apollo::perception::radar4d::MrfShapeFilter类 参考

#include <mrf_shape_filter.h>

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

apollo::perception::radar4d::MrfShapeFilter 的协作图:

Public 成员函数
	MrfShapeFilter ()=default
virtual	~MrfShapeFilter ()=default
bool	Init (const MrfFilterInitOptions &options=MrfFilterInitOptions()) override
	Init mrf filter
void	UpdateWithObject (const MrfFilterOptions &options, const MrfTrackDataConstPtr &track_data, TrackedObjectPtr new_object) override
	Updating shape filter with object
void	UpdateWithoutObject (const MrfFilterOptions &options, double timestamp, MrfTrackDataPtr track_data) override
	Updating shape filter without object
std::string	Name () const override
	Get class name
Public 成员函数 继承自 apollo::perception::radar4d::MrfBaseFilter
	MrfBaseFilter ()=default
virtual	~MrfBaseFilter ()=default

Protected 属性
algorithm::ConvexHull2D< base::RadarPointDCloud, base::PolygonDType >	hull_
double	bottom_points_ignore_threshold_ = 0.1
double	top_points_ignore_threshold_ = 1.6

详细描述

在文件 mrf_shape_filter.h 第 27 行定义.

构造及析构函数说明

MrfShapeFilter()

apollo::perception::radar4d::MrfShapeFilter::MrfShapeFilter ( )

default

~MrfShapeFilter()

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

virtualdefault

成员函数说明

Init()

bool apollo::perception::radar4d::MrfShapeFilter::Init ( const MrfFilterInitOptions &  options = MrfFilterInitOptions() )

overridevirtual

Init mrf filter

参数

options

返回

true

false

实现了 apollo::perception::radar4d::MrfBaseFilter.

在文件 mrf_shape_filter.cc 第 28 行定义.

                                                             {
  std::string config_file = "mrf_shape_filter.pb.txt";
  if (!options.config_file.empty()) {
    config_file = options.config_file;
  }
  config_file = GetConfigFile(options.config_path, config_file);
  MrfShapeFilterConfig config;
  ACHECK(cyber::common::GetProtoFromFile(config_file, &config));
 
  bottom_points_ignore_threshold_ = config.bottom_points_ignore_threshold();
  top_points_ignore_threshold_ = config.top_points_ignore_threshold();
  return true;
}

Name()

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

inlineoverridevirtual

Get class name

返回

std::string

实现了 apollo::perception::radar4d::MrfBaseFilter.

在文件 mrf_shape_filter.h 第 64 行定义.

{ return "MrfShapeFilter"; }

UpdateWithObject()

void apollo::perception::radar4d::MrfShapeFilter::UpdateWithObject ( const MrfFilterOptions &  options, const MrfTrackDataConstPtr &  track_data, TrackedObjectPtr  new_object  )

overridevirtual

Updating shape filter with object

参数

options	for updating
track_data	not include new object
new_object	new object for updating

实现了 apollo::perception::radar4d::MrfBaseFilter.

在文件 mrf_shape_filter.cc 第 42 行定义.

                                                                   {
  // compute tight object polygon
  auto& obj = new_object->object_ptr;
  hull_.GetConvexHull(obj->radar4d_supplement.cloud_world, &obj->polygon);
 
  // simple moving average orientation filtering
  if (track_data->age_ > 0) {
    TrackedObjectConstPtr latest_object = track_data->GetLatestObject().second;
    if (new_object->direction.dot(latest_object->direction) < 0) {
      new_object->direction *= -1;
    }
    static const double kMovingAverage = 0.6;
    new_object->direction =
        latest_object->output_direction * (1 - kMovingAverage) +
        new_object->direction * kMovingAverage;
    new_object->direction.normalize();
  }
  Eigen::Vector3f local_direction = obj->direction;
  Eigen::Vector3d local_center = obj->center;
  Eigen::Vector3f local_size = obj->size;
  obj->direction = new_object->direction.cast<float>();  // sync
  // finally, recompute object shape
  ComputeObjectShapeFromPolygon(obj, true);
  new_object->center = obj->center;
  new_object->size = obj->size.cast<double>();
  // center and size in object should not changed
  obj->center = local_center;
  obj->size = local_size;
  obj->direction = local_direction;
  new_object->output_center = new_object->center;
  new_object->output_direction = new_object->direction;
  new_object->output_size = new_object->size;
}

UpdateWithoutObject()

void apollo::perception::radar4d::MrfShapeFilter::UpdateWithoutObject ( const MrfFilterOptions &  options, double  timestamp, MrfTrackDataPtr  track_data  )

overridevirtual

Updating shape filter without object

参数

options	for updating
timestamp	current timestamp
track_data	track data to be updated

实现了 apollo::perception::radar4d::MrfBaseFilter.

在文件 mrf_shape_filter.cc 第 78 行定义.

                                                                     {
  // TODO(.)
}

类成员变量说明

bottom_points_ignore_threshold_

double apollo::perception::radar4d::MrfShapeFilter::bottom_points_ignore_threshold_ = 0.1

protected

在文件 mrf_shape_filter.h 第 68 行定义.

hull_

algorithm::ConvexHull2D<base::RadarPointDCloud, base::PolygonDType> apollo::perception::radar4d::MrfShapeFilter::hull_

protected

在文件 mrf_shape_filter.h 第 67 行定义.

top_points_ignore_threshold_

double apollo::perception::radar4d::MrfShapeFilter::top_points_ignore_threshold_ = 1.6

protected

在文件 mrf_shape_filter.h 第 69 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_shape_filter.h
• modules/perception/radar4d_detection/lib/tracker/multi_radar_fusion/mrf_shape_filter.cc