apollo::perception::fusion::DstMaps结构体 参考

#include <dst_type_fusion.h>

apollo::perception::fusion::DstMaps 的协作图:

Public 类型
enum	{   PEDESTRIAN = (1 << 0) , BICYCLE = (1 << 1) , VEHICLE = (1 << 2) , OTHERS_MOVABLE = (1 << 3) ,   OTHERS_UNMOVABLE = (1 << 4) }
enum	{ OTHERS = (OTHERS_MOVABLE | OTHERS_UNMOVABLE) , UNKNOWN = (PEDESTRIAN | BICYCLE | VEHICLE | OTHERS) }

Public 属性
std::vector< uint64_t >	fod_subsets_
std::vector< std::string >	subset_names_
std::unordered_map< size_t, uint64_t >	typ_to_hyp_map_
std::map< uint64_t, size_t >	hyp_to_typ_map_

详细描述

在文件 dst_type_fusion.h 第 31 行定义.

成员枚举类型说明

anonymous enum

anonymous enum

枚举值
PEDESTRIAN
BICYCLE
VEHICLE
OTHERS_MOVABLE
OTHERS_UNMOVABLE

在文件 dst_type_fusion.h 第 33 行定义.

       {
    PEDESTRIAN = (1 << 0),
    BICYCLE = (1 << 1),
    VEHICLE = (1 << 2),
    OTHERS_MOVABLE = (1 << 3),
    OTHERS_UNMOVABLE = (1 << 4)
  };

anonymous enum

anonymous enum

枚举值
OTHERS
UNKNOWN

在文件 dst_type_fusion.h 第 40 行定义.

       {
    OTHERS = (OTHERS_MOVABLE | OTHERS_UNMOVABLE),
    UNKNOWN = (PEDESTRIAN | BICYCLE | VEHICLE | OTHERS)
  };

类成员变量说明

fod_subsets_

std::vector<uint64_t> apollo::perception::fusion::DstMaps::fod_subsets_

初始值:

= {
      PEDESTRIAN,       BICYCLE, VEHICLE, OTHERS_MOVABLE,
      OTHERS_UNMOVABLE, OTHERS,  UNKNOWN}

在文件 dst_type_fusion.h 第 45 行定义.

                                     {
      PEDESTRIAN,       BICYCLE, VEHICLE, OTHERS_MOVABLE,
      OTHERS_UNMOVABLE, OTHERS,  UNKNOWN};

hyp_to_typ_map_

std::map<uint64_t, size_t> apollo::perception::fusion::DstMaps::hyp_to_typ_map_

初始值:

= {
      {PEDESTRIAN, static_cast<size_t>(base::ObjectType::PEDESTRIAN)},
      {BICYCLE, static_cast<size_t>(base::ObjectType::BICYCLE)},
      {VEHICLE, static_cast<size_t>(base::ObjectType::VEHICLE)},
      {OTHERS_MOVABLE, static_cast<size_t>(base::ObjectType::UNKNOWN_MOVABLE)},
      {OTHERS_UNMOVABLE,
       static_cast<size_t>(base::ObjectType::UNKNOWN_UNMOVABLE)},
      {OTHERS, static_cast<size_t>(base::ObjectType::UNKNOWN)},
      {UNKNOWN, static_cast<size_t>(base::ObjectType::UNKNOWN)}}

在文件 dst_type_fusion.h 第 60 行定义.

                                             {
      {PEDESTRIAN, static_cast<size_t>(base::ObjectType::PEDESTRIAN)},
      {BICYCLE, static_cast<size_t>(base::ObjectType::BICYCLE)},
      {VEHICLE, static_cast<size_t>(base::ObjectType::VEHICLE)},
      {OTHERS_MOVABLE, static_cast<size_t>(base::ObjectType::UNKNOWN_MOVABLE)},
      {OTHERS_UNMOVABLE,
       static_cast<size_t>(base::ObjectType::UNKNOWN_UNMOVABLE)},
      {OTHERS, static_cast<size_t>(base::ObjectType::UNKNOWN)},
      {UNKNOWN, static_cast<size_t>(base::ObjectType::UNKNOWN)}};

subset_names_

std::vector<std::string> apollo::perception::fusion::DstMaps::subset_names_

初始值:

= {
      "PEDESTRIAN",       "BICYCLE", "VEHICLE", "OTHERS_MOVABLE",
      "OTHERS_UNMOVABLE", "OTHERS",  "UNKNOWN"}

在文件 dst_type_fusion.h 第 48 行定义.

                                       {
      "PEDESTRIAN",       "BICYCLE", "VEHICLE", "OTHERS_MOVABLE",
      "OTHERS_UNMOVABLE", "OTHERS",  "UNKNOWN"};

typ_to_hyp_map_

std::unordered_map<size_t, uint64_t> apollo::perception::fusion::DstMaps::typ_to_hyp_map_

初始值:

= {
      {static_cast<size_t>(base::ObjectType::PEDESTRIAN), PEDESTRIAN},
      {static_cast<size_t>(base::ObjectType::BICYCLE), BICYCLE},
      {static_cast<size_t>(base::ObjectType::VEHICLE), VEHICLE},
      {static_cast<size_t>(base::ObjectType::UNKNOWN_MOVABLE), OTHERS_MOVABLE},
      {static_cast<size_t>(base::ObjectType::UNKNOWN_UNMOVABLE),
       OTHERS_UNMOVABLE},
      {static_cast<size_t>(base::ObjectType::UNKNOWN), OTHERS},
  }

在文件 dst_type_fusion.h 第 51 行定义.

                                                       {
      {static_cast<size_t>(base::ObjectType::PEDESTRIAN), PEDESTRIAN},
      {static_cast<size_t>(base::ObjectType::BICYCLE), BICYCLE},
      {static_cast<size_t>(base::ObjectType::VEHICLE), VEHICLE},
      {static_cast<size_t>(base::ObjectType::UNKNOWN_MOVABLE), OTHERS_MOVABLE},
      {static_cast<size_t>(base::ObjectType::UNKNOWN_UNMOVABLE),
       OTHERS_UNMOVABLE},
      {static_cast<size_t>(base::ObjectType::UNKNOWN), OTHERS},
  };

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该结构体的文档由以下文件生成:

• modules/perception/multi_sensor_fusion/fusion/data_fusion/type_fusion/dst_type_fusion/dst_type_fusion.h