landmark_struct.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 <vector>
 
#include "modules/perception/common/base/box.h"
#include "modules/perception/common/base/object_supplement.h"
#include "modules/perception/common/base/object_types.h"
 
namespace apollo {
namespace perception {
namespace base {
 
struct alignas(16) Landmark {
  // @brief object type, required
  VisualLandmarkType type = VisualLandmarkType::RoadArrow;
  // @brief probability for each type, required
  std::vector<float> type_probs;
 
  // @brief existence confidence, required
  float confidence = 1.0f;
  BBox2DF box;
};
 
// TODO(all): to remove
// typedef std::shared_ptr<Landmark> LandmarkPtr;
// typedef std::shared_ptr<const Landmark> LandmarkConstPtr;
 
}  // namespace base
}  // namespace perception
}  // namespace apollo