mlf_track_object_distance.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 <string>
#include <vector>
 
#include "modules/perception/common/lib/interface/base_init_options.h"
#include "modules/perception/common/util.h"
#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 {
 
using apollo::perception::BaseInitOptions;
 
struct MlfTrackObjectDistanceInitOptions : public BaseInitOptions {};
 
class MlfTrackObjectDistance {
 public:
  MlfTrackObjectDistance() = default;
  ~MlfTrackObjectDistance() = default;
 
  bool Init(const MlfTrackObjectDistanceInitOptions& options =
                MlfTrackObjectDistanceInitOptions());
 
  float ComputeDistance(const TrackedObjectConstPtr& object,
                        const MlfTrackDataConstPtr& track) const;
 
  std::string Name() const { return "MlfTrackObjectDistance"; }
 
 protected:
  std::map<std::string, std::vector<float>> foreground_weight_table_;
  std::map<std::string, std::vector<float>> background_weight_table_;
 
  static const std::vector<float> kForegroundDefaultWeight;
  static const std::vector<float> kBackgroundDefaultWeight;
 
  double background_object_match_threshold_ = 4.0;
  float euclidean_distance_threshold_ = 2.0;
  float out_gate_match_cost_ = 10.0;
};  // class MlfTrackObjectDistance
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo