base_obstacle_perception.h

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/******************************************************************************
 * Copyright 2023 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 <vector>
#include "modules/perception/common/base/radar_point_cloud.h"
#include "modules/perception/common/radar/common/radar_frame.h"
 
#include "modules/perception/common/lib/interface/base_init_options.h"
#include "modules/perception/radar4d_detection/interface/base_detector.h"
#include "modules/perception/radar4d_detection/interface/base_roi_filter.h"
 
namespace apollo {
namespace perception {
namespace radar4d {
 
struct PerceptionInitOptions : public BaseInitOptions {
  // reserved
};
 
struct RadarPerceptionOptions {
  DetectorOptions detector_options;
  RoiFilterOptions roi_filter_options;
  std::string sensor_name;
};
 
class BaseRadarObstaclePerception {
 public:
  BaseRadarObstaclePerception() = default;
  virtual ~BaseRadarObstaclePerception() = default;
 
  virtual bool Init(const PerceptionInitOptions& options) = 0;
 
  virtual bool Perceive(RadarFrame* frame,
                        const RadarPerceptionOptions& options,
                        std::vector<base::ObjectPtr>* objects) = 0;
 
  virtual std::string Name() const = 0;
};
 
PERCEPTION_REGISTER_REGISTERER(BaseRadarObstaclePerception);
#define PERCEPTION_REGISTER_RADAR_OBSTACLE_PERCEPTION(name) \
  PERCEPTION_REGISTER_CLASS(BaseRadarObstaclePerception, name)
 
}  // namespace radar4d
}  // namespace perception
}  // namespace apollo