camera_location_refinement_component.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 <map>
#include <memory>
#include <string>
 
#include "modules/perception/camera_location_refinement/proto/camera_location_refinement.pb.h"
 
#include "cyber/cyber.h"
#include "modules/common/util/eigen_defs.h"
#include "modules/perception/camera_location_refinement/interface/base_postprocessor.h"
#include "modules/perception/common/lib/interface/base_calibration_service.h"
#include "modules/perception/common/onboard/inner_component_messages/camera_detection_component_messages.h"
 
namespace apollo {
namespace perception {
namespace camera {
 
class CameraLocationRefinementComponent final
    : public cyber::Component<onboard::CameraFrame> {
 public:
  bool Init() override;
  bool Proc(const std::shared_ptr<onboard::CameraFrame>& msg) override;
 
 private:
  void InitCalibrationService(
      const CameraLocationRefinement& location_refinement_param);
 
  void InitPostprocessor(
      const CameraLocationRefinement& location_refinement_param);
 
  void SetCameraHeightAndPitch(
      const std::map<std::string, float>& name_camera_ground_height_map,
      const std::map<std::string, float>& name_camera_pitch_angle_diff_map,
      const float& pitch_angle_calibrator_working_sensor);
 
 private:
  std::shared_ptr<BasePostprocessor> postprocessor_;
  std::shared_ptr<BaseCalibrationService> calibration_service_;
 
  std::shared_ptr<cyber::Writer<onboard::CameraFrame>> writer_;
 
  apollo::common::EigenMap<std::string, Eigen::Matrix3f> name_intrinsic_map_;
};
 
CYBER_REGISTER_COMPONENT(CameraLocationRefinementComponent);
 
}  // namespace camera
}  // namespace perception
}  // namespace apollo