apollo::perception::lidar::TrackedObject Struct Reference

#include <tracked_object.h>

Collaboration diagram for apollo::perception::lidar::TrackedObject:

Public Member Functions
	TrackedObject ()=default
	TrackedObject (base::ObjectPtr obj_ptr, const Eigen::Affine3d &pose)
	TrackedObject (const TrackedObject &rhs)=default
TrackedObject &	operator= (const TrackedObject &rhs)=default
void	Reset ()
void	Reset (base::ObjectPtr obj_ptr, const Eigen::Affine3d &pose, const Eigen::Vector3d &global_to_local_offset=Eigen::Vector3d::Zero(), const base::SensorInfo &sensor=base::SensorInfo())
std::string	ToString () const
void	ComputeShapeFeatures ()
void	AttachObject (base::ObjectPtr obj_ptr, const Eigen::Affine3d &pose, const Eigen::Vector3d &global_to_local_offset=Eigen::Vector3d::Zero(), const base::SensorInfo &sensor=base::SensorInfo())
void	TransformObjectCloudToWorld ()
void	CopyFrom (std::shared_ptr< TrackedObject > rhs, bool is_deep)
void	ToObject (base::ObjectPtr obj_ptr) const
float	GetVelThreshold (base::ObjectPtr obj) const

Public Attributes
std::vector< float >	shape_features
std::vector< float >	shape_features_full
size_t	histogram_bin_size = 10
float	association_score = 0.0f
bool	is_fake = false
int	track_id = -1
double	tracking_time = 0.0
Eigen::Affine3d	sensor_to_local_pose
base::ObjectPtr	object_ptr
Eigen::Vector3d	corners [4]
Eigen::Vector3d	center
Eigen::Vector3d	barycenter
Eigen::Vector3d	anchor_point
Eigen::Vector3d	direction
Eigen::Vector3d	lane_direction
Eigen::Vector3d	size
base::ObjectType	type = base::ObjectType::UNKNOWN
bool	is_background = false
Eigen::Vector3d	measured_barycenter_velocity
Eigen::Vector3d	measured_center_velocity
Eigen::Vector3d	measured_nearest_corner_velocity
Eigen::Vector3d	measured_corners_velocity [4]
int	boostup_need_history_size = 0
bool	valid = false
bool	converged = true
float	convergence_confidence = 0.0f
double	update_quality = 0.0
Eigen::Vector3d	selected_measured_velocity
Eigen::Vector3d	selected_measured_acceleration
Eigen::Vector3d	belief_anchor_point
Eigen::Vector3d	belief_velocity
Eigen::Vector3d	belief_acceleration
Eigen::Vector3d	belief_velocity_gain
Eigen::Matrix3d	velocity_covariance
Eigen::Matrix3d	belief_velocity_online_covariance
Eigen::Vector4d	state
Eigen::Matrix4d	measurement_covariance
Eigen::Matrix4d	state_covariance
Eigen::Vector3d	motion_score
Eigen::Vector3d	output_velocity
Eigen::Matrix3d	output_velocity_uncertainty
Eigen::Vector3d	output_direction
Eigen::Vector3d	output_center
Eigen::Vector3d	output_size
base::SensorInfo	sensor_info

Constructor & Destructor Documentation

TrackedObject() [1/3]

apollo::perception::lidar::TrackedObject::TrackedObject ( )

default

TrackedObject() [2/3]

apollo::perception::lidar::TrackedObject::TrackedObject	(	base::ObjectPtr	obj_ptr,
		const Eigen::Affine3d &	pose
	)

TrackedObject() [3/3]

apollo::perception::lidar::TrackedObject::TrackedObject ( const TrackedObject &  rhs )

default

Member Function Documentation

AttachObject()

void apollo::perception::lidar::TrackedObject::AttachObject	(	base::ObjectPtr	obj_ptr,
		const Eigen::Affine3d &	pose,
		const Eigen::Vector3d &	global_to_local_offset = Eigen::Vector3d::Zero(),
		const base::SensorInfo &	sensor = base::SensorInfo()
	)

ComputeShapeFeatures()

void apollo::perception::lidar::TrackedObject::ComputeShapeFeatures

(

)

CopyFrom()

void apollo::perception::lidar::TrackedObject::CopyFrom	(	std::shared_ptr< TrackedObject >	rhs,
		bool	is_deep
	)

GetVelThreshold()

float apollo::perception::lidar::TrackedObject::GetVelThreshold

(

base::ObjectPtr

obj

)

const

operator=()

TrackedObject& apollo::perception::lidar::TrackedObject::operator= ( const TrackedObject &  rhs )

default

Reset() [1/2]

void apollo::perception::lidar::TrackedObject::Reset

(

)

Reset() [2/2]

void apollo::perception::lidar::TrackedObject::Reset	(	base::ObjectPtr	obj_ptr,
		const Eigen::Affine3d &	pose,
		const Eigen::Vector3d &	global_to_local_offset = Eigen::Vector3d::Zero(),
		const base::SensorInfo &	sensor = base::SensorInfo()
	)

ToObject()

void apollo::perception::lidar::TrackedObject::ToObject

(

base::ObjectPtr

obj_ptr

)

const

ToString()

std::string apollo::perception::lidar::TrackedObject::ToString

(

)

const

TransformObjectCloudToWorld()

void apollo::perception::lidar::TrackedObject::TransformObjectCloudToWorld

(

)

Member Data Documentation

anchor_point

Eigen::Vector3d apollo::perception::lidar::TrackedObject::anchor_point

association_score

float apollo::perception::lidar::TrackedObject::association_score = 0.0f

barycenter

Eigen::Vector3d apollo::perception::lidar::TrackedObject::barycenter

belief_acceleration

Eigen::Vector3d apollo::perception::lidar::TrackedObject::belief_acceleration

belief_anchor_point

Eigen::Vector3d apollo::perception::lidar::TrackedObject::belief_anchor_point

belief_velocity

Eigen::Vector3d apollo::perception::lidar::TrackedObject::belief_velocity

belief_velocity_gain

Eigen::Vector3d apollo::perception::lidar::TrackedObject::belief_velocity_gain

belief_velocity_online_covariance

Eigen::Matrix3d apollo::perception::lidar::TrackedObject::belief_velocity_online_covariance

boostup_need_history_size

int apollo::perception::lidar::TrackedObject::boostup_need_history_size = 0

center

Eigen::Vector3d apollo::perception::lidar::TrackedObject::center

converged

bool apollo::perception::lidar::TrackedObject::converged = true

convergence_confidence

float apollo::perception::lidar::TrackedObject::convergence_confidence = 0.0f

corners

Eigen::Vector3d apollo::perception::lidar::TrackedObject::corners[4]

direction

Eigen::Vector3d apollo::perception::lidar::TrackedObject::direction

histogram_bin_size

size_t apollo::perception::lidar::TrackedObject::histogram_bin_size = 10

is_background

bool apollo::perception::lidar::TrackedObject::is_background = false

is_fake

bool apollo::perception::lidar::TrackedObject::is_fake = false

lane_direction

Eigen::Vector3d apollo::perception::lidar::TrackedObject::lane_direction

measured_barycenter_velocity

Eigen::Vector3d apollo::perception::lidar::TrackedObject::measured_barycenter_velocity

measured_center_velocity

Eigen::Vector3d apollo::perception::lidar::TrackedObject::measured_center_velocity

measured_corners_velocity

Eigen::Vector3d apollo::perception::lidar::TrackedObject::measured_corners_velocity[4]

measured_nearest_corner_velocity

Eigen::Vector3d apollo::perception::lidar::TrackedObject::measured_nearest_corner_velocity

measurement_covariance

Eigen::Matrix4d apollo::perception::lidar::TrackedObject::measurement_covariance

motion_score

Eigen::Vector3d apollo::perception::lidar::TrackedObject::motion_score

object_ptr

base::ObjectPtr apollo::perception::lidar::TrackedObject::object_ptr

output_center

Eigen::Vector3d apollo::perception::lidar::TrackedObject::output_center

output_direction

Eigen::Vector3d apollo::perception::lidar::TrackedObject::output_direction

output_size

Eigen::Vector3d apollo::perception::lidar::TrackedObject::output_size

output_velocity

Eigen::Vector3d apollo::perception::lidar::TrackedObject::output_velocity

output_velocity_uncertainty

Eigen::Matrix3d apollo::perception::lidar::TrackedObject::output_velocity_uncertainty

selected_measured_acceleration

Eigen::Vector3d apollo::perception::lidar::TrackedObject::selected_measured_acceleration

selected_measured_velocity

Eigen::Vector3d apollo::perception::lidar::TrackedObject::selected_measured_velocity

sensor_info

base::SensorInfo apollo::perception::lidar::TrackedObject::sensor_info

sensor_to_local_pose

Eigen::Affine3d apollo::perception::lidar::TrackedObject::sensor_to_local_pose

shape_features

std::vector<float> apollo::perception::lidar::TrackedObject::shape_features

shape_features_full

std::vector<float> apollo::perception::lidar::TrackedObject::shape_features_full

size

Eigen::Vector3d apollo::perception::lidar::TrackedObject::size

state

Eigen::Vector4d apollo::perception::lidar::TrackedObject::state

state_covariance

Eigen::Matrix4d apollo::perception::lidar::TrackedObject::state_covariance

track_id

int apollo::perception::lidar::TrackedObject::track_id = -1

tracking_time

double apollo::perception::lidar::TrackedObject::tracking_time = 0.0

type

base::ObjectType apollo::perception::lidar::TrackedObject::type = base::ObjectType::UNKNOWN

update_quality

double apollo::perception::lidar::TrackedObject::update_quality = 0.0

valid

bool apollo::perception::lidar::TrackedObject::valid = false

velocity_covariance

Eigen::Matrix3d apollo::perception::lidar::TrackedObject::velocity_covariance

---

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

• modules/perception/lidar/lib/tracker/common/tracked_object.h