mrf_base_filter.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 <string>
 
#include "cyber/common/macros.h"
#include "modules/perception/common/lib/interface/base_init_options.h"
#include "modules/perception/common/lib/registerer/registerer.h"
#include "modules/perception/radar4d_detection/lib/tracker/common/mrf_track_data.h"
#include "modules/perception/radar4d_detection/lib/tracker/common/tracked_object.h"
 
namespace apollo {
namespace perception {
namespace radar4d {
 
using apollo::perception::BaseInitOptions;
 
struct MrfFilterInitOptions : public BaseInitOptions {};
 
struct MrfFilterOptions {};
 
class MrfBaseFilter {
 public:
  MrfBaseFilter() = default;
  virtual ~MrfBaseFilter() = default;
 
  virtual bool Init(
      const MrfFilterInitOptions& options = MrfFilterInitOptions()) = 0;
 
  virtual void UpdateWithObject(const MrfFilterOptions& options,
                                const MrfTrackDataConstPtr& track_data,
                                TrackedObjectPtr new_object) = 0;
 
  virtual void UpdateWithoutObject(const MrfFilterOptions& options,
                                   double timestamp,
                                   MrfTrackDataPtr track_data) = 0;
  virtual std::string Name() const = 0;
 
 private:
  DISALLOW_COPY_AND_ASSIGN(MrfBaseFilter);
};  // class MrfBaseFilter
 
PERCEPTION_REGISTER_REGISTERER(MrfBaseFilter);
#define PERCEPTION_REGISTER_MRFFILTER(name) \
  PERCEPTION_REGISTER_CLASS(MrfBaseFilter, name)
 
}  // namespace radar4d
}  // namespace perception
}  // namespace apollo