Apollo  6.0
Open source self driving car software
Classes | Typedefs | Functions | Variables
apollo::perception::fusion Namespace Reference

Classes

struct  AssociationOptions
 
struct  AssociationResult
 
class  BaseDataAssociation
 
class  BaseExistenceFusion
 
class  BaseFilter
 
class  BaseFusionSystem
 
class  BaseGatekeeper
 
struct  BaseInitOptions
 
class  BaseMotionFusion
 
class  BaseMultiSensorFusion
 
class  BaseShapeFusion
 
class  BaseTracker
 
class  BaseTypeFusion
 
class  Dst
 
struct  DstCommonData
 
class  DstExistenceFusion
 
struct  DstExistenceFusionOptions
 
class  DstManager
 
struct  DstMaps
 
class  DstTypeFusion
 
struct  DstTypeFusionOptions
 
class  DummyDataAssociation
 
class  DummyFusionSystem
 
class  DummyTracker
 
struct  ExistenceDstMaps
 
class  FusedObject
 
struct  FusionInitOptions
 
struct  FusionOptions
 
struct  FusionParams
 
class  HMTrackersObjectsAssociation
 
struct  HSimilarityParams
 
class  InformationFilter
 
class  KalmanFilter
 
class  KalmanMotionFusion
 
struct  LocSimilarityParams
 
class  ObstacleMultiSensorFusion
 
struct  ObstacleMultiSensorFusionParam
 
class  PbfGatekeeper
 
struct  PbfGatekeeperParams
 
class  PbfShapeFusion
 
class  PbfTracker
 
class  ProbabilisticFusion
 
class  ProjectionCache
 
class  ProjectionCacheFrame
 
class  ProjectionCacheObject
 
class  Scene
 
class  Sensor
 
class  SensorDataManager
 
class  SensorFrame
 
struct  SensorFrameHeader
 
class  SensorObject
 
struct  ToicDstMaps
 
class  Track
 
struct  TrackerOptions
 
struct  TrackInitializer
 
class  TrackObjectDistance
 
struct  TrackObjectDistanceOptions
 
struct  WSimilarityParams
 
struct  XSimilarityParams
 
struct  YSimilarityParams
 

Typedefs

typedef std::shared_ptr< SensorFrameHeader > SensorFrameHeaderPtr
 
typedef std::shared_ptr< const SensorFrameHeader > SensorFrameHeaderConstPtr
 
typedef std::shared_ptr< SensorFrame > SensorFramePtr
 
typedef std::shared_ptr< const SensorFrame > SensorFrameConstPtr
 
typedef std::shared_ptr< Sensor > SensorPtr
 
typedef std::shared_ptr< const Sensor > SensorConstPtr
 
typedef std::shared_ptr< Scene > ScenePtr
 
typedef std::shared_ptr< const Scene > SceneConstPtr
 
typedef std::shared_ptr< SensorObject > SensorObjectPtr
 
typedef std::shared_ptr< const SensorObject > SensorObjectConstPtr
 
typedef std::shared_ptr< FusedObject > FusedObjectPtr
 
typedef std::map< std::string, SensorObjectPtr > SensorId2ObjectMap
 
typedef std::shared_ptr< Track > TrackPtr
 
typedef std::shared_ptr< const Track > TrackConstPtr
 
typedef base::ConcurrentObjectPool< Track, kTrackPoolSize, TrackInitializer > TrackPool
 
typedef DstCommonData * DstCommonDataPtr
 
typedef ProjectionCache * ProjectionCachePtr
 
typedef std::pair< size_t, size_t > TrackMeasurmentPair
 

Functions

bool GetFusionInitOptions (const std::string &module_name, BaseInitOptions *options)
 
bool IsLidar (const SensorObjectConstPtr &obj)
 
bool IsRadar (const SensorObjectConstPtr &obj)
 
bool IsCamera (const SensorObjectConstPtr &obj)
 
void GetObjectEightVertices (std::shared_ptr< const base::Object > obj, std::vector< Eigen::Vector3d > *vertices)
 
template<typename VectorType >
bool IsPtInFrustum (const VectorType &pt, double width, double height)
 
template<typename Type >
Type CalculateAugmentedIOUBBox (const base::BBox2D< Type > &box1, const base::BBox2D< Type > &box2, const Type &augmented_buffer)
 
bool Pt3dToCamera2d (const Eigen::Vector3d &pt3d, const Eigen::Matrix4d &world2camera_pose, base::BaseCameraModelPtr camera_model, Eigen::Vector2d *pt2d)
 
bool IsObjectEightVerticesAllBehindCamera (const std::shared_ptr< const base::Object > &obj, const Eigen::Matrix4d &world2camera_pose, base::BaseCameraModelPtr camera_model)
 
float ObjectInCameraView (SensorObjectConstPtr sensor_object, base::BaseCameraModelPtr camera_model, const Eigen::Affine3d &camera_sensor2world_pose, double camera_ts, double camera_max_dist, bool motion_compensation, bool all_in)
 
double ChiSquaredCdf1TableFun (double dist)
 
double ChiSquaredCdf2TableFun (double dist)
 
template<typename T >
T Bound (const T &value, const T &max_value, const T &min_value)
 
double BoundedScalePositiveProbability (double p, double max_p, double min_p)
 
double ScalePositiveProbability (double p, double max_p, double th_p)
 
double WelshVarLossFun (double dist, double th, double scale)
 
double FuseTwoProbabilities (double prob1, double prob2)
 
double FuseMultipleProbabilities (const std::vector< double > &probs)
 
double ComputePtsBoxLocationSimilarity (const ProjectionCachePtr &cache, const ProjectionCacheObject *object, const base::BBox2DF &camera_bbox)
 
double ComputePtsBoxShapeSimilarity (const ProjectionCachePtr &cache, const ProjectionCacheObject *object, const base::BBox2DF &camera_bbox)
 
double ComputePtsBoxSimilarity (const ProjectionCachePtr &cache, const ProjectionCacheObject *object, const base::BBox2DF &camera_bbox)
 
double ComputeRadarCameraXSimilarity (const double velo_ct_x, const double camera_ct_x, const double size_x, const XSimilarityParams &params)
 
double ComputeRadarCameraYSimilarity (const double velo_ct_y, const double camera_ct_y, const double size_y, const YSimilarityParams &params)
 
double ComputeRadarCameraHSimilarity (const SensorObjectConstPtr &radar, const SensorObjectConstPtr &camera, const double size_y, const std::vector< Eigen::Vector2d > &radar_box2d_vertices, const HSimilarityParams &params)
 
double ComputeRadarCameraWSimilarity (const SensorObjectConstPtr &radar, const double width, const double size_x, const std::vector< Eigen::Vector2d > &radar_box2d_vertices, const WSimilarityParams &params)
 
double ComputeRadarCameraLocSimilarity (const Eigen::Vector3d &radar_ct, const SensorObjectConstPtr &camera, const Eigen::Matrix4d &world2camera_pose, const LocSimilarityParams &params)
 
double ComputeRadarCameraVelocitySimilarity (const SensorObjectConstPtr &radar, const SensorObjectConstPtr &camera)
 
 PERCEPTION_REGISTER_REGISTERER (BaseFusionSystem)
 
 PERCEPTION_REGISTER_REGISTERER (BaseMultiSensorFusion)
 

Variables

struct apollo::perception::fusion::SensorFrameHeader EIGEN_ALIGN16
 

Typedef Documentation

◆ DstCommonDataPtr

typedef DstCommonData* apollo::perception::fusion::DstCommonDataPtr

◆ FusedObjectPtr

typedef std::shared_ptr<FusedObject> apollo::perception::fusion::FusedObjectPtr

◆ ProjectionCachePtr

typedef ProjectionCache* apollo::perception::fusion::ProjectionCachePtr

◆ SceneConstPtr

typedef std::shared_ptr<const Scene> apollo::perception::fusion::SceneConstPtr

◆ ScenePtr

typedef std::shared_ptr<Scene> apollo::perception::fusion::ScenePtr

◆ SensorConstPtr

typedef std::shared_ptr<const Sensor> apollo::perception::fusion::SensorConstPtr

◆ SensorFrameConstPtr

typedef std::shared_ptr<const SensorFrame> apollo::perception::fusion::SensorFrameConstPtr

◆ SensorFrameHeaderConstPtr

typedef std::shared_ptr<const SensorFrameHeader> apollo::perception::fusion::SensorFrameHeaderConstPtr

◆ SensorFrameHeaderPtr

typedef std::shared_ptr<SensorFrameHeader> apollo::perception::fusion::SensorFrameHeaderPtr

◆ SensorFramePtr

typedef std::shared_ptr<SensorFrame> apollo::perception::fusion::SensorFramePtr

◆ SensorId2ObjectMap

typedef std::map<std::string, SensorObjectPtr> apollo::perception::fusion::SensorId2ObjectMap

◆ SensorObjectConstPtr

typedef std::shared_ptr<const SensorObject> apollo::perception::fusion::SensorObjectConstPtr

◆ SensorObjectPtr

typedef std::shared_ptr<SensorObject> apollo::perception::fusion::SensorObjectPtr

◆ SensorPtr

typedef std::shared_ptr<Sensor> apollo::perception::fusion::SensorPtr

◆ TrackConstPtr

typedef std::shared_ptr<const Track> apollo::perception::fusion::TrackConstPtr

◆ TrackMeasurmentPair

typedef std::pair<size_t, size_t> apollo::perception::fusion::TrackMeasurmentPair

◆ TrackPool

typedef base::ConcurrentObjectPool<Track, kTrackPoolSize, TrackInitializer> apollo::perception::fusion::TrackPool

◆ TrackPtr

typedef std::shared_ptr<Track> apollo::perception::fusion::TrackPtr

Function Documentation

◆ Bound()

template<typename T >
T apollo::perception::fusion::Bound ( const T &  value,
const T &  max_value,
const T &  min_value 
)

◆ BoundedScalePositiveProbability()

double apollo::perception::fusion::BoundedScalePositiveProbability ( double  p,
double  max_p,
double  min_p 
)

◆ CalculateAugmentedIOUBBox()

template<typename Type >
Type apollo::perception::fusion::CalculateAugmentedIOUBBox ( const base::BBox2D< Type > &  box1,
const base::BBox2D< Type > &  box2,
const Type &  augmented_buffer 
)

◆ ChiSquaredCdf1TableFun()

double apollo::perception::fusion::ChiSquaredCdf1TableFun ( double  dist)
inline

◆ ChiSquaredCdf2TableFun()

double apollo::perception::fusion::ChiSquaredCdf2TableFun ( double  dist)
inline

◆ ComputePtsBoxLocationSimilarity()

double apollo::perception::fusion::ComputePtsBoxLocationSimilarity ( const ProjectionCachePtr &  cache,
const ProjectionCacheObject *  object,
const base::BBox2DF &  camera_bbox 
)

◆ ComputePtsBoxShapeSimilarity()

double apollo::perception::fusion::ComputePtsBoxShapeSimilarity ( const ProjectionCachePtr &  cache,
const ProjectionCacheObject *  object,
const base::BBox2DF &  camera_bbox 
)

◆ ComputePtsBoxSimilarity()

double apollo::perception::fusion::ComputePtsBoxSimilarity ( const ProjectionCachePtr &  cache,
const ProjectionCacheObject *  object,
const base::BBox2DF &  camera_bbox 
)

◆ ComputeRadarCameraHSimilarity()

double apollo::perception::fusion::ComputeRadarCameraHSimilarity ( const SensorObjectConstPtr &  radar,
const SensorObjectConstPtr &  camera,
const double  size_y,
const std::vector< Eigen::Vector2d > &  radar_box2d_vertices,
const HSimilarityParams &  params 
)

◆ ComputeRadarCameraLocSimilarity()

double apollo::perception::fusion::ComputeRadarCameraLocSimilarity ( const Eigen::Vector3d &  radar_ct,
const SensorObjectConstPtr &  camera,
const Eigen::Matrix4d &  world2camera_pose,
const LocSimilarityParams &  params 
)

◆ ComputeRadarCameraVelocitySimilarity()

double apollo::perception::fusion::ComputeRadarCameraVelocitySimilarity ( const SensorObjectConstPtr &  radar,
const SensorObjectConstPtr &  camera 
)

◆ ComputeRadarCameraWSimilarity()

double apollo::perception::fusion::ComputeRadarCameraWSimilarity ( const SensorObjectConstPtr &  radar,
const double  width,
const double  size_x,
const std::vector< Eigen::Vector2d > &  radar_box2d_vertices,
const WSimilarityParams &  params 
)

◆ ComputeRadarCameraXSimilarity()

double apollo::perception::fusion::ComputeRadarCameraXSimilarity ( const double  velo_ct_x,
const double  camera_ct_x,
const double  size_x,
const XSimilarityParams &  params 
)

◆ ComputeRadarCameraYSimilarity()

double apollo::perception::fusion::ComputeRadarCameraYSimilarity ( const double  velo_ct_y,
const double  camera_ct_y,
const double  size_y,
const YSimilarityParams &  params 
)

◆ FuseMultipleProbabilities()

double apollo::perception::fusion::FuseMultipleProbabilities ( const std::vector< double > &  probs)

◆ FuseTwoProbabilities()

double apollo::perception::fusion::FuseTwoProbabilities ( double  prob1,
double  prob2 
)

◆ GetFusionInitOptions()

bool apollo::perception::fusion::GetFusionInitOptions ( const std::string &  module_name,
BaseInitOptions *  options 
)

◆ GetObjectEightVertices()

void apollo::perception::fusion::GetObjectEightVertices ( std::shared_ptr< const base::Object >  obj,
std::vector< Eigen::Vector3d > *  vertices 
)

◆ IsCamera()

bool apollo::perception::fusion::IsCamera ( const SensorObjectConstPtr &  obj)

◆ IsLidar()

bool apollo::perception::fusion::IsLidar ( const SensorObjectConstPtr &  obj)

◆ IsObjectEightVerticesAllBehindCamera()

bool apollo::perception::fusion::IsObjectEightVerticesAllBehindCamera ( const std::shared_ptr< const base::Object > &  obj,
const Eigen::Matrix4d &  world2camera_pose,
base::BaseCameraModelPtr  camera_model 
)

◆ IsPtInFrustum()

template<typename VectorType >
bool apollo::perception::fusion::IsPtInFrustum ( const VectorType &  pt,
double  width,
double  height 
)

◆ IsRadar()

bool apollo::perception::fusion::IsRadar ( const SensorObjectConstPtr &  obj)

◆ ObjectInCameraView()

float apollo::perception::fusion::ObjectInCameraView ( SensorObjectConstPtr  sensor_object,
base::BaseCameraModelPtr  camera_model,
const Eigen::Affine3d &  camera_sensor2world_pose,
double  camera_ts,
double  camera_max_dist,
bool  motion_compensation,
bool  all_in 
)

◆ PERCEPTION_REGISTER_REGISTERER() [1/2]

apollo::perception::fusion::PERCEPTION_REGISTER_REGISTERER ( BaseMultiSensorFusion  )

◆ PERCEPTION_REGISTER_REGISTERER() [2/2]

apollo::perception::fusion::PERCEPTION_REGISTER_REGISTERER ( BaseFusionSystem  )

◆ Pt3dToCamera2d()

bool apollo::perception::fusion::Pt3dToCamera2d ( const Eigen::Vector3d &  pt3d,
const Eigen::Matrix4d &  world2camera_pose,
base::BaseCameraModelPtr  camera_model,
Eigen::Vector2d *  pt2d 
)

◆ ScalePositiveProbability()

double apollo::perception::fusion::ScalePositiveProbability ( double  p,
double  max_p,
double  th_p 
)

◆ WelshVarLossFun()

double apollo::perception::fusion::WelshVarLossFun ( double  dist,
double  th,
double  scale 
)

Variable Documentation

◆ EIGEN_ALIGN16

struct apollo::perception::fusion::SensorFrameHeader apollo::perception::fusion::EIGEN_ALIGN16
Generated by   doxygen 1.8.13