Thank you very much for your summary and share.I would like to ask two questions in the Apollo/ Percetion/LIdar module:
The following source code, the path for "modules/perception/obstacle/lidar/tracker/hm_tracker/track_object_distance. cc" , when lidar track ComputeAssociateMatrixhas five factors, including: location_distance,direction_distance,bbox_size_distance,point_num_distance,histogram_distance. I want to ask whether there is any selection basis for selecting the 5 parameters for weighting. There are 5 default weights s_location_distanceweight, s_direction_distanceweight, s_bbox_size_distanceweight, s_point_num_distanceweight, s_histogram_distanceweight are where the selection is given*?
`float TrackObjectDistance::ComputeDistance(
ObjectTrackPtr track, const Eigen::VectorXf& track_predict,
const std::shared_ptr& new_object) {
// Compute distance for given trakc & object
.......
float result_distance = s_location_distanceweight location_distance +
s_direction_distanceweight direction_distance +
s_bbox_size_distanceweight bbox_size_distance +
s_point_num_distanceweight point_num_distance +
s_histogram_distanceweight histogram_distance;
return result_distance;
}`
In the source code, association_(i, j) <= connected_threshold==4. What factors are considered in the selection of this connected_threshold=4?
Thank you very much for your summary and share.I would like to ask two questions in the Apollo/ Percetion/LIdar module: The following source code, the path for "modules/perception/obstacle/lidar/tracker/hm_tracker/track_object_distance. cc" , when lidar track ComputeAssociateMatrixhas five factors, including: location_distance,direction_distance,bbox_size_distance,point_num_distance,histogram_distance. I want to ask whether there is any selection basis for selecting the 5 parameters for weighting. There are 5 default weights s_location_distanceweight, s_direction_distanceweight, s_bbox_size_distanceweight, s_point_num_distanceweight, s_histogram_distanceweight are where the selection is given*? `float TrackObjectDistance::ComputeDistance( ObjectTrackPtr track, const Eigen::VectorXf& track_predict, const std::shared_ptr& new_object) {
// Compute distance for given trakc & object
.......
float result_distance = s_location_distanceweight location_distance +
s_direction_distanceweight direction_distance +
s_bbox_size_distanceweight bbox_size_distance +
s_point_num_distanceweight point_num_distance +
s_histogram_distanceweight histogram_distance;
return result_distance;
}`
In the source code, association_(i, j) <= connected_threshold==4. What factors are considered in the selection of this connected_threshold=4?
Looking forward to your reply and best wishes!