apollo::perception::lidar::MlfEngine Class Reference

#include <mlf_engine.h>

Inheritance diagram for apollo::perception::lidar::MlfEngine:

Collaboration diagram for apollo::perception::lidar::MlfEngine:

Public Member Functions
	MlfEngine ()=default
virtual	~MlfEngine ()=default
bool	Init (const MultiTargetTrackerInitOptions &options=MultiTargetTrackerInitOptions()) override
bool	Track (const MultiTargetTrackerOptions &options, LidarFrame *frame) override
std::string	Name () const override
Public Member Functions inherited from apollo::perception::lidar::BaseMultiTargetTracker
	BaseMultiTargetTracker ()=default
virtual	~BaseMultiTargetTracker ()=default

Protected Member Functions
void	SplitAndTransformToTrackedObjects (const std::vector< base::ObjectPtr > &objects, const base::SensorInfo &sensor_info)
void	TrackObjectMatchAndAssign (const MlfTrackObjectMatcherOptions &match_options, const std::vector< TrackedObjectPtr > &objects, const std::string &name, std::vector< MlfTrackDataPtr > *tracks)
void	TrackStateFilter (const std::vector< MlfTrackDataPtr > &tracks, double frame_timestamp)
void	CollectTrackedResult (LidarFrame *frame)
void	RemoveStaleTrackData (const std::string &name, double timestamp, std::vector< MlfTrackDataPtr > *tracks)

Protected Attributes
std::vector< MlfTrackDataPtr >	foreground_track_data_
std::vector< MlfTrackDataPtr >	background_track_data_
std::vector< TrackedObjectPtr >	foreground_objects_
std::vector< TrackedObjectPtr >	background_objects_
std::unique_ptr< MlfTracker >	tracker_
std::unique_ptr< MlfTrackObjectMatcher >	matcher_
Eigen::Vector3d	global_to_local_offset_
Eigen::Affine3d	sensor_to_local_pose_
std::set< std::string >	main_sensor_
bool	use_histogram_for_match_ = true
size_t	histogram_bin_size_ = 10
bool	output_predict_objects_ = false
double	reserved_invisible_time_ = 0.3
bool	use_frame_timestamp_ = false
apollo::prediction::ObstaclesContainer	obstacle_container_
apollo::prediction::PoseContainer	pose_container_
apollo::perception::onboard::MsgSerializer	serializer_
bool	use_semantic_map_ = false

Constructor & Destructor Documentation

MlfEngine()

apollo::perception::lidar::MlfEngine::MlfEngine ( )

default

~MlfEngine()

virtual apollo::perception::lidar::MlfEngine::~MlfEngine ( )

virtualdefault

Member Function Documentation

CollectTrackedResult()

void apollo::perception::lidar::MlfEngine::CollectTrackedResult ( LidarFrame *  frame )

protected

Init()

bool apollo::perception::lidar::MlfEngine::Init ( const MultiTargetTrackerInitOptions &  options = MultiTargetTrackerInitOptions() )

overridevirtual

Implements apollo::perception::lidar::BaseMultiTargetTracker.

Name()

std::string apollo::perception::lidar::MlfEngine::Name ( ) const

inlineoverridevirtual

Implements apollo::perception::lidar::BaseMultiTargetTracker.

RemoveStaleTrackData()

void apollo::perception::lidar::MlfEngine::RemoveStaleTrackData ( const std::string &  name, double  timestamp, std::vector< MlfTrackDataPtr > *  tracks  )

protected

SplitAndTransformToTrackedObjects()

void apollo::perception::lidar::MlfEngine::SplitAndTransformToTrackedObjects ( const std::vector< base::ObjectPtr > &  objects, const base::SensorInfo &  sensor_info  )

protected

Track()

bool apollo::perception::lidar::MlfEngine::Track ( const MultiTargetTrackerOptions &  options, LidarFrame *  frame  )

overridevirtual

Implements apollo::perception::lidar::BaseMultiTargetTracker.

TrackObjectMatchAndAssign()

void apollo::perception::lidar::MlfEngine::TrackObjectMatchAndAssign ( const MlfTrackObjectMatcherOptions &  match_options, const std::vector< TrackedObjectPtr > &  objects, const std::string &  name, std::vector< MlfTrackDataPtr > *  tracks  )

protected

TrackStateFilter()

void apollo::perception::lidar::MlfEngine::TrackStateFilter ( const std::vector< MlfTrackDataPtr > &  tracks, double  frame_timestamp  )

protected

Member Data Documentation

background_objects_

std::vector<TrackedObjectPtr> apollo::perception::lidar::MlfEngine::background_objects_

protected

background_track_data_

std::vector<MlfTrackDataPtr> apollo::perception::lidar::MlfEngine::background_track_data_

protected

foreground_objects_

std::vector<TrackedObjectPtr> apollo::perception::lidar::MlfEngine::foreground_objects_

protected

foreground_track_data_

std::vector<MlfTrackDataPtr> apollo::perception::lidar::MlfEngine::foreground_track_data_

protected

global_to_local_offset_

Eigen::Vector3d apollo::perception::lidar::MlfEngine::global_to_local_offset_

protected

histogram_bin_size_

size_t apollo::perception::lidar::MlfEngine::histogram_bin_size_ = 10

protected

main_sensor_

std::set<std::string> apollo::perception::lidar::MlfEngine::main_sensor_

protected

matcher_

std::unique_ptr<MlfTrackObjectMatcher> apollo::perception::lidar::MlfEngine::matcher_

protected

obstacle_container_

apollo::prediction::ObstaclesContainer apollo::perception::lidar::MlfEngine::obstacle_container_

protected

output_predict_objects_

bool apollo::perception::lidar::MlfEngine::output_predict_objects_ = false

protected

pose_container_

apollo::prediction::PoseContainer apollo::perception::lidar::MlfEngine::pose_container_

protected

reserved_invisible_time_

double apollo::perception::lidar::MlfEngine::reserved_invisible_time_ = 0.3

protected

sensor_to_local_pose_

Eigen::Affine3d apollo::perception::lidar::MlfEngine::sensor_to_local_pose_

protected

serializer_

apollo::perception::onboard::MsgSerializer apollo::perception::lidar::MlfEngine::serializer_

protected

tracker_

std::unique_ptr<MlfTracker> apollo::perception::lidar::MlfEngine::tracker_

protected

use_frame_timestamp_

bool apollo::perception::lidar::MlfEngine::use_frame_timestamp_ = false

protected

use_histogram_for_match_

bool apollo::perception::lidar::MlfEngine::use_histogram_for_match_ = true

protected

use_semantic_map_

bool apollo::perception::lidar::MlfEngine::use_semantic_map_ = false

protected

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The documentation for this class was generated from the following file:

• modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_engine.h