object_sequence.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 <map>
#include <memory>
#include <mutex>
#include <vector>
 
#include "gtest/gtest_prod.h"
 
#include "modules/perception/common/base/object.h"
#include "modules/perception/common/lidar/common/lidar_log.h"
 
namespace apollo {
namespace perception {
namespace lidar {
 
class ObjectSequence {
 public:
  typedef int TrackIdKey;
  typedef double TimeStampKey;
  typedef std::map<TimeStampKey,
                   std::shared_ptr<apollo::perception::base::Object>>
      TrackedObjects;
 
 public:
  ObjectSequence() = default;
  ~ObjectSequence() = default;
 
  bool AddTrackedFrameObjects(
      const std::vector<std::shared_ptr<perception::base::Object>>& objects,
      TimeStampKey timestamp);
 
  bool GetTrackInTemporalWindow(TrackIdKey track_id, TrackedObjects* track,
                                TimeStampKey window_time);
 
 protected:
  FRIEND_TEST(FusedClassifierTest, test_one_sequence_fusion);
  FRIEND_TEST(FusedClassifierTest, test_one_sequence_fusion_bad_timestamp);
  void RemoveStaleTracks(TimeStampKey current_stamp);
 
  TimeStampKey current_;
  std::map<TrackIdKey, TrackedObjects> sequence_;
  std::mutex mutex_;
  static constexpr TimeStampKey kMaxTimeOut = 5.0;  // 5 second
};
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo