mlf_track_object_distance.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.
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#pragma once

#include <map>
#include <string>
#include <vector>

#include "modules/perception/lidar/lib/tracker/common/mlf_track_data.h"
#include "modules/perception/lidar/lib/tracker/common/tracked_object.h"

namespace apollo {
namespace perception {
namespace lidar {

struct MlfTrackObjectDistanceInitOptions {};

class MlfTrackObjectDistance {
 public:
  MlfTrackObjectDistance() = default;
  ~MlfTrackObjectDistance() = default;

  bool Init(const MlfTrackObjectDistanceInitOptions& options =
                MlfTrackObjectDistanceInitOptions());

  // @brief: compute object track distance
  // @params [in]: object
  // @params [in]: track data
  // @return: distance
  float ComputeDistance(const TrackedObjectConstPtr& object,
                        const MlfTrackDataConstPtr& track) const;

  std::string Name() const { return "MlfTrackObjectDistance"; }

 protected:
  std::map<std::string, std::vector<float>> foreground_weight_table_;
  std::map<std::string, std::vector<float>> background_weight_table_;

  static const std::vector<float> kForegroundDefaultWeight;
  static const std::vector<float> kBackgroundDefaultWeight;

  double background_object_match_threshold_ = 4.0;
};  // class MlfTrackObjectDistance

}  // namespace lidar
}  // namespace perception
}  // namespace apollo