debug_info.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the License);
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an AS IS BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
#pragma once

#include <fstream>
#include <string>
#include <vector>

#include "modules/perception/base/object.h"
#include "modules/perception/camera/common/camera_frame.h"
#include "modules/perception/camera/lib/interface/base_calibration_service.h"

namespace apollo {
namespace perception {
namespace camera {
void WriteCamera2World(std::ofstream &fout, int frame_num,
                       const Eigen::Affine3d &pose);
void WriteTracking(std::ofstream &fout, int frame_num,
                   const std::vector<base::ObjectPtr> &tracked_object);
int WriteDetections(const bool enable, const std::string &out_path,
                    const std::vector<base::ObjectPtr> &objects);
int WriteDetections(const bool enable, const std::string &out_path,
                    CameraFrame *frame);
int WriteLanelines(const bool enable, const std::string &save_path,
                   const std::vector<base::LaneLine> &lane_objects);

int WriteCalibrationOutput(bool enable, const std::string &out_path,
                           const CameraFrame *frame);
void WriteFusionTracking(std::ofstream &fout, int frame_num,
                         const std::string &camera_name,
                         const std::vector<base::ObjectPtr> &tracked_object);
}  // namespace camera
}  // namespace perception
}  // namespace apollo