Autoware.Auto
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A class for tracking classification information that works on any set of variables. More...
#include <classification_tracker.hpp>
Public Member Functions | |
GenericClassificationTracker ()=default | |
Default constructor. More... | |
GenericClassificationTracker (const autoware::common::types::float32_t default_observation_covariance, const autoware::common::types::float32_t initial_state_covariance) | |
Allow specifying a custom observation covariance. More... | |
void | update (const autoware_auto_perception_msgs::msg::DetectedObject::_classification_type &classification_vector) |
Update the class probabilities given a classification update. More... | |
void | update (const autoware_auto_perception_msgs::msg::DetectedObject::_classification_type &classification_vector, const common::types::float32_t observation_covariance) |
Update the class probabilities given a classification update. More... | |
std::uint8_t | most_likely_class () const |
Gets the most likely class from the current state vector. More... | |
autoware_auto_perception_msgs::msg::DetectedObject::_classification_type | object_classification_vector () const |
Gets the object classification vector to be set directly into the DetectedObject message. More... | |
const ClassificationStateT & | state () const noexcept |
Expose the underlying state for utility purposes. More... | |
autoware::common::types::float32_t | default_observation_covariance () const noexcept |
Expose the observation covariance. More... | |
A class for tracking classification information that works on any set of variables.
Under the hood, this class uses the autoware::common::state_estimation::KalmanFilter class with a special state vector containing all the relevant classes that we aim to track. The state vector directly holds the probabilities in its values. If the observation covariance for any particular observation is the same for all observed classes, then the underlying vector is guaranteed to represent probabilities that always sum up to 1.
ClassificationStateT | A state that defines all classes that can be tracked. |
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default |
Default constructor.
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inlineexplicit |
Allow specifying a custom observation covariance.
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inlinenoexcept |
Expose the observation covariance.
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inline |
Gets the most likely class from the current state vector.
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inline |
Gets the object classification vector to be set directly into the DetectedObject message.
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inlinenoexcept |
Expose the underlying state for utility purposes.
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inline |
Update the class probabilities given a classification update.
std::domain_error
will be thrown instead.[in] | classification_vector | A vector of classifications with their probabilities. |
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inline |
Update the class probabilities given a classification update.
std::domain_error
will be thrown instead.[in] | classification_vector | A vector of classifications with their probabilities. |
[in] | observation_covariance | A custom observation covariance. |