Perception: fixed some code issues.

modules/perception/obstacle/fusion/probabilistic_fusion/pbf_hm_track_object_matcher.cc

@@ -14,11 +14,11 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/perception/obstacle/fusion/probabilistic_fusion/pbf_hm_track_object_matcher.h"
 #include <iomanip>
 #include <sstream>
 #include <string>
 #include "modules/common/log.h"
+#include "modules/perception/obstacle/fusion/probabilistic_fusion/pbf_hm_track_object_matcher.h"
 #include "modules/perception/obstacle/fusion/probabilistic_fusion/pbf_track_object_distance.h"
 
 namespace apollo {
@@ -50,8 +50,8 @@ bool PbfHmTrackObjectMatcher::Match(
 
   const Eigen::Vector3d &ref_point = *(options.ref_point);
   ComputeAssociationMat(fusion_tracks, sensor_objects,
-    *unassigned_fusion_tracks, *unassigned_sensor_objects,
-    ref_point, &association_mat);
+                        *unassigned_fusion_tracks, *unassigned_sensor_objects,
+                        ref_point, &association_mat);
 
   int num_track = fusion_tracks.size();
   int num_measurement = sensor_objects.size();
@@ -65,7 +65,10 @@ bool PbfHmTrackObjectMatcher::Match(
   }
   std::vector<int> measurement_ind_g2l;
   measurement_ind_g2l.resize(num_measurement, -1);
-  std::vector<int> measurement_ind_l2g = *unassigned_sensor_objects;
+
+  // TODO(Perception): remove this line or use the variable
+  // std::vector<int> measurement_ind_l2g = *unassigned_sensor_objects;
+
   for (size_t i = 0; i < unassigned_sensor_objects->size(); i++) {
     measurement_ind_g2l[(*unassigned_sensor_objects)[i]] = i;
   }
@@ -97,7 +100,7 @@ bool PbfHmTrackObjectMatcher::Match(
       if ((*track2measurements_dist)[track_ind] >
           association_mat[track_ind_loc][j]) {
         (*track2measurements_dist)[track_ind] =
-          association_mat[track_ind_loc][j];
+            association_mat[track_ind_loc][j];
       }
     }
   }
@@ -275,9 +278,7 @@ void PbfHmTrackObjectMatcher::MinimizeAssignment(
   hungarian_optimizer.minimize(ref_idx, new_idx);
 }
 
-bool PbfHmTrackObjectMatcher::Init() {
-  return true;
-}
+bool PbfHmTrackObjectMatcher::Init() { return true; }
 
 void PbfHmTrackObjectMatcher::ComputeConnectedComponents(
     const std::vector<std::vector<double>> &association_mat,

modules/perception/obstacle/fusion/probabilistic_fusion/pbf_track.cc

@@ -34,7 +34,12 @@ double PbfTrack::s_max_lidar_invisible_period_ = 0.25;
 double PbfTrack::s_max_radar_invisible_period_ = 0.15;
 double PbfTrack::s_max_radar_confident_angle_ = 20;
 double PbfTrack::s_min_radar_confident_distance_ = 40;
-std::string PbfTrack::s_motion_fusion_method_ = "PbfKalmanMotionFusion"; // NOLINT
+
+// TODO(Perception):
+// static and global variable are NOT allowed to be of class types. See
+// https://google.github.io/styleguide/cppguide.html#Static_and_Global_Variables
+std::string PbfTrack::s_motion_fusion_method_ =  // NOLINT
+    "PbfKalmanMotionFusion";                     // NOLINT
 
 bool PbfTrack::s_publish_if_has_lidar_ = true;
 bool PbfTrack::s_publish_if_has_radar_ = true;
@@ -46,11 +51,15 @@ PbfTrack::PbfTrack(PbfSensorObjectPtr obj) {
   invisible_in_lidar_ = true;
   invisible_in_radar_ = true;
 
+  // TODO(Perception): fix the duplicated if - else.
+  /*
   if (s_motion_fusion_method_ == "PbfKalmanMotionFusion") {
     motion_fusion_ = new PbfKalmanMotionFusion();
   } else {
     motion_fusion_ = new PbfKalmanMotionFusion();
   }
+  */
+  motion_fusion_ = new PbfKalmanMotionFusion();
 
   if (is_lidar(sensor_type)) {
     lidar_objects_[sensor_id] = obj;
@@ -120,13 +129,11 @@ void PbfTrack::UpdateWithoutSensorObject(const SensorType &sensor_type,
                                          double min_match_dist,
                                          double timestamp) {
   UpdateMeasurementsLifeWithoutMeasurement(
-    &lidar_objects_, sensor_id, timestamp,
-    s_max_lidar_invisible_period_,
-    &invisible_in_lidar_);
+      &lidar_objects_, sensor_id, timestamp, s_max_lidar_invisible_period_,
+      &invisible_in_lidar_);
   UpdateMeasurementsLifeWithoutMeasurement(
-    &radar_objects_, sensor_id, timestamp,
-    s_max_radar_invisible_period_,
-    &invisible_in_radar_);
+      &radar_objects_, sensor_id, timestamp, s_max_radar_invisible_period_,
+      &invisible_in_radar_);
   is_dead_ = (lidar_objects_.empty() && radar_objects_.empty());
   if (!is_dead_) {
     double time_diff = timestamp - fused_timestamp_;
@@ -136,17 +143,11 @@ void PbfTrack::UpdateWithoutSensorObject(const SensorType &sensor_type,
   }
 }
 
-int PbfTrack::GetTrackId() const {
-  return idx_;
-}
+int PbfTrack::GetTrackId() const { return idx_; }
 
-PbfSensorObjectPtr PbfTrack::GetFusedObject() {
-  return fused_object_;
-}
+PbfSensorObjectPtr PbfTrack::GetFusedObject() { return fused_object_; }
 
-double PbfTrack::GetFusedTimestamp() const {
-  return fused_timestamp_;
-}
+double PbfTrack::GetFusedTimestamp() const { return fused_timestamp_; }
 
 PbfSensorObjectPtr PbfTrack::GetLidarObject(const std::string &sensor_id) {
   PbfSensorObjectPtr obj = nullptr;

modules/perception/obstacle/fusion/probabilistic_fusion/pbf_track.h

@@ -18,8 +18,8 @@
 #define MODULES_PERCEPTION_OBSTACLE_FUSION_PROBABILISTIC_FUSION_PBF_TRACK_H_
 
 #include <map>
-#include <string>
 #include <memory>
+#include <string>
 #include "gtest/gtest.h"
 #include "modules/perception/obstacle/fusion/probabilistic_fusion/pbf_base_motion_fusion.h"
 #include "modules/perception/obstacle/fusion/probabilistic_fusion/pbf_sensor_object.h"
@@ -58,13 +58,9 @@ class PbfTrack {
 
   int GetTrackId() const;
 
-  double GetTrackingPeriod() const {
-    return tracking_period_;
-  }
+  double GetTrackingPeriod() const { return tracking_period_; }
 
-  inline bool IsDead() const {
-    return is_dead_;
-  }
+  inline bool IsDead() const { return is_dead_; }
   bool AbleToPublish();
 
   static int GetNextTrackId();
@@ -138,7 +134,7 @@ class PbfTrack {
   bool invisible_in_radar_;
 
   /**@brief motion fusion*/
-  PbfBaseMotionFusion *motion_fusion_;
+  PbfBaseMotionFusion *motion_fusion_ = nullptr;
 
   /**@brief one object instance per sensor, might be more later*/
   std::map<std::string, PbfSensorObjectPtr> lidar_objects_;

modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser/sequence_type_fuser.cc

@@ -75,7 +75,7 @@ bool SequenceTypeFuser::Init() {
       GetAbsolutePath(work_root, classifiers_property_file_path);
 
   if (!sequence_type_fuser::LoadMultipleMatricesFile(
-        classifiers_property_file_path, &_smooth_matrices)) {
+          classifiers_property_file_path, &_smooth_matrices)) {
     return false;
   }
   for (auto& pair : _smooth_matrices) {
@@ -167,13 +167,12 @@ bool SequenceTypeFuser::FuseWithCCRF(TrackedObjects* tracked_objects) {
 
   for (std::size_t i = 1; i < length; ++i) {
     for (std::size_t right = 0; right < VALID_OBJECT_TYPE; ++right) {
-      double prob = 0.0;
       double max_prob = -DBL_MAX;
       std::size_t id = 0;
       for (std::size_t left = 0; left < VALID_OBJECT_TYPE; ++left) {
-        prob = _fused_sequence_probs[i - 1](left) +
-               _transition_matrix(left, right) * _s_alpha +
-               _fused_oneshot_probs[i](right);
+        const double prob = _fused_sequence_probs[i - 1](left) +
+                            _transition_matrix(left, right) * _s_alpha +
+                            _fused_oneshot_probs[i](right);
         if (prob > max_prob) {
           max_prob = prob;
           id = left;

modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser/util.cc

@@ -14,6 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 #include "modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser/util.h"
+
 #include "modules/common/log.h"
 
 namespace apollo {
@@ -55,9 +56,8 @@ void Normalize(Vectord* prob) {
 }
 
 void NormalizeRow(Matrixd* prob) {
-  double sum = 0.0;
   for (std::size_t row = 0; row < VALID_OBJECT_TYPE; ++row) {
-    sum = 0.0;
+    double sum = 0.0;
     for (std::size_t col = 0; col < VALID_OBJECT_TYPE; ++col) {
       sum += (*prob)(row, col);
     }

modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser/util.h

@@ -15,12 +15,15 @@
  *****************************************************************************/
 #ifndef MODULES_PERCEPTION_OBSTACLE_LIDAR_SEQUENCE_TYPE_FUSER_UTIL_H_
 #define MODULES_PERCEPTION_OBSTACLE_LIDAR_SEQUENCE_TYPE_FUSER_UTIL_H_
+
 #include <fstream>
 #include <iostream>
 #include <map>
 #include <string>
 #include <vector>
+
 #include "Eigen/Dense"
+
 #include "modules/perception/obstacle/base/types.h"
 
 namespace apollo {