fusion.h

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/******************************************************************************
 * Copyright 2020 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 <unistd.h>

#include <algorithm>
#include <cmath>
#include <cstdlib>
#include <iostream>
#include <string>
#include <vector>

#include <Eigen/Core>

#include "modules/v2x/fusion/configs/ft_config_manager.h"
#include "modules/v2x/fusion/libs/common/v2x_object.h"
#include "modules/v2x/fusion/libs/fusion/km.h"

namespace apollo {
namespace v2x {
namespace ft {

class Fusion {
 public:
  Fusion();
  ~Fusion() {}
  bool Proc(const std::vector<std::vector<base::Object>> &input_objectlists,
            double timestamp);
  bool Init();
  std::vector<base::Object> &get_fused_objects() { return updated_objects_; }
  std::vector<std::vector<base::Object>> &get_fusion_result() {
    return fusion_result_;
  }
  bool CombineNewResource(
      const std::vector<base::Object> &new_objects,
      std::vector<base::Object> *fused_objects,
      std::vector<std::vector<base::Object>> *fusion_result);
  bool GetV2xFusionObjects(
      const std::vector<std::vector<base::Object>> &fusion_result,
      std::vector<base::Object> *fused_objects);
  int DeleteRedundant(std::vector<base::Object> *objects);

 private:
  bool CombineNewResource(const std::vector<base::Object> &new_objects);
  bool ComputeAssociateMatrix(const std::vector<base::Object> &in1_objects,
                              const std::vector<base::Object> &in2_objects,
                              Eigen::MatrixXf *association_mat);
  double CheckOdistance(const base::Object &in1_ptr,
                        const base::Object &in2_ptr);
  bool CheckDisScore(const base::Object &in1_ptr, const base::Object &in2_ptr,
                     double *score);
  bool CheckTypeScore(const base::Object &in1_ptr, const base::Object &in2_ptr,
                      double *score);
  bool host_vehicle_ = false;
  bool zom_vehicle_ = false;
  double last_timestamp_;
  const double MAX_SCORE = 250000;
  float m_matched_dis_limit_;
  FTConfigManager *ft_config_manager_ptr_;
  KMkernal km_matcher_;
  fusion::ScoreParams score_params_;
  std::vector<std::vector<base::Object>> fusion_result_;
  std::vector<base::Object> updated_objects_;
};

}  // namespace ft
}  // namespace v2x
}  // namespace apollo