base_lidar_detector.h

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/******************************************************************************
 * Copyright 2021 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 <string>
 
#include "cyber/common/macros.h"
#include "modules/perception/common/lib/registerer/registerer.h"
#include "modules/perception/common/lidar/common/lidar_frame.h"
#include "modules/perception/common/lib/interface/base_init_options.h"
 
namespace apollo {
namespace perception {
namespace lidar {
 
using apollo::perception::BaseInitOptions;
 
struct LidarDetectorInitOptions : public BaseInitOptions {
  std::string sensor_name = "velodyne64";
};
 
struct LidarDetectorOptions {};
 
class BaseLidarDetector {
 public:
  BaseLidarDetector() = default;
 
  virtual ~BaseLidarDetector() = default;
 
  virtual bool Init(
      const LidarDetectorInitOptions& options = LidarDetectorInitOptions()) = 0;
 
  virtual bool Detect(const LidarDetectorOptions& options,
                      LidarFrame* frame) = 0;
 
  virtual std::string Name() const = 0;
 
 private:
  DISALLOW_COPY_AND_ASSIGN(BaseLidarDetector);
};  // class BaseLidarDetector
 
PERCEPTION_REGISTER_REGISTERER(BaseLidarDetector);
#define PERCEPTION_REGISTER_LIDARDETECTOR(name) \
  PERCEPTION_REGISTER_CLASS(BaseLidarDetector, name)
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo