Classes
struct	AssociationOptions

struct	AssociationResult

class	BaseDataAssociation

class	BaseExistanceFusion

class	BaseFilter

class	BaseFusionSystem

class	BaseGatekeeper

struct	BaseInitOptions

class	BaseMotionFusion

class	BaseShapeFusion

class	BaseTracker

class	BaseTypeFusion

class	Dst

struct	DstCommonData

class	DstExistanceFusion

struct	DstExistanceFusionOptions

class	DstManager

struct	DstMaps

class	DstTypeFusion

struct	DstTypeFusionOptions

class	DummyDataAssociation

class	DummyFusionSystem

class	DummyTracker

struct	ExistanceDstMaps

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)

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()

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
	)

Classes

Typedefs

Functions