postprocess.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 <vector>
 
#include "Eigen/Core"
 
#include "modules/perception/common/base/blob.h"
#include "modules/perception/common/base/object.h"
#include "modules/perception/common/base/object_types.h"
 
namespace apollo {
namespace perception {
namespace camera {
void GetObjects(const base::BlobPtr<float> &box3ds,
                const base::BlobPtr<float> &labels,
                const base::BlobPtr<float> &scores,
                const std::vector<base::ObjectSubType> &types,
                float score_threshold, std::vector<base::ObjectPtr> *objects);
 
void FillBBox3d(const float *bbox, base::ObjectPtr obj);
 
base::ObjectSubType GetSubtype(int cls,
                               const std::vector<base::ObjectSubType> &types);
 
}  // namespace camera
}  // namespace perception
}  // namespace apollo