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13a7c902
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前往新版Gitcode,体验更适合开发者的 AI 搜索 >>
提交
13a7c902
编写于
9月 18, 2017
作者:
Z
Zhang Liangliang
提交者:
Jiangtao Hu
9月 18, 2017
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电子邮件补丁
差异文件
Perception: removed unsafe element wise copy constructor/functions.
上级
e427f36b
变更
2
显示空白变更内容
内联
并排
Showing
2 changed file
with
7 addition
and
51 deletion
+7
-51
modules/perception/obstacle/lidar/tracker/hm_tracker/tracked_object.cc
...ption/obstacle/lidar/tracker/hm_tracker/tracked_object.cc
+1
-45
modules/perception/obstacle/lidar/tracker/hm_tracker/tracked_object.h
...eption/obstacle/lidar/tracker/hm_tracker/tracked_object.h
+6
-6
未找到文件。
modules/perception/obstacle/lidar/tracker/hm_tracker/tracked_object.cc
浏览文件 @
13a7c902
...
...
@@ -21,8 +21,6 @@
namespace
apollo
{
namespace
perception
{
TrackedObject
::
TrackedObject
()
{}
TrackedObject
::
TrackedObject
(
ObjectPtr
obj_ptr
)
:
object_ptr
(
obj_ptr
)
{
if
(
object_ptr
!=
nullptr
)
{
barycenter
=
GetCloudBarycenter
<
apollo
::
perception
::
pcl_util
::
Point
>
(
...
...
@@ -40,52 +38,10 @@ TrackedObject::TrackedObject(ObjectPtr obj_ptr) : object_ptr(obj_ptr) {
}
}
TrackedObject
::
TrackedObject
(
const
TrackedObject
&
rhs
)
{
object_ptr
=
rhs
.
object_ptr
;
center
=
rhs
.
center
;
direction
=
rhs
.
direction
;
lane_direction
=
rhs
.
lane_direction
;
size
=
rhs
.
size
;
type
=
rhs
.
type
;
barycenter
=
rhs
.
barycenter
;
anchor_point
=
rhs
.
anchor_point
;
velocity
=
rhs
.
velocity
;
acceleration
=
rhs
.
acceleration
;
type
=
rhs
.
type
;
association_score
=
rhs
.
association_score
;
}
TrackedObject
&
TrackedObject
::
operator
=
(
const
TrackedObject
&
rhs
)
{
object_ptr
=
rhs
.
object_ptr
;
center
=
rhs
.
center
;
direction
=
rhs
.
direction
;
lane_direction
=
rhs
.
lane_direction
;
size
=
rhs
.
size
;
type
=
rhs
.
type
;
barycenter
=
rhs
.
barycenter
;
anchor_point
=
rhs
.
anchor_point
;
velocity
=
rhs
.
velocity
;
acceleration
=
rhs
.
acceleration
;
type
=
rhs
.
type
;
association_score
=
rhs
.
association_score
;
return
(
*
this
);
}
void
TrackedObject
::
clone
(
const
TrackedObject
&
rhs
)
{
*
this
=
rhs
;
object_ptr
.
reset
(
new
Object
());
object_ptr
->
clone
(
*
rhs
.
object_ptr
);
center
=
rhs
.
center
;
direction
=
rhs
.
direction
;
lane_direction
=
rhs
.
lane_direction
;
size
=
rhs
.
size
;
type
=
rhs
.
type
;
barycenter
=
rhs
.
barycenter
;
anchor_point
=
rhs
.
anchor_point
;
velocity
=
rhs
.
velocity
;
acceleration
=
rhs
.
acceleration
;
type
=
rhs
.
type
;
association_score
=
rhs
.
association_score
;
}
}
// namespace perception
...
...
modules/perception/obstacle/lidar/tracker/hm_tracker/tracked_object.h
浏览文件 @
13a7c902
...
...
@@ -14,8 +14,8 @@
* limitations under the License.
*****************************************************************************/
#ifndef MODULES_PERCEPTION_OBSTACLE_LIDAR_TRACKER_HM_TRACKER_TRACKED_OBJ_H_
#define MODULES_PERCEPTION_OBSTACLE_LIDAR_TRACKER_HM_TRACKER_TRACKED_OBJ_H_
#ifndef MODULES_PERCEPTION_OBSTACLE_LIDAR_TRACKER_HM_TRACKER_TRACKED_OBJ
ECT
_H_
#define MODULES_PERCEPTION_OBSTACLE_LIDAR_TRACKER_HM_TRACKER_TRACKED_OBJ
ECT
_H_
#include <memory>
#include <string>
...
...
@@ -31,10 +31,10 @@ struct TrackedObject {
/* NEED TO NOTICE: All the states of track would be collected mainly based on
* the states of tracked object. Thus, update tracked object's state when you
* update the state of track !!! */
TrackedObject
();
TrackedObject
()
=
default
;
explicit
TrackedObject
(
ObjectPtr
obj_ptr
);
TrackedObject
(
const
TrackedObject
&
rhs
);
TrackedObject
&
operator
=
(
const
TrackedObject
&
rhs
);
// deep copy (copy point clonds)
void
clone
(
const
TrackedObject
&
rhs
);
// cloud
...
...
@@ -68,4 +68,4 @@ typedef std::shared_ptr<const TrackedObject> TrackedObjectConstPtr;
}
// namespace perception
}
// namespace apollo
#endif // MODULES_PERCEPTION_OBSTACLE_LIDAR_TRACKER_HM_TRACKER_TRACKED_OBJ_H_
#endif // MODULES_PERCEPTION_OBSTACLE_LIDAR_TRACKER_HM_TRACKER_TRACKED_OBJ
ECT
_H_
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