apollo::perception::base::Object结构体 参考

#include <object.h>

apollo::perception::base::Object 的协作图:

Public 成员函数
	Object ()
std::string	ToString () const
void	Reset ()

Public 属性
int	id = -1
PointCloud< PointD >	polygon
Eigen::Vector3f	direction = Eigen::Vector3f(1, 0, 0)
float	theta = 0.0f
float	theta_variance = 0.0f
Eigen::Vector3d	center = Eigen::Vector3d(0, 0, 0)
Eigen::Matrix3f	center_uncertainty
Eigen::Vector3f	size = Eigen::Vector3f(0, 0, 0)
Eigen::Vector3f	size_variance = Eigen::Vector3f(0, 0, 0)
Eigen::Vector3d	anchor_point = Eigen::Vector3d(0, 0, 0)
ObjectType	type = ObjectType::UNKNOWN
std::vector< float >	type_probs
ObjectSubType	sub_type = ObjectSubType::UNKNOWN
std::vector< float >	sub_type_probs
float	confidence = 1.0f
bool	is_front_critical = false
int	track_id = -1
Eigen::Vector3f	velocity = Eigen::Vector3f(0, 0, 0)
Eigen::Matrix3f	velocity_uncertainty
bool	velocity_converged = true
float	velocity_confidence = 1.0f
Eigen::Vector3f	acceleration = Eigen::Vector3f(0, 0, 0)
Eigen::Matrix3f	acceleration_uncertainty
double	tracking_time = 0.0
double	latest_tracked_time = 0.0
MotionState	motion_state = MotionState::UNKNOWN
std::array< Eigen::Vector3d, 100 >	drops
std::size_t	drop_num = 0
bool	b_cipv = false
CarLight	car_light
LidarObjectSupplement	lidar_supplement
Radar4dObjectSupplement	radar4d_supplement
RadarObjectSupplement	radar_supplement
CameraObjectSupplement	camera_supplement
FusionObjectSupplement	fusion_supplement

详细描述

在文件 object.h 第 34 行定义.

构造及析构函数说明

Object()

apollo::perception::base::Object::Object

(

)

在文件 object.cc 第 23 行定义.

               {
  center_uncertainty << 0.0f, 0, 0, 0, 0.0f, 0, 0, 0, 0.0f;
  velocity_uncertainty << 0.0f, 0, 0, 0, 0.0f, 0, 0, 0, 0.0f;
  acceleration_uncertainty << 0.0f, 0, 0, 0, 0.0f, 0, 0, 0, 0.0f;
  type_probs.resize(static_cast<int>(ObjectType::MAX_OBJECT_TYPE), 0);
  sub_type_probs.resize(static_cast<int>(ObjectSubType::MAX_OBJECT_TYPE), 0.0f);
  b_cipv = false;
//  feature.reset();
}

成员函数说明

Reset()

void apollo::perception::base::Object::Reset

(

)

在文件 object.cc 第 33 行定义.

                   {
  id = -1;
  polygon.clear();
  direction = Eigen::Vector3f(1.0f, 0.0f, 0.0f);
  theta = 0.0f;
  theta_variance = 0.0f;
  center = Eigen::Vector3d(0.0, 0.0, 0.0);
  center_uncertainty << 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f;
 
  size = Eigen::Vector3f(0.0f, 0.0f, 0.0f);
  size_variance = Eigen::Vector3f(0.0f, 0.0f, 0.0f);
  anchor_point = Eigen::Vector3d(0.0, 0.0, 0.0);
  type = ObjectType::UNKNOWN;
  type_probs.assign(static_cast<int>(ObjectType::MAX_OBJECT_TYPE), 0.0f);
  sub_type = ObjectSubType::UNKNOWN;
  sub_type_probs.assign(static_cast<int>(ObjectSubType::MAX_OBJECT_TYPE), 0.0f);
 
  confidence = 1.0f;
 
  is_front_critical = false;
 
  track_id = -1;
  velocity = Eigen::Vector3f(0.0f, 0.0f, 0.0f);
  velocity_uncertainty << 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f;
  velocity_converged = true;
  velocity_confidence = 1.0;
  acceleration = Eigen::Vector3f(0.0f, 0.0f, 0.0f);
  acceleration_uncertainty << 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f,
      0.0f;
 
  tracking_time = 0.0;
  latest_tracked_time = 0.0;
 
  car_light.Reset();
  motion_state = MotionState::UNKNOWN;
 
  lidar_supplement.Reset();
  radar_supplement.Reset();
  radar4d_supplement.Reset();
  camera_supplement.Reset();
  fusion_supplement.Reset();
//  feature.reset();
}

ToString()

std::string apollo::perception::base::Object::ToString

(

)

const

在文件 object.cc 第 77 行定义.

                                 {
  std::ostringstream oss;
  oss << "Object [id: " << id << ", track_id: " << track_id << ", direction: ("
      << direction[0] << "," << direction[1] << "," << direction[2]
      << "), theta: " << theta << ", theta_variance: " << theta_variance
      << ", center: (" << center[0] << "," << center[1] << "," << center[2]
      << ")"
      << ", center_uncertainty: (" << center_uncertainty(0, 0) << ","
      << center_uncertainty(0, 1) << "," << center_uncertainty(0, 2) << ","
      << center_uncertainty(1, 0) << "," << center_uncertainty(1, 1) << ","
      << center_uncertainty(1, 2) << "," << center_uncertainty(2, 0) << ","
      << center_uncertainty(2, 1) << "," << center_uncertainty(2, 2)
      << "), size: (" << size[0] << "," << size[1] << "," << size[2]
      << "), size_variance: (" << size_variance[0] << "," << size_variance[1]
      << "," << size_variance[2] << "), anchor_point: (" << anchor_point[0]
      << "," << anchor_point[1] << "," << anchor_point[2]
      << "), type: " << static_cast<int>(type) << ", confidence: " << confidence
      << ", track_id: " << track_id << ", velocity: (" << velocity[0] << ","
      << velocity[1] << "," << velocity[2]
      << "), velocity_confidence: " << velocity_confidence
      << ", acceleration: (" << acceleration[0] << "," << acceleration[1] << ","
      << acceleration[2] << "), tracking_time: " << tracking_time
      << ", latest_tracked_time: " << latest_tracked_time;
  return oss.str();
}

类成员变量说明

acceleration

Eigen::Vector3f apollo::perception::base::Object::acceleration = Eigen::Vector3f(0, 0, 0)

在文件 object.h 第 96 行定义.

acceleration_uncertainty

Eigen::Matrix3f apollo::perception::base::Object::acceleration_uncertainty

在文件 object.h 第 98 行定义.

anchor_point

Eigen::Vector3d apollo::perception::base::Object::anchor_point = Eigen::Vector3d(0, 0, 0)

在文件 object.h 第 66 行定义.

b_cipv

bool apollo::perception::base::Object::b_cipv = false

在文件 object.h 第 111 行定义.

camera_supplement

CameraObjectSupplement apollo::perception::base::Object::camera_supplement

在文件 object.h 第 118 行定义.

car_light

CarLight apollo::perception::base::Object::car_light

在文件 object.h 第 113 行定义.

center

Eigen::Vector3d apollo::perception::base::Object::center = Eigen::Vector3d(0, 0, 0)

在文件 object.h 第 56 行定义.

center_uncertainty

Eigen::Matrix3f apollo::perception::base::Object::center_uncertainty

在文件 object.h 第 58 行定义.

confidence

float apollo::perception::base::Object::confidence = 1.0f

在文件 object.h 第 79 行定义.

direction

Eigen::Vector3f apollo::perception::base::Object::direction = Eigen::Vector3f(1, 0, 0)

在文件 object.h 第 47 行定义.

drop_num

std::size_t apollo::perception::base::Object::drop_num = 0

在文件 object.h 第 109 行定义.

drops

std::array<Eigen::Vector3d, 100> apollo::perception::base::Object::drops

在文件 object.h 第 108 行定义.

fusion_supplement

FusionObjectSupplement apollo::perception::base::Object::fusion_supplement

在文件 object.h 第 119 行定义.

id

int apollo::perception::base::Object::id = -1

在文件 object.h 第 40 行定义.

is_front_critical

bool apollo::perception::base::Object::is_front_critical = false

在文件 object.h 第 82 行定义.

latest_tracked_time

double apollo::perception::base::Object::latest_tracked_time = 0.0

在文件 object.h 第 103 行定义.

lidar_supplement

LidarObjectSupplement apollo::perception::base::Object::lidar_supplement

在文件 object.h 第 115 行定义.

motion_state

MotionState apollo::perception::base::Object::motion_state = MotionState::UNKNOWN

在文件 object.h 第 106 行定义.

polygon

PointCloud<PointD> apollo::perception::base::Object::polygon

在文件 object.h 第 43 行定义.

radar4d_supplement

Radar4dObjectSupplement apollo::perception::base::Object::radar4d_supplement

在文件 object.h 第 116 行定义.

radar_supplement

RadarObjectSupplement apollo::perception::base::Object::radar_supplement

在文件 object.h 第 117 行定义.

size

Eigen::Vector3f apollo::perception::base::Object::size = Eigen::Vector3f(0, 0, 0)

在文件 object.h 第 62 行定义.

size_variance

Eigen::Vector3f apollo::perception::base::Object::size_variance = Eigen::Vector3f(0, 0, 0)

在文件 object.h 第 64 行定义.

sub_type

ObjectSubType apollo::perception::base::Object::sub_type = ObjectSubType::UNKNOWN

在文件 object.h 第 74 行定义.

sub_type_probs

std::vector<float> apollo::perception::base::Object::sub_type_probs

在文件 object.h 第 76 行定义.

theta

float apollo::perception::base::Object::theta = 0.0f

在文件 object.h 第 52 行定义.

theta_variance

float apollo::perception::base::Object::theta_variance = 0.0f

在文件 object.h 第 54 行定义.

track_id

int apollo::perception::base::Object::track_id = -1

在文件 object.h 第 86 行定义.

tracking_time

double apollo::perception::base::Object::tracking_time = 0.0

在文件 object.h 第 101 行定义.

type

ObjectType apollo::perception::base::Object::type = ObjectType::UNKNOWN

在文件 object.h 第 69 行定义.

type_probs

std::vector<float> apollo::perception::base::Object::type_probs

在文件 object.h 第 71 行定义.

velocity

Eigen::Vector3f apollo::perception::base::Object::velocity = Eigen::Vector3f(0, 0, 0)

在文件 object.h 第 88 行定义.

velocity_confidence

float apollo::perception::base::Object::velocity_confidence = 1.0f

在文件 object.h 第 94 行定义.

velocity_converged

bool apollo::perception::base::Object::velocity_converged = true

在文件 object.h 第 92 行定义.

velocity_uncertainty

Eigen::Matrix3f apollo::perception::base::Object::velocity_uncertainty

在文件 object.h 第 90 行定义.

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该结构体的文档由以下文件生成:

• modules/perception/common/base/object.h
• modules/perception/common/base/object.cc