apollo::perception::lidar::MlfTrackObjectMatcher Class Reference

#include <mlf_track_object_matcher.h>

Collaboration diagram for apollo::perception::lidar::MlfTrackObjectMatcher:

Public Member Functions
	MlfTrackObjectMatcher ()=default
	~MlfTrackObjectMatcher ()=default
bool	Init (const MlfTrackObjectMatcherInitOptions &options=MlfTrackObjectMatcherInitOptions())
void	Match (const MlfTrackObjectMatcherOptions &options, const std::vector< TrackedObjectPtr > &objects, const std::vector< MlfTrackDataPtr > &tracks, std::vector< std::pair< size_t, size_t >> *assignments, std::vector< size_t > *unassigned_tracks, std::vector< size_t > *unassigned_objects)
std::string	Name () const

Protected Member Functions
void	ComputeAssociateMatrix (const std::vector< MlfTrackDataPtr > &tracks, const std::vector< TrackedObjectPtr > &new_objects, common::SecureMat< float > *association_mat)

Protected Attributes
std::unique_ptr< MlfTrackObjectDistance >	track_object_distance_
BaseBipartiteGraphMatcher *	foreground_matcher_
BaseBipartiteGraphMatcher *	background_matcher_
float	bound_value_ = 100.f
float	max_match_distance_ = 4.0f
bool	use_semantic_map = false

Constructor & Destructor Documentation

MlfTrackObjectMatcher()

apollo::perception::lidar::MlfTrackObjectMatcher::MlfTrackObjectMatcher ( )

default

~MlfTrackObjectMatcher()

apollo::perception::lidar::MlfTrackObjectMatcher::~MlfTrackObjectMatcher ( )

default

Member Function Documentation

ComputeAssociateMatrix()

void apollo::perception::lidar::MlfTrackObjectMatcher::ComputeAssociateMatrix ( const std::vector< MlfTrackDataPtr > &  tracks, const std::vector< TrackedObjectPtr > &  new_objects, common::SecureMat< float > *  association_mat  )

protected

Init()

bool apollo::perception::lidar::MlfTrackObjectMatcher::Init

(

const MlfTrackObjectMatcherInitOptions &

options = MlfTrackObjectMatcherInitOptions()

)

Match()

void apollo::perception::lidar::MlfTrackObjectMatcher::Match	(	const MlfTrackObjectMatcherOptions &	options,
		const std::vector< TrackedObjectPtr > &	objects,
		const std::vector< MlfTrackDataPtr > &	tracks,
		std::vector< std::pair< size_t, size_t >> *	assignments,
		std::vector< size_t > *	unassigned_tracks,
		std::vector< size_t > *	unassigned_objects
	)

Name()

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

inline

Member Data Documentation

background_matcher_

BaseBipartiteGraphMatcher* apollo::perception::lidar::MlfTrackObjectMatcher::background_matcher_

protected

bound_value_

float apollo::perception::lidar::MlfTrackObjectMatcher::bound_value_ = 100.f

protected

foreground_matcher_

BaseBipartiteGraphMatcher* apollo::perception::lidar::MlfTrackObjectMatcher::foreground_matcher_

protected

max_match_distance_

float apollo::perception::lidar::MlfTrackObjectMatcher::max_match_distance_ = 4.0f

protected

track_object_distance_

std::unique_ptr<MlfTrackObjectDistance> apollo::perception::lidar::MlfTrackObjectMatcher::track_object_distance_

protected

use_semantic_map

bool apollo::perception::lidar::MlfTrackObjectMatcher::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_track_object_matcher.h