Class MapElement

• Defined in File map_element.h

Class Documentation

class MapElement

Public Functions

MapElement()

MapElement(index_t ID_, double timestamp, Vector3d &w_point_, Vector3d &lo_point_, float height_, float width_, float prob_, std::string &catogory_, std::vector<float> &histogram_)

Map element creation with necessary information.

Parameters

• ID_ – Global unique index of the object

• timestamp –

• w_point_ – Global position of the object in world coordinate

• lo_point_ – Local position of the object in current camera coordinate

• height_ – Size in -y directioin in camera coordinate (meters)

• width_ – Size in x direction in camera coordinate (meters)

• prob_ – Probability of the classification accuracy

• catogory_ – Category of the object

• histogram_ – Histogram of appearance of the object

void use_prediction(Eigen::Vector3d &prev_pos)

void use_prediction_increment(Eigen::Vector3d &prev_pos, Eigen::Vector2d &incre)

void update_map_element(MapElement*)

Update an object without losing important records.

void setold_position()

Update old_center_world.

void set_merge()

void set_age(int)

void set_vel(Eigen::Vector3d&, double)

Calculate velocity based on traj_diff and time_diff.

Public Members

index_t id

Global index of the object.

Eigen::Vector3d center_point_world

Position in world coordinate of current observation.

Eigen::Vector3d old_center_world

Position in world coordinate of last observation.

Eigen::Vector3d center_point_local

Position in local coordinate of current observation.

Eigen::Vector3d velocity

Velocity based on the last 10 frame average.

Eigen::Vector2d plane_velocity

Velocity ignoring the z axis in world coordinate based on the last 10 frame average.

std::deque<Eigen::Vector2d> traj_diff

Queue of distance traveled between frames.

std::deque<double> time_diff

Queue of time interval between frames.

bool todelete

double temp_diff

double cur_timestamp

int age

int lost_frame

The number of frames not observed since last observation.

float height

float width

float probability

std::string category

std::vector<float> histograms

bool isMerged

bool isTracked

bool same_point