apollo::perception::radar4d::MrfTrackData类 参考

#include <mrf_track_data.h>

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

apollo::perception::radar4d::MrfTrackData 的协作图:

Public 类型
typedef std::map< double, TrackedObjectPtr >	TimedObjects

Public 成员函数
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MrfTrackData ()=default
	~MrfTrackData ()=default
void	Reset () override
	Reset
void	Reset (TrackedObjectPtr obj, int track_id)
	Reset all data
void	PushTrackedObjectToTrack (TrackedObjectPtr obj)
	Push tracked object to track
void	PushTrackedObjectToCache (TrackedObjectPtr obj)
	Push tracked object to cache
bool	ToObject (const Eigen::Vector3d &local_to_global_offset, double timestamp, base::ObjectPtr object) const
	Convert tracked object to base object
void	RemoveStaleHistory (double timestamp)
	Remove stale history data
void	PredictState (double timestamp) const
	Predict state
void	GetAndCleanCachedObjectsInTimeInterval (std::vector< TrackedObjectPtr > *objects)
	Get and clean cached objects in time interval
std::pair< double, TrackedObjectPtr >	GetLatestSensorObject (const std::string &sensor_name)
	Get latest sensor object
std::pair< double, TrackedObjectConstPtr >	GetLatestSensorObject (const std::string &sensor_name) const
	Get latest sensor object
Public 成员函数 继承自 apollo::perception::radar4d::TrackData
	TrackData ()
	TrackData (TrackedObjectPtr obj, int track_id)
virtual	~TrackData ()
std::pair< double, TrackedObjectPtr >	GetLatestObject ()
	Get latest object
std::pair< double, TrackedObjectConstPtr >	GetLatestObject () const
	Get latest object
std::pair< double, TrackedObjectPtr >	GetOldestObject ()
	Get oldest object
std::pair< double, TrackedObjectConstPtr >	GetOldestObject () const
	Get oldest object
std::pair< double, TrackedObjectPtr >	GetHistoryObject (int idx)
	Get histroy object
std::pair< double, TrackedObjectConstPtr >	GetHistoryObject (int idx) const
	Get histroy object
virtual void	Reset (TrackedObjectPtr obj, double time, int track_id)
	Reset
virtual void	PushTrackedObjectToTrack (TrackedObjectPtr obj, double time)
	Push tracked object to track

Public 属性
std::map< std::string, TimedObjects >	sensor_history_objects_
TimedObjects	cached_objects_
MrfPredict	predict_
double	duration_ = 0.0
double	consecutive_invisible_time_ = 0.0
double	latest_visible_time_ = 0.0
double	latest_cached_time_ = 0.0
double	first_tracked_time_ = 0.0
bool	is_current_state_predicted_ = true
Public 属性 继承自 apollo::perception::radar4d::TrackData
int	track_id_ = -1
int	age_ = 0
int	consecutive_invisible_count_ = 0
int	total_visible_count_ = 0
std::map< double, TrackedObjectPtr >	history_objects_
int	max_history_size_ = 40
MotionState	motion_state_ = MotionState::STATIC
size_t	continuous_motion_frames_ = 0
size_t	continuous_static_frames_ = 0
size_t	pub_remain_frames_ = 0
bool	should_check_velocity_consistency_ = true
std::deque< double >	history_norm_variance_
std::deque< double >	history_theta_variance_

静态 Public 属性
static const double	kMaxHistoryTime = 2.0
静态 Public 属性 继承自 apollo::perception::radar4d::TrackData
static const int	kMaxHistorySize = 40

详细描述

在文件 mrf_track_data.h 第 47 行定义.

成员类型定义说明

TimedObjects

typedef std::map<double, TrackedObjectPtr> apollo::perception::radar4d::MrfTrackData::TimedObjects

在文件 mrf_track_data.h 第 151 行定义.

构造及析构函数说明

MrfTrackData()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW apollo::perception::radar4d::MrfTrackData::MrfTrackData ( )

default

~MrfTrackData()

apollo::perception::radar4d::MrfTrackData::~MrfTrackData ( )

default

成员函数说明

GetAndCleanCachedObjectsInTimeInterval()

void apollo::perception::radar4d::MrfTrackData::GetAndCleanCachedObjectsInTimeInterval

(

std::vector< TrackedObjectPtr > *

objects

)

Get and clean cached objects in time interval

参数

objects

在文件 mrf_track_data.cc 第 163 行定义.

                                          {
  objects->clear();
  auto iter = cached_objects_.begin();
  while (iter != cached_objects_.end()) {
    const auto& timestamp = iter->first;
    if (timestamp <= latest_visible_time_) {
      cached_objects_.erase(iter++);
    } else if (timestamp <= latest_cached_time_) {
      objects->push_back(iter->second);
      cached_objects_.erase(iter++);
    } else {
      break;
    }
  }
}

GetLatestSensorObject() [1/2]

std::pair< double, TrackedObjectPtr > apollo::perception::radar4d::MrfTrackData::GetLatestSensorObject ( const std::string &  sensor_name )

inline

Get latest sensor object

参数

sensor_name

返回

std::pair<double, TrackedObjectPtr>

在文件 mrf_track_data.h 第 121 行定义.

                                    {
    auto iter = sensor_history_objects_.find(sensor_name);
    if (iter != sensor_history_objects_.end()) {
      auto& history_objects = iter->second;
      if (history_objects.size() != 0) {
        return *history_objects.rbegin();
      }
    }
    return std::pair<double, TrackedObjectPtr>(0.0, TrackedObjectPtr(nullptr));
  }

GetLatestSensorObject() [2/2]

std::pair< double, TrackedObjectConstPtr > apollo::perception::radar4d::MrfTrackData::GetLatestSensorObject ( const std::string &  sensor_name ) const

inline

Get latest sensor object

参数

sensor_name

返回

std::pair<double, TrackedObjectConstPtr>

在文件 mrf_track_data.h 第 138 行定义.

                                          {
    auto iter = sensor_history_objects_.find(sensor_name);
    if (iter != sensor_history_objects_.end()) {
      auto& history_objects = iter->second;
      if (history_objects.size() != 0) {
        return *history_objects.rbegin();
      }
    }
    return std::pair<double, TrackedObjectPtr>(0.0, TrackedObjectPtr(nullptr));
  }

PredictState()

void apollo::perception::radar4d::MrfTrackData::PredictState

(

double

timestamp

)

const

Predict state

参数

timestamp

在文件 mrf_track_data.cc 第 135 行定义.

                                                      {
  if (history_objects_.empty()) {
    return;
  }
  auto latest_iter = history_objects_.rbegin();
  const double latest_time = latest_iter->first;
  const auto& latest_object = latest_iter->second;
  double time_diff = timestamp - latest_time;
 
  const Eigen::Vector3d& latest_anchor_point =
      latest_object->belief_anchor_point;
  const Eigen::Vector3d& latest_velocity = latest_object->output_velocity;
 
  predict_.state.resize(6);
  predict_.state(0) = static_cast<float>(latest_anchor_point(0) +
                                         latest_velocity(0) * time_diff);
  predict_.state(1) = static_cast<float>(latest_anchor_point(1) +
                                         latest_velocity(1) * time_diff);
  predict_.state(2) = static_cast<float>(latest_anchor_point(2) +
                                         latest_velocity(2) * time_diff);
  predict_.state(3) = static_cast<float>(latest_velocity(0));
  predict_.state(4) = static_cast<float>(latest_velocity(1));
  predict_.state(5) = static_cast<float>(latest_velocity(2));
 
  predict_.timestamp = timestamp;
  // TODO(.): predict cloud and polygon if needed in future.
}

PushTrackedObjectToCache()

void apollo::perception::radar4d::MrfTrackData::PushTrackedObjectToCache

(

TrackedObjectPtr

obj

)

Push tracked object to cache

参数

obj

在文件 mrf_track_data.cc 第 82 行定义.

                                                                {
  double timestamp = obj->object_ptr->latest_tracked_time;
  if (cached_objects_.find(timestamp) == cached_objects_.end()) {
    cached_objects_.insert(std::make_pair(timestamp, obj));
    latest_cached_time_ = timestamp;
  } else {
    AINFO << "Push object timestamp " << timestamp << " from sensor "
          << obj->sensor_info.name << " already exist in cache, ignore push.";
  }
}

PushTrackedObjectToTrack()

void apollo::perception::radar4d::MrfTrackData::PushTrackedObjectToTrack

(

TrackedObjectPtr

obj

)

Push tracked object to track

参数

obj

在文件 mrf_track_data.cc 第 48 行定义.

                                                                {
  double timestamp = obj->object_ptr->latest_tracked_time;
  if (history_objects_.find(timestamp) == history_objects_.end()) {
    auto pair = std::make_pair(timestamp, obj);
    history_objects_.insert(pair);
    sensor_history_objects_[obj->sensor_info.name].insert(pair);
    age_++;
    if (age_ == 1) {  // the first timestamp
      if (obj->is_fake) {
        AERROR << "obj is fake";
        return;
      }
      latest_visible_time_ = timestamp;
      first_tracked_time_ = timestamp;
    }
    obj->track_id = track_id_;
    obj->tracking_time = timestamp - first_tracked_time_;
    duration_ = obj->tracking_time;
    if (obj->is_fake) {
      ++consecutive_invisible_count_;
      consecutive_invisible_time_ = timestamp - latest_visible_time_;
    } else {
      consecutive_invisible_count_ = 0;
      consecutive_invisible_time_ = 0.0;
      ++total_visible_count_;
      latest_visible_time_ = timestamp;
    }
    RemoveStaleHistory(timestamp - kMaxHistoryTime);
  } else {
    AINFO << "Push object timestamp " << timestamp << " from sensor "
          << obj->sensor_info.name << " already exist in track, ignore push.";
  }
}

RemoveStaleHistory()

void apollo::perception::radar4d::MrfTrackData::RemoveStaleHistory

(

double

timestamp

)

Remove stale history data

参数

timestamp

在文件 mrf_track_data.cc 第 192 行定义.

                                                      {
  RemoveStaleDataFromMap(timestamp, &history_objects_);
  for (auto& map : sensor_history_objects_) {
    RemoveStaleDataFromMap(timestamp, &map.second);
  }
}

Reset() [1/2]

void apollo::perception::radar4d::MrfTrackData::Reset ( )

overridevirtual

Reset

重载 apollo::perception::radar4d::TrackData .

在文件 mrf_track_data.cc 第 28 行定义.

                         {
  TrackData::Reset();
  duration_ = 0.0;
  consecutive_invisible_time_ = 0.0;
  latest_visible_time_ = 0.0;
  latest_cached_time_ = 0.0;
  first_tracked_time_ = 0.0;
  is_current_state_predicted_ = true;
  sensor_history_objects_.clear();
  cached_objects_.clear();
  predict_.Reset();
//  feature_.reset();
}

Reset() [2/2]

void apollo::perception::radar4d::MrfTrackData::Reset	(	TrackedObjectPtr	obj,
		int	track_id
	)

Reset all data

参数

obj
track_id

在文件 mrf_track_data.cc 第 42 行定义.

                                                           {
  Reset();
  track_id_ = track_id;
  PushTrackedObjectToCache(obj);
}

ToObject()

bool apollo::perception::radar4d::MrfTrackData::ToObject	(	const Eigen::Vector3d &	local_to_global_offset,
		double	timestamp,
		base::ObjectPtr	object
	)		const

Convert tracked object to base object

参数

local_to_global_offset
timestamp
object

返回

true

false

在文件 mrf_track_data.cc 第 93 行定义.

                                                                          {
  if (history_objects_.empty()) {
    return false;
  }
  auto latest_iter = history_objects_.rbegin();
  const double latest_time = latest_iter->first;
  const auto& latest_object = latest_iter->second;
  latest_object->ToObject(object);
  // predict object
  double time_diff = timestamp - latest_time;
  double offset_x = time_diff * object->velocity(0) + local_to_global_offset(0);
  double offset_y = time_diff * object->velocity(1) + local_to_global_offset(1);
  double offset_z = time_diff * object->velocity(2) + local_to_global_offset(2);
  // a). update polygon
  for (auto& pt : object->polygon) {
    pt.x += offset_x;
    pt.y += offset_y;
    pt.z += offset_z;
  }
 
  // b). update center
  object->center(0) += offset_x;
  object->center(1) += offset_y;
  object->center(2) += offset_z;
  // c). update anchor point
  object->anchor_point(0) += offset_x;
  object->anchor_point(1) += offset_y;
  object->anchor_point(2) += offset_z;
  // d). update tracking timestamp
  object->tracking_time += time_diff;
  // e). update latest track timestamp
  object->latest_tracked_time += time_diff;
  // f). update cloud world in radar4d supplement
  for (auto& pt : object->radar4d_supplement.cloud_world) {
    pt.x += offset_x;
    pt.y += offset_y;
    pt.z += offset_z;
  }
  return true;
}

类成员变量说明

cached_objects_

TimedObjects apollo::perception::radar4d::MrfTrackData::cached_objects_

在文件 mrf_track_data.h 第 153 行定义.

consecutive_invisible_time_

double apollo::perception::radar4d::MrfTrackData::consecutive_invisible_time_ = 0.0

在文件 mrf_track_data.h 第 159 行定义.

duration_

double apollo::perception::radar4d::MrfTrackData::duration_ = 0.0

在文件 mrf_track_data.h 第 158 行定义.

first_tracked_time_

double apollo::perception::radar4d::MrfTrackData::first_tracked_time_ = 0.0

在文件 mrf_track_data.h 第 162 行定义.

is_current_state_predicted_

bool apollo::perception::radar4d::MrfTrackData::is_current_state_predicted_ = true

在文件 mrf_track_data.h 第 164 行定义.

kMaxHistoryTime

const double apollo::perception::radar4d::MrfTrackData::kMaxHistoryTime = 2.0

static

在文件 mrf_track_data.h 第 169 行定义.

latest_cached_time_

double apollo::perception::radar4d::MrfTrackData::latest_cached_time_ = 0.0

在文件 mrf_track_data.h 第 161 行定义.

latest_visible_time_

double apollo::perception::radar4d::MrfTrackData::latest_visible_time_ = 0.0

在文件 mrf_track_data.h 第 160 行定义.

predict_

MrfPredict apollo::perception::radar4d::MrfTrackData::predict_

mutable

在文件 mrf_track_data.h 第 156 行定义.

sensor_history_objects_

std::map<std::string, TimedObjects> apollo::perception::radar4d::MrfTrackData::sensor_history_objects_

在文件 mrf_track_data.h 第 152 行定义.

---

该类的文档由以下文件生成:

• modules/perception/radar4d_detection/lib/tracker/common/mrf_track_data.h
• modules/perception/radar4d_detection/lib/tracker/common/mrf_track_data.cc