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体验新版 GitCode,发现更多精彩内容 >>
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240572f9
编写于
4月 27, 2018
作者:
W
Weide Zhang
提交者:
GitHub
4月 27, 2018
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电子邮件补丁
差异文件
modify fusion assoc rule (#4053)
1. modify assoc rule 2. remove bag_mode hack
上级
38dcd8bb
变更
2
隐藏空白更改
内联
并排
Showing
2 changed file
with
19 addition
and
15 deletion
+19
-15
modules/perception/obstacle/fusion/probabilistic_fusion/pbf_track.cc
...ception/obstacle/fusion/probabilistic_fusion/pbf_track.cc
+11
-15
modules/perception/obstacle/fusion/probabilistic_fusion/pbf_track_object_distance.cc
.../fusion/probabilistic_fusion/pbf_track_object_distance.cc
+8
-0
未找到文件。
modules/perception/obstacle/fusion/probabilistic_fusion/pbf_track.cc
浏览文件 @
240572f9
...
...
@@ -19,10 +19,10 @@
#include <algorithm>
#include "boost/format.hpp"
#include "ros/include/ros/ros.h"
#include "modules/common/configs/config_gflags.h"
#include "modules/common/macro.h"
#include "modules/common/time/time
_util
.h"
#include "modules/common/time/time.h"
#include "modules/perception/common/geometry_util.h"
#include "modules/perception/common/perception_gflags.h"
#include "modules/perception/obstacle/base/types.h"
...
...
@@ -34,6 +34,7 @@
namespace
apollo
{
namespace
perception
{
using
apollo
::
common
::
time
::
Clock
;
/*class PbfTrack*/
int
PbfTrack
::
s_track_idx_
=
0
;
double
PbfTrack
::
s_max_lidar_invisible_period_
=
0.25
;
...
...
@@ -211,21 +212,16 @@ void PbfTrack::PerformMotionFusionAsync(std::shared_ptr<PbfSensorObject> obj) {
AERROR
<<
"Skip motion fusion becuase motion_fusion_ is nullptr."
;
return
;
}
A
INFO
<<
"perform motion fusion asynchrounously!"
;
A
DEBUG
<<
"perform motion fusion asynchrounously!"
;
const
SensorType
&
sensor_type
=
obj
->
sensor_type
;
double
current_time
=
TimeUtil
::
GetCurrentTime
();
if
(
FLAGS_bag_mode
)
{
// if running in bag, we can't estimate fusion arrival time correctly
current_time
=
std
::
max
(
motion_fusion_
->
getLastFuseTS
(),
obj
->
timestamp
)
+
0.1
;
AINFO
<<
"last fuse ts "
<<
std
::
fixed
<<
std
::
setprecision
(
15
)
<<
motion_fusion_
->
getLastFuseTS
();
AINFO
<<
"obj timestamp "
<<
std
::
fixed
<<
std
::
setprecision
(
15
)
<<
obj
->
timestamp
;
AINFO
<<
"current fuse ts is "
<<
std
::
fixed
<<
std
::
setprecision
(
15
)
<<
current_time
;
}
double
current_time
=
ros
::
Time
::
now
().
toSec
();
ADEBUG
<<
"last fuse ts "
<<
std
::
fixed
<<
std
::
setprecision
(
15
)
<<
motion_fusion_
->
getLastFuseTS
();
ADEBUG
<<
"obj timestamp "
<<
std
::
fixed
<<
std
::
setprecision
(
15
)
<<
obj
->
timestamp
;
ADEBUG
<<
"current fuse ts is "
<<
std
::
fixed
<<
std
::
setprecision
(
15
)
<<
current_time
;
// for low cost, we only consider radar and camera fusion for now
if
(
is_camera
(
sensor_type
)
||
is_radar
(
sensor_type
))
{
...
...
modules/perception/obstacle/fusion/probabilistic_fusion/pbf_track_object_distance.cc
浏览文件 @
240572f9
...
...
@@ -145,6 +145,7 @@ float PbfTrackObjectDistance::ComputeDistanceAngleMatchProb(
static
float
speed_diff
=
5.0
f
;
static
float
epislon
=
0.1
f
;
static
float
angle_tolerance
=
10.0
f
;
static
float
distance_tolerance
=
3.0
f
;
const
std
::
shared_ptr
<
Object
>
&
fobj
=
fused_object
->
object
;
const
std
::
shared_ptr
<
Object
>
&
sobj
=
sensor_object
->
object
;
...
...
@@ -156,6 +157,13 @@ float PbfTrackObjectDistance::ComputeDistanceAngleMatchProb(
Eigen
::
Vector3d
&
fcenter
=
fobj
->
center
;
Eigen
::
Vector3d
&
scenter
=
sobj
->
center
;
float
euclid_dist
=
static_cast
<
float
>
(((
fcenter
-
scenter
).
norm
()));
if
(
euclid_dist
>
distance_tolerance
)
{
return
std
::
numeric_limits
<
float
>::
max
();
}
float
range_distance_ratio
=
std
::
numeric_limits
<
float
>::
max
();
float
angle_distance_diff
=
0.0
f
;
...
...
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