apollo::perception::radar4d::ObjectSequence类 参考

#include <object_sequence.h>

apollo::perception::radar4d::ObjectSequence 的协作图:

Public 类型
typedef int	TrackIdKey
typedef double	TimeStampKey
typedef std::map< TimeStampKey, std::shared_ptr< apollo::perception::base::Object > >	TrackedObjects

Public 成员函数
	ObjectSequence ()=default
	~ObjectSequence ()=default
bool	AddTrackedFrameObjects (const std::vector< std::shared_ptr< perception::base::Object > > &objects, TimeStampKey timestamp)
bool	GetTrackInTemporalWindow (TrackIdKey track_id, TrackedObjects *track, TimeStampKey window_time)

Protected 成员函数
	FRIEND_TEST (FusedClassifierTest, test_one_sequence_fusion)
	FRIEND_TEST (FusedClassifierTest, test_one_sequence_fusion_bad_timestamp)
void	RemoveStaleTracks (TimeStampKey current_stamp)

Protected 属性
TimeStampKey	current_
std::map< TrackIdKey, TrackedObjects >	sequence_
std::mutex	mutex_

静态 Protected 属性
static constexpr TimeStampKey	kMaxTimeOut = 5.0

详细描述

在文件 object_sequence.h 第 31 行定义.

成员类型定义说明

TimeStampKey

typedef double apollo::perception::radar4d::ObjectSequence::TimeStampKey

在文件 object_sequence.h 第 34 行定义.

TrackedObjects

typedef std::map<TimeStampKey, std::shared_ptr<apollo::perception::base::Object> > apollo::perception::radar4d::ObjectSequence::TrackedObjects

在文件 object_sequence.h 第 37 行定义.

TrackIdKey

typedef int apollo::perception::radar4d::ObjectSequence::TrackIdKey

在文件 object_sequence.h 第 33 行定义.

构造及析构函数说明

ObjectSequence()

apollo::perception::radar4d::ObjectSequence::ObjectSequence ( )

default

~ObjectSequence()

apollo::perception::radar4d::ObjectSequence::~ObjectSequence ( )

default

成员函数说明

AddTrackedFrameObjects()

bool apollo::perception::radar4d::ObjectSequence::AddTrackedFrameObjects	(	const std::vector< std::shared_ptr< perception::base::Object > > &	objects,
		TimeStampKey	timestamp
	)

FRIEND_TEST() [1/2]

apollo::perception::radar4d::ObjectSequence::FRIEND_TEST ( FusedClassifierTest  , test_one_sequence_fusion    )

protected

FRIEND_TEST() [2/2]

apollo::perception::radar4d::ObjectSequence::FRIEND_TEST ( FusedClassifierTest  , test_one_sequence_fusion_bad_timestamp    )

protected

GetTrackInTemporalWindow()

bool apollo::perception::radar4d::ObjectSequence::GetTrackInTemporalWindow	(	TrackIdKey	track_id,
		TrackedObjects *	track,
		TimeStampKey	window_time
	)

在文件 object_sequence.cc 第 49 行定义.

                                                                        {
  if (track == nullptr) {
    return false;
  }
  track->clear();
  std::lock_guard<std::mutex> lock(mutex_);
  double start_time = current_ - window_time;
  auto iter = sequence_.find(track_id);
  if (iter == sequence_.end()) {
    return false;
  }
  for (auto& tobj : iter->second) {
    if (tobj.first >= start_time) {
      track->insert(tobj);
    }
  }
  return true;
}

RemoveStaleTracks()

void apollo::perception::radar4d::ObjectSequence::RemoveStaleTracks ( TimeStampKey  current_stamp )

protected

在文件 object_sequence.cc 第 70 行定义.

                                                                 {
  for (auto outer_iter = sequence_.begin(); outer_iter != sequence_.end();) {
    if (outer_iter->second.empty()) {
      AERROR << "Found empty tracks";
      continue;
    }
    auto& track = outer_iter->second;
 
    if (current_stamp - track.rbegin()->first > kMaxTimeOut) {
      sequence_.erase(outer_iter++);
      continue;
    }
    for (auto inner_iter = track.begin(); inner_iter != track.end();) {
      if (current_stamp - inner_iter->first > kMaxTimeOut) {
        track.erase(inner_iter++);
        continue;
      } else {
        break;
      }
    }
    if (track.empty()) {  // all element removed
      sequence_.erase(outer_iter++);
    } else {
      ++outer_iter;
    }
  }
}

类成员变量说明

current_

TimeStampKey apollo::perception::radar4d::ObjectSequence::current_

protected

在文件 object_sequence.h 第 55 行定义.

kMaxTimeOut

constexpr TimeStampKey apollo::perception::radar4d::ObjectSequence::kMaxTimeOut = 5.0

staticconstexprprotected

在文件 object_sequence.h 第 58 行定义.

mutex_

std::mutex apollo::perception::radar4d::ObjectSequence::mutex_

protected

在文件 object_sequence.h 第 57 行定义.

sequence_

std::map<TrackIdKey, TrackedObjects> apollo::perception::radar4d::ObjectSequence::sequence_

protected

在文件 object_sequence.h 第 56 行定义.

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该类的文档由以下文件生成:

• modules/perception/common/radar/common/object_sequence.h
• modules/perception/common/radar/common/object_sequence.cc