apollo::perception::radar4d::MrfEngine类 参考

#include <mrf_engine.h>

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

apollo::perception::radar4d::MrfEngine 的协作图:

Public 成员函数
	MrfEngine ()=default
virtual	~MrfEngine ()=default
bool	Init (const MultiTargetTrackerInitOptions &options=MultiTargetTrackerInitOptions()) override
	Init mrf engine
bool	Track (const MultiTargetTrackerOptions &options, RadarFrame *frame) override
	Track segmented objects from multiple radar sensors
std::string	Name () const override
	Get class name
Public 成员函数 继承自 apollo::perception::radar4d::BaseMultiTargetTracker
	BaseMultiTargetTracker ()=default
virtual	~BaseMultiTargetTracker ()=default

Protected 成员函数
void	SplitAndTransformToTrackedObjects (const std::vector< base::ObjectPtr > &objects, const base::SensorInfo &sensor_info)
	Split foreground/background objects and attach to tracked objects
void	TrackObjectMatchAndAssign (const MrfTrackObjectMatcherOptions &match_options, const std::vector< TrackedObjectPtr > &objects, const std::string &name, std::vector< MrfTrackDataPtr > *tracks)
	Match tracks and objets and object-track assignment
void	TrackStateFilter (const std::vector< MrfTrackDataPtr > &tracks, double frame_timestamp)
	Filter tracks
void	CollectTrackedResult (RadarFrame *frame)
	Collect track results and store in frame tracked objects
void	RemoveStaleTrackData (const std::string &name, double timestamp, std::vector< MrfTrackDataPtr > *tracks)
	Remove stale track data for memory management
void	Clear ()
	Clear all data

Protected 属性
std::vector< MrfTrackDataPtr >	foreground_track_data_
std::vector< MrfTrackDataPtr >	background_track_data_
std::vector< TrackedObjectPtr >	foreground_objects_
std::vector< TrackedObjectPtr >	background_objects_
std::unique_ptr< MrfTracker >	tracker_
std::unique_ptr< MrfTrackObjectMatcher >	matcher_
Eigen::Vector3d	global_to_local_offset_
Eigen::Affine3d	sensor_to_local_pose_
std::set< std::string >	main_sensors_
bool	use_histogram_for_match_ = true
size_t	histogram_bin_size_ = 10
bool	output_predict_objects_ = false
double	reserved_invisible_time_ = 0.3
bool	use_frame_timestamp_ = false
apollo::prediction::ObstaclesContainer	obstacle_container_
apollo::prediction::PoseContainer	pose_container_
apollo::perception::onboard::MsgSerializer	serializer_
bool	use_semantic_map_ = false

详细描述

在文件 mrf_engine.h 第 36 行定义.

构造及析构函数说明

MrfEngine()

apollo::perception::radar4d::MrfEngine::MrfEngine ( )

default

~MrfEngine()

virtual apollo::perception::radar4d::MrfEngine::~MrfEngine ( )

virtualdefault

成员函数说明

Clear()

void apollo::perception::radar4d::MrfEngine::Clear ( )

protected

Clear all data

在文件 mrf_engine.cc 第 36 行定义.

                      {
  main_sensors_.clear();
  foreground_objects_.clear();
  background_objects_.clear();
  foreground_track_data_.clear();
  background_track_data_.clear();
}

CollectTrackedResult()

void apollo::perception::radar4d::MrfEngine::CollectTrackedResult ( RadarFrame *  frame )

protected

Collect track results and store in frame tracked objects

参数

frame

radar frame

在文件 mrf_engine.cc 第 243 行定义.

                                                      {
  auto& tracked_objects = frame->tracked_objects;
  tracked_objects.clear();
  size_t num_objects =
      foreground_track_data_.size() + background_track_data_.size();
  base::ObjectPool::Instance().BatchGet(num_objects, &tracked_objects);
  size_t pos = 0;
  size_t num_predict = 0;
  auto collect = [&](std::vector<MrfTrackDataPtr>* tracks) {
    for (auto& track_data : *tracks) {
      if (!output_predict_objects_ && track_data->is_current_state_predicted_) {
        ++num_predict;
      } else {
        if (!track_data->ToObject(-global_to_local_offset_, frame->timestamp,
                                  tracked_objects[pos])) {
          AERROR << "Tracking failed";
          continue;
        }
        ++pos;
      }
    }
  };
  collect(&foreground_track_data_);
  // update semantic map object container
// TODO(all): semantic map related, for debugging
//  if (use_semantic_map_) {
//    obstacle_container_.CleanUp();
//    // use msg serializer to convert object to perception obstacles
//    apollo::common::ErrorCode err = apollo::common::ErrorCode::OK;
//    apollo::perception::PerceptionObstacles obstacles;
//    double radar_ts = frame->timestamp;
//    localization::LocalizationEstimate localization;
//    localization.mutable_header()->set_timestamp_sec(radar_ts);
//    localization.mutable_header()->set_radar_timestamp(radar_ts * 1e9);
//    localization.mutable_pose()->mutable_linear_velocity()->set_x(0.0f);
//    localization.mutable_pose()->mutable_linear_velocity()->set_y(0.0f);
//    localization.mutable_pose()->mutable_linear_velocity()->set_z(0.0f);
//    convertPoseToLoc(frame->novatel2world_pose, &localization);
//    pose_container_.Insert(localization);
//    obstacle_container_.InsertPerceptionObstacle(
//        *(pose_container_.ToPerceptionObstacle()), radar_ts);
//    std::vector<std::shared_ptr<base::Object>> foreground_objs(
//        tracked_objects.begin(), tracked_objects.begin() + pos);
//    serializer_.SerializeMsg(0, static_cast<uint64_t>(radar_ts * 1e9), 0,
//                             foreground_objs, err, &obstacles);
//    obstacle_container_.Insert(obstacles);
//    evaluator_.Run(&obstacle_container_);
//    AttachDebugInfo(&foreground_objs);
//    AttachSemanticPredictedTrajectory(foreground_track_data_);
//  }
 
  collect(&background_track_data_);
  if (num_predict != 0) {
    AINFO << "MrfEngine, num_predict: " << num_predict
          << " num_objects: " << num_objects;
    if (num_predict > num_objects) {
      AERROR << "num_predict > num_objects";
      return;
    }
    tracked_objects.resize(num_objects - num_predict);
  }
}

Init()

bool apollo::perception::radar4d::MrfEngine::Init ( const MultiTargetTrackerInitOptions &  options = MultiTargetTrackerInitOptions() )

overridevirtual

Init mrf engine

参数

options

返回

true

false

实现了 apollo::perception::radar4d::BaseMultiTargetTracker.

在文件 mrf_engine.cc 第 44 行定义.

                                                                 {
  std::string config_file = GetConfigFile(
      options.config_path, options.config_file);
  MrfEngineConfig config;
  ACHECK(cyber::common::GetProtoFromFile(config_file, &config));
 
  Clear();
 
  for (int i = 0; i < config.main_sensor_size(); ++i) {
    main_sensors_.emplace(config.main_sensor(i));
  }
 
  // default value
  if (main_sensors_.empty()) {
    main_sensors_.emplace("radar_front");
  }
 
  use_histogram_for_match_ = config.use_histogram_for_match();
  histogram_bin_size_ = config.histogram_bin_size();
  output_predict_objects_ = config.output_predict_objects();
  reserved_invisible_time_ = config.reserved_invisible_time();
  use_frame_timestamp_ = config.use_frame_timestamp();
 
  matcher_.reset(new MrfTrackObjectMatcher);
  MrfTrackObjectMatcherInitOptions matcher_init_options;
  matcher_init_options.config_path = options.config_path;
  ACHECK(matcher_->Init(matcher_init_options));
 
  tracker_.reset(new MrfTracker);
  MrfTrackerInitOptions tracker_init_options;
  tracker_init_options.config_path = options.config_path;
  ACHECK(tracker_->Init(tracker_init_options));
  return true;
}

Name()

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

inlineoverridevirtual

Get class name

返回

std::string

实现了 apollo::perception::radar4d::BaseMultiTargetTracker.

在文件 mrf_engine.h 第 68 行定义.

{ return "MrfEngine"; };

RemoveStaleTrackData()

void apollo::perception::radar4d::MrfEngine::RemoveStaleTrackData ( const std::string &  name, double  timestamp, std::vector< MrfTrackDataPtr > *  tracks  )

protected

Remove stale track data for memory management

参数

name
timestamp
tracks	to be cleaned

在文件 mrf_engine.cc 第 306 行定义.

                                                                         {
  size_t pos = 0;
  for (size_t i = 0; i < tracks->size(); ++i) {
    if (tracks->at(i)->latest_visible_time_ + reserved_invisible_time_ >=
        timestamp) {
      if (i != pos) {
        tracks->at(pos) = tracks->at(i);
      }
      ++pos;
    }
  }
  AINFO << "MrfEngine: " << name << " remove stale tracks, from "
        << tracks->size() << " to " << pos;
  tracks->resize(pos);
}

SplitAndTransformToTrackedObjects()

void apollo::perception::radar4d::MrfEngine::SplitAndTransformToTrackedObjects ( const std::vector< base::ObjectPtr > &  objects, const base::SensorInfo &  sensor_info  )

protected

Split foreground/background objects and attach to tracked objects

参数

objects
sensor_info

在文件 mrf_engine.cc 第 124 行定义.

                                       {
  std::vector<TrackedObjectPtr> tracked_objects;
  TrackedObjectPool::Instance().BatchGet(objects.size(), &tracked_objects);
  foreground_objects_.clear();
  background_objects_.clear();
  for (size_t i = 0; i < objects.size(); ++i) {
    tracked_objects[i]->AttachObject(objects[i], sensor_to_local_pose_,
                                     global_to_local_offset_, sensor_info);
    if (!objects[i]->radar4d_supplement.is_background &&
        use_histogram_for_match_) {
      tracked_objects[i]->histogram_bin_size = histogram_bin_size_;
      tracked_objects[i]->ComputeShapeFeatures();
    }
    if (objects[i]->radar4d_supplement.is_background) {
      background_objects_.push_back(tracked_objects[i]);
    } else {
      foreground_objects_.push_back(tracked_objects[i]);
    }
  }
  AINFO << "MrfEngine: " << sensor_info.name
        << " foreground: " << foreground_objects_.size()
        << " background: " << background_objects_.size();
}

Track()

bool apollo::perception::radar4d::MrfEngine::Track ( const MultiTargetTrackerOptions &  options, RadarFrame *  frame  )

overridevirtual

Track segmented objects from multiple radar sensors

参数

options	tracker options
frame	radar frame

返回

true

false

实现了 apollo::perception::radar4d::BaseMultiTargetTracker.

在文件 mrf_engine.cc 第 79 行定义.

                                         {
  // 0. modify objects timestamp if necessary
  if (use_frame_timestamp_) {
    for (auto& object : frame->segmented_objects) {
      object->latest_tracked_time = frame->timestamp;
    }
  }
  // 1. add global offset to pose (only when no track exists)
  if (foreground_track_data_.empty() && background_track_data_.empty()) {
    global_to_local_offset_ = -frame->radar2world_pose.translation();
  }
  sensor_to_local_pose_ = frame->radar2world_pose;
  sensor_to_local_pose_.pretranslate(global_to_local_offset_);
  // 2. split fg and bg objects, and transform to tracked objects
  SplitAndTransformToTrackedObjects(frame->segmented_objects,
                                    frame->sensor_info);
  // 3. assign tracked objects to tracks
  MrfTrackObjectMatcherOptions match_options;
  TrackObjectMatchAndAssign(match_options, foreground_objects_, "foreground",
                            &foreground_track_data_);
  TrackObjectMatchAndAssign(match_options, background_objects_, "background",
                            &background_track_data_);
  // 4. state filter in tracker if is main sensor
  bool is_main_sensor =
      (main_sensors_.find(frame->sensor_info.name) != main_sensors_.end());
  if (is_main_sensor) {
    TrackStateFilter(foreground_track_data_, frame->timestamp);
    TrackStateFilter(background_track_data_, frame->timestamp);
  }
  // 5. track to object if is main sensor
  frame->tracked_objects.clear();
  if (is_main_sensor) {
    CollectTrackedResult(frame);
  }
  // 6. remove stale data
  RemoveStaleTrackData("foreground", frame->timestamp, &foreground_track_data_);
  RemoveStaleTrackData("background", frame->timestamp, &background_track_data_);
 
  AINFO << "MrfEngine publish objects: " << frame->tracked_objects.size()
        << " sensor_name: " << frame->sensor_info.name
        << " at timestamp: " << frame->timestamp;
  return true;
}

TrackObjectMatchAndAssign()

void apollo::perception::radar4d::MrfEngine::TrackObjectMatchAndAssign ( const MrfTrackObjectMatcherOptions &  match_options, const std::vector< TrackedObjectPtr > &  objects, const std::string &  name, std::vector< MrfTrackDataPtr > *  tracks  )

protected

Match tracks and objets and object-track assignment

参数

match_options	match options
objects	for match
name
tracks	tracks for match and assignment

在文件 mrf_engine.cc 第 150 行定义.

                                        {
  std::vector<std::pair<size_t, size_t>> assignments;
  std::vector<size_t> unassigned_tracks;
  std::vector<size_t> unassigned_objects;
  matcher_->Match(match_options, objects, *tracks, &assignments,
                  &unassigned_tracks, &unassigned_objects);
  AINFO << "MrfEngine: " + name + " assignments " << assignments.size()
        << " unassigned_tracks " << unassigned_tracks.size()
        << " unassigned_objects " << unassigned_objects.size();
  // 1. for assignment, push object to cache of track_data
  for (auto& pair : assignments) {
    const size_t track_id = pair.first;
    const size_t object_id = pair.second;
    tracks->at(track_id)->PushTrackedObjectToCache(objects[object_id]);
  }
  // 2. for unassigned_objects, create new tracks
  for (auto& id : unassigned_objects) {
    MrfTrackDataPtr track_data = MrfTrackDataPool::Instance().Get();
    tracker_->InitializeTrack(track_data, objects[id]);
    tracks->push_back(track_data);
  }
}

TrackStateFilter()

void apollo::perception::radar4d::MrfEngine::TrackStateFilter ( const std::vector< MrfTrackDataPtr > &  tracks, double  frame_timestamp  )

protected

Filter tracks

参数

tracks	for filter
frame_timestamp

在文件 mrf_engine.cc 第 176 行定义.

                                                         {
  std::vector<TrackedObjectPtr> objects;
  for (auto& track_data : tracks) {
    track_data->GetAndCleanCachedObjectsInTimeInterval(&objects);
    for (auto& obj : objects) {
      tracker_->UpdateTrackDataWithObject(track_data, obj);
    }
    if (objects.empty()) {
      tracker_->UpdateTrackDataWithoutObject(frame_timestamp, track_data);
    }
  }
}

类成员变量说明

background_objects_

std::vector<TrackedObjectPtr> apollo::perception::radar4d::MrfEngine::background_objects_

protected

在文件 mrf_engine.h 第 137 行定义.

background_track_data_

std::vector<MrfTrackDataPtr> apollo::perception::radar4d::MrfEngine::background_track_data_

protected

在文件 mrf_engine.h 第 134 行定义.

foreground_objects_

std::vector<TrackedObjectPtr> apollo::perception::radar4d::MrfEngine::foreground_objects_

protected

在文件 mrf_engine.h 第 136 行定义.

foreground_track_data_

std::vector<MrfTrackDataPtr> apollo::perception::radar4d::MrfEngine::foreground_track_data_

protected

在文件 mrf_engine.h 第 133 行定义.

global_to_local_offset_

Eigen::Vector3d apollo::perception::radar4d::MrfEngine::global_to_local_offset_

protected

在文件 mrf_engine.h 第 143 行定义.

histogram_bin_size_

size_t apollo::perception::radar4d::MrfEngine::histogram_bin_size_ = 10

protected

在文件 mrf_engine.h 第 149 行定义.

main_sensors_

std::set<std::string> apollo::perception::radar4d::MrfEngine::main_sensors_

protected

在文件 mrf_engine.h 第 146 行定义.

matcher_

std::unique_ptr<MrfTrackObjectMatcher> apollo::perception::radar4d::MrfEngine::matcher_

protected

在文件 mrf_engine.h 第 141 行定义.

obstacle_container_

apollo::prediction::ObstaclesContainer apollo::perception::radar4d::MrfEngine::obstacle_container_

protected

在文件 mrf_engine.h 第 154 行定义.

output_predict_objects_

bool apollo::perception::radar4d::MrfEngine::output_predict_objects_ = false

protected

在文件 mrf_engine.h 第 150 行定义.

pose_container_

apollo::prediction::PoseContainer apollo::perception::radar4d::MrfEngine::pose_container_

protected

在文件 mrf_engine.h 第 155 行定义.

reserved_invisible_time_

double apollo::perception::radar4d::MrfEngine::reserved_invisible_time_ = 0.3

protected

在文件 mrf_engine.h 第 151 行定义.

sensor_to_local_pose_

Eigen::Affine3d apollo::perception::radar4d::MrfEngine::sensor_to_local_pose_

protected

在文件 mrf_engine.h 第 144 行定义.

serializer_

apollo::perception::onboard::MsgSerializer apollo::perception::radar4d::MrfEngine::serializer_

protected

在文件 mrf_engine.h 第 156 行定义.

tracker_

std::unique_ptr<MrfTracker> apollo::perception::radar4d::MrfEngine::tracker_

protected

在文件 mrf_engine.h 第 139 行定义.

use_frame_timestamp_

bool apollo::perception::radar4d::MrfEngine::use_frame_timestamp_ = false

protected

在文件 mrf_engine.h 第 152 行定义.

use_histogram_for_match_

bool apollo::perception::radar4d::MrfEngine::use_histogram_for_match_ = true

protected

在文件 mrf_engine.h 第 148 行定义.

use_semantic_map_

bool apollo::perception::radar4d::MrfEngine::use_semantic_map_ = false

protected

在文件 mrf_engine.h 第 157 行定义.

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该类的文档由以下文件生成:

• modules/perception/radar4d_detection/lib/tracker/multi_radar_fusion/mrf_engine.h
• modules/perception/radar4d_detection/lib/tracker/multi_radar_fusion/mrf_engine.cc