object_maintainer.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 <map>

#include "modules/perception/base/object.h"

namespace apollo {
namespace perception {
namespace camera {

class ObjectMaintainer {
 public:
  ObjectMaintainer() {}
  ~ObjectMaintainer() {}
  // @brief: return true if new object added
  bool Add(int idx, base::ObjectPtr obj) {
    auto obj_it = assigned_index_.find(idx);
    if (obj_it == assigned_index_.end()) {
      assigned_index_[idx] = obj;
      return true;
    }

    auto prev_obj = obj_it->second;
    const auto &&curr_type = static_cast<int>(obj->sub_type);
    const auto &&prev_type = static_cast<int>(prev_obj->sub_type);
    if (obj->sub_type_probs[curr_type] > prev_obj->sub_type_probs[prev_type]) {
      *prev_obj = *obj;
    }
    return false;
  }

 protected:
  std::map<int, base::ObjectPtr> assigned_index_;
};

}  // namespace camera
}  // namespace perception
}  // namespace apollo