types, so continue.";
      }
    }
  }
  return true;
}

Init()

bool apollo::perception::radar4d::FusedClassifier::Init ( const ClassifierInitOptions &  options = ClassifierInitOptions() )

overridevirtual

Init fused classifier

参数

options

返回

true

false

实现了 apollo::perception::radar4d::BaseClassifier.

在文件 fused_classifier.cc 第 32 行定义.

                                                               {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
  FusedClassifierConfig config;
  ACHECK(cyber::common::GetProtoFromFile(config_file, &config));
  temporal_window_ = config.temporal_window();
  enable_temporal_fusion_ = config.enable_temporal_fusion();
  use_tracked_objects_ = config.use_tracked_objects();
  one_shot_fusion_method_ = config.one_shot_fusion_method();
  sequence_fusion_method_ = config.sequence_fusion_method();
  one_shot_fuser_ = BaseOneShotTypeFusionRegisterer::GetInstanceByName(
      one_shot_fusion_method_);
 
  bool init_success = true;
  init_option_.config_path = options.config_path;
  CHECK_NOTNULL(one_shot_fuser_);
  ACHECK(one_shot_fuser_->Init(init_option_));
  sequence_fuser_ = BaseSequenceTypeFusionRegisterer::GetInstanceByName(
      sequence_fusion_method_);
  CHECK_NOTNULL(sequence_fuser_);
  ACHECK(sequence_fuser_->Init(init_option_));
  return init_success;
}

Name()

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

inlineoverridevirtual

Get class name

返回

std::string

实现了 apollo::perception::radar4d::BaseClassifier.

在文件 fused_classifier.h 第 62 行定义.

{ return "FusedClassifier"; }

---

该类的文档由以下文件生成:

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