apollo::perception::radar4d::TrackData类 参考

#include <track_data.h>

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

apollo::perception::radar4d::TrackData 的协作图:

Public 成员函数
	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 ()
	Reset
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
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 int	kMaxHistorySize = 40

详细描述

在文件 track_data.h 第 35 行定义.

构造及析构函数说明

TrackData() [1/2]

apollo::perception::radar4d::TrackData::TrackData

(

)

在文件 track_data.cc 第 24 行定义.

{ Reset(); }

TrackData() [2/2]

apollo::perception::radar4d::TrackData::TrackData	(	TrackedObjectPtr	obj,
		int	track_id
	)

在文件 track_data.cc 第 26 行定义.

{}

~TrackData()

apollo::perception::radar4d::TrackData::~TrackData ( )

virtual

在文件 track_data.cc 第 28 行定义.

{}

成员函数说明

GetHistoryObject() [1/2]

std::pair< double, TrackedObjectPtr > apollo::perception::radar4d::TrackData::GetHistoryObject

(

int

idx

)

Get histroy object

参数

idx	when idx > 0, get object from oldest when idx <= 0, get object from latest when abs_idx is large than history size, return farest object close to idx

返回

std::pair<double, TrackedObjectPtr>

在文件 track_data.cc 第 30 行定义.

                                                                     {
  if (history_objects_.empty()) {
    AWARN << "no object in track";
    return std::pair<double, TrackedObjectPtr>(0.0, TrackedObjectPtr(nullptr));
  }
  int max_idx = std::abs(idx) >= static_cast<int>(history_objects_.size())
                    ? static_cast<int>(history_objects_.size()) - 1
                    : abs(idx);
  // from oldest
  if (idx > 0) {
    std::map<double, TrackedObjectPtr>::iterator cur_obj =
        history_objects_.begin();
    for (int i = 0; i < max_idx; ++i) {
      ++cur_obj;
    }
    return *cur_obj;
  } else {
    std::map<double, TrackedObjectPtr>::reverse_iterator cur_obj =
        history_objects_.rbegin();
    for (int i = 0; i < max_idx; ++i) {
      ++cur_obj;
    }
    return *cur_obj;
  }
}

GetHistoryObject() [2/2]

std::pair< double, TrackedObjectConstPtr > apollo::perception::radar4d::TrackData::GetHistoryObject

(

int

idx

)

const

Get histroy object

参数

idx

返回

std::pair<double, TrackedObjectConstPtr>

在文件 track_data.cc 第 56 行定义.

                   {
  if (history_objects_.empty()) {
    AINFO << "no object in track";
    return std::pair<double, TrackedObjectPtr>(0.0, TrackedObjectPtr(nullptr));
  }
  int max_idx = static_cast<size_t>(abs(idx)) >= history_objects_.size()
                    ? static_cast<int>(history_objects_.size()) - 1
                    : abs(idx);
  // from oldest
  if (idx > 0) {
    std::map<double, TrackedObjectPtr>::const_iterator cur_obj =
        history_objects_.cbegin();
    for (int i = 0; i < max_idx; ++i) {
      ++cur_obj;
    }
    return *cur_obj;
  } else {
    std::map<double, TrackedObjectPtr>::const_reverse_iterator cur_obj =
        history_objects_.crbegin();
    for (int i = 0; i < max_idx; ++i) {
      ++cur_obj;
    }
    return *cur_obj;
  }
}

GetLatestObject() [1/2]

std::pair< double, TrackedObjectPtr > apollo::perception::radar4d::TrackData::GetLatestObject ( )

inline

Get latest object

返回

std::pair<double, TrackedObjectPtr>

在文件 track_data.h 第 45 行定义.

                                                      {
    if (history_objects_.size() != 0) {
      return *history_objects_.rbegin();
    }
    return std::pair<double, TrackedObjectPtr>(0.0, TrackedObjectPtr(nullptr));
  }

GetLatestObject() [2/2]

std::pair< double, TrackedObjectConstPtr > apollo::perception::radar4d::TrackData::GetLatestObject ( ) const

inline

Get latest object

返回

std::pair<double, TrackedObjectConstPtr>

在文件 track_data.h 第 56 行定义.

                                                                 {
    if (history_objects_.size() != 0) {
      return *history_objects_.rbegin();
    }
    return std::pair<double, TrackedObjectPtr>(0.0, TrackedObjectPtr(nullptr));
  }

GetOldestObject() [1/2]

std::pair< double, TrackedObjectPtr > apollo::perception::radar4d::TrackData::GetOldestObject ( )

inline

Get oldest object

返回

std::pair<double, TrackedObjectPtr>

在文件 track_data.h 第 67 行定义.

                                                      {
    if (history_objects_.size() != 0) {
      return *history_objects_.begin();
    }
    return std::pair<double, TrackedObjectPtr>(0.0, TrackedObjectPtr(nullptr));
  }

GetOldestObject() [2/2]

std::pair< double, TrackedObjectConstPtr > apollo::perception::radar4d::TrackData::GetOldestObject ( ) const

inline

Get oldest object

返回

std::pair<double, TrackedObjectConstPtr>

在文件 track_data.h 第 78 行定义.

                                                                 {
    if (history_objects_.size() != 0) {
      return *history_objects_.begin();
    }
    return std::pair<double, TrackedObjectPtr>(0.0, TrackedObjectPtr(nullptr));
  }

PushTrackedObjectToTrack()

void apollo::perception::radar4d::TrackData::PushTrackedObjectToTrack ( TrackedObjectPtr  obj, double  time  )

virtual

Push tracked object to track

参数

obj
time

在文件 track_data.cc 第 105 行定义.

                                                                          {
  if (history_objects_.find(time) == history_objects_.end()) {
    history_objects_.insert(std::make_pair(time, obj));
    age_++;
    obj->track_id = track_id_;
    obj->tracking_time = time - history_objects_.begin()->first;
    if (obj->is_fake) {
      ++consecutive_invisible_count_;
    } else {
      consecutive_invisible_count_ = 0;
      ++total_visible_count_;
    }
    if (history_objects_.size() > kMaxHistorySize) {
      history_objects_.erase(history_objects_.begin());
    }
  } else {
    AWARN << "push object time " << time
          << " already exist in track, ignore insert.";
  }
}

Reset() [1/2]

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

virtual

Reset

被 apollo::perception::radar4d::MrfTrackData 重载.

在文件 track_data.cc 第 83 行定义.

                      {
  track_id_ = -1;
  age_ = 0;
  consecutive_invisible_count_ = 0;
  total_visible_count_ = 0;
  max_history_size_ = 40;
  history_objects_.clear();
  motion_state_ = MotionState::STATIC;
  continuous_motion_frames_ = 0;
  continuous_static_frames_ = 0;
  pub_remain_frames_ = 0;
  should_check_velocity_consistency_ = true;
  history_norm_variance_.clear();
  history_theta_variance_.clear();
}

Reset() [2/2]

void apollo::perception::radar4d::TrackData::Reset ( TrackedObjectPtr  obj, double  time, int  track_id  )

virtual

Reset

参数

obj
time
track_id

在文件 track_data.cc 第 99 行定义.

                                                                     {
  Reset();
  track_id_ = track_id;
  PushTrackedObjectToTrack(obj, time);
}

类成员变量说明

age_

int apollo::perception::radar4d::TrackData::age_ = 0

在文件 track_data.h 第 126 行定义.

consecutive_invisible_count_

int apollo::perception::radar4d::TrackData::consecutive_invisible_count_ = 0

在文件 track_data.h 第 127 行定义.

continuous_motion_frames_

size_t apollo::perception::radar4d::TrackData::continuous_motion_frames_ = 0

在文件 track_data.h 第 135 行定义.

continuous_static_frames_

size_t apollo::perception::radar4d::TrackData::continuous_static_frames_ = 0

在文件 track_data.h 第 136 行定义.

history_norm_variance_

std::deque<double> apollo::perception::radar4d::TrackData::history_norm_variance_

在文件 track_data.h 第 146 行定义.

history_objects_

std::map<double, TrackedObjectPtr> apollo::perception::radar4d::TrackData::history_objects_

在文件 track_data.h 第 130 行定义.

history_theta_variance_

std::deque<double> apollo::perception::radar4d::TrackData::history_theta_variance_

在文件 track_data.h 第 147 行定义.

kMaxHistorySize

const int apollo::perception::radar4d::TrackData::kMaxHistorySize = 40

static

在文件 track_data.h 第 129 行定义.

max_history_size_

int apollo::perception::radar4d::TrackData::max_history_size_ = 40

在文件 track_data.h 第 131 行定义.

motion_state_

MotionState apollo::perception::radar4d::TrackData::motion_state_ = MotionState::STATIC

在文件 track_data.h 第 134 行定义.

pub_remain_frames_

size_t apollo::perception::radar4d::TrackData::pub_remain_frames_ = 0

在文件 track_data.h 第 140 行定义.

should_check_velocity_consistency_

bool apollo::perception::radar4d::TrackData::should_check_velocity_consistency_ = true

在文件 track_data.h 第 144 行定义.

total_visible_count_

int apollo::perception::radar4d::TrackData::total_visible_count_ = 0

在文件 track_data.h 第 128 行定义.

track_id_

int apollo::perception::radar4d::TrackData::track_id_ = -1

在文件 track_data.h 第 125 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/common/track_data.h
• modules/perception/radar4d_detection/lib/tracker/common/track_data.cc