camera_tracker.h

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/******************************************************************************
 * Copyright 2024 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 <memory>
#include <string>
#include <vector>
 
#include "cyber/common/macros.h"
#include "modules/perception/camera_detection_occupancy/interface/base_tracker.h"
#include "modules/perception/camera_detection_occupancy/tracker/common/camera_track_manager.h"
#include "modules/perception/camera_detection_occupancy/tracker/matcher/hm_matcher.h"
 
namespace apollo {
namespace perception {
namespace camera {
 
class CameraTracker : public BaseTracker {
 public:
  CameraTracker();
  virtual ~CameraTracker();
 
  bool Init(const TrackerInitOptions &options) override;
 
  bool Track(const base::Frame &detected_frame,
             base::FramePtr tracked_frame) override;
 
 private:
  std::shared_ptr<BaseMatcher> matcher_ = nullptr;
  CameraTrackManager *track_manager_ = nullptr;
  static double s_tracking_time_win_;
  void TrackObjects(const base::Frame &camera_frame);
  void UpdateAssignedTracks(const base::Frame &camera_frame,
                            std::vector<TrackObjectPair> assignments);
  void UpdateUnassignedTracks(const base::Frame &camera_frame,
                              const std::vector<size_t> &unassigned_tracks);
  void DeleteLostTracks();
  void CreateNewTracks(const base::Frame &camera_frame,
                       const std::vector<size_t> &unassigned_objects);
  void CollectTrackedFrame(base::FramePtr tracked_frame);
  void MeasurementBboxCenterVelocity(base::ObjectPtr new_object,
    const base::ObjectPtr old_object, double time_diff);
  void MeasureVelocityRefine(base::ObjectPtr new_object,
    const base::ObjectPtr old_object, double time_diff);
  DISALLOW_COPY_AND_ASSIGN(CameraTracker);
};
 
}  // namespace camera
}  // namespace perception
}  // namespace apollo