mrf_engine.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 <memory>
#include <set>
#include <string>
#include <vector>
 
#include "modules/common_msgs/perception_msgs/perception_obstacle.pb.h"
 
#include "modules/perception/common/onboard/msg_serializer/msg_serializer.h"
#include "modules/perception/radar4d_detection/interface/base_multi_target_tracker.h"
#include "modules/perception/radar4d_detection/lib/tracker/multi_radar_fusion/mrf_track_object_matcher.h"
#include "modules/perception/radar4d_detection/lib/tracker/multi_radar_fusion/mrf_tracker.h"
#include "modules/prediction/container/obstacles/obstacles_container.h"
#include "modules/prediction/container/pose/pose_container.h"
 
namespace apollo {
namespace perception {
namespace radar4d {
 
class MrfEngine : public BaseMultiTargetTracker {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
 public:
  MrfEngine() = default;
  virtual ~MrfEngine() = default;
  bool Init(const MultiTargetTrackerInitOptions& options =
                MultiTargetTrackerInitOptions()) override;
 
  bool Track(const MultiTargetTrackerOptions& options,
             RadarFrame* frame) override;
  std::string Name() const override { return "MrfEngine"; };
 
 protected:
  void SplitAndTransformToTrackedObjects(
      const std::vector<base::ObjectPtr>& objects,
      const base::SensorInfo& sensor_info);
 
  void TrackObjectMatchAndAssign(
      const MrfTrackObjectMatcherOptions& match_options,
      const std::vector<TrackedObjectPtr>& objects, const std::string& name,
      std::vector<MrfTrackDataPtr>* tracks);
 
  void TrackStateFilter(const std::vector<MrfTrackDataPtr>& tracks,
                        double frame_timestamp);
 
  void CollectTrackedResult(RadarFrame* frame);
 
  void RemoveStaleTrackData(const std::string& name, double timestamp,
                            std::vector<MrfTrackDataPtr>* tracks);
 
  void Clear();
  //  void AttachDebugInfo(
  //      std::vector<std::shared_ptr<base::Object>>* foreground_objs);
 
  //  void AttachSemanticPredictedTrajectory(
  //      const std::vector<MrfTrackDataPtr>& tracks);
 
 protected:
  // foreground and background track data
  std::vector<MrfTrackDataPtr> foreground_track_data_;
  std::vector<MrfTrackDataPtr> background_track_data_;
  // foreground and background tracked objects
  std::vector<TrackedObjectPtr> foreground_objects_;
  std::vector<TrackedObjectPtr> background_objects_;
  // tracker
  std::unique_ptr<MrfTracker> tracker_;
  // track object matcher
  std::unique_ptr<MrfTrackObjectMatcher> matcher_;
  // offset maintained for numeric issues
  Eigen::Vector3d global_to_local_offset_;
  Eigen::Affine3d sensor_to_local_pose_;
  // main sensor info
  std::set<std::string> main_sensors_;
  // params
  bool use_histogram_for_match_ = true;
  size_t histogram_bin_size_ = 10;
  bool output_predict_objects_ = false;
  double reserved_invisible_time_ = 0.3;
  bool use_frame_timestamp_ = false;
  // semantic map
  apollo::prediction::ObstaclesContainer obstacle_container_;
  apollo::prediction::PoseContainer pose_container_;
  apollo::perception::onboard::MsgSerializer serializer_;
  bool use_semantic_map_ = false;
  //  apollo::perception::EvaluatorManager evaluator_;
};
 
}  // namespace radar4d
}  // namespace perception
}  // namespace apollo