measurement_collection.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 "modules/perception/lidar_tracking/tracker/common/mlf_track_data.h"
#include "modules/perception/lidar_tracking/tracker/common/tracked_object.h"
 
namespace apollo {
namespace perception {
namespace lidar {
 
void MeasureAnchorPointVelocity(TrackedObjectPtr new_object,
                                const TrackedObjectConstPtr& old_object,
                                const double& time_diff);
 
void MeasureBboxCenterVelocity(TrackedObjectPtr new_object,
                               const TrackedObjectConstPtr& old_object,
                               const double& time_diff);
 
void MeasureBboxCenterHistoryVelocity(const MlfTrackDataConstPtr& track_data,
    TrackedObjectPtr new_object);
 
void MeasureBboxCornerVelocity(TrackedObjectPtr new_object,
                               const TrackedObjectConstPtr& old_object,
                               const double& time_diff);
 
void MeasureBboxCornerHistoryVelocity(const MlfTrackDataConstPtr& track_data,
    TrackedObjectPtr new_object);
 
void ComputeBboxCornerHistoryVelocity(TrackedObjectPtr new_object,
    const TrackedObjectConstPtr& old_object, const double& time_diff,
    TrackedObjectPtr curr_object);
 
void MeasureObjectDetectionVelocity(TrackedObjectPtr new_object,
    const TrackedObjectConstPtr& old_object, const double& time_diff);
 
void MeasureObjectDetectionHistoryVelocity(
    const MlfTrackDataConstPtr& track_data,
    TrackedObjectPtr new_object);
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo