util.h

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/******************************************************************************
 * Copyright 2024 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 <memory>
#include <set>
#include <string>
#include <vector>
 
#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 {
 
bool JudgeBlindTrafficCone(const MlfTrackDataConstPtr& track_data,
    double frame_timestamp, const Eigen::Vector3d& local_to_global_offset,
    Eigen::Affine3d& lidar2world_pose, Eigen::Affine3d& lidar2novatel_pose);
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo