mrf_shape_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 "modules/perception/common/algorithm/geometry/convex_hull_2d.h"
#include "modules/perception/radar4d_detection/lib/tracker/multi_radar_fusion/mrf_base_filter.h"
 
namespace apollo {
namespace perception {
namespace radar4d {
 
class MrfShapeFilter : public MrfBaseFilter {
 public:
  MrfShapeFilter() = default;
  virtual ~MrfShapeFilter() = default;
  bool Init(
      const MrfFilterInitOptions& options = MrfFilterInitOptions()) override;
  void UpdateWithObject(const MrfFilterOptions& options,
                        const MrfTrackDataConstPtr& track_data,
                        TrackedObjectPtr new_object) override;
  void UpdateWithoutObject(const MrfFilterOptions& options, double timestamp,
                           MrfTrackDataPtr track_data) override;
  std::string Name() const override { return "MrfShapeFilter"; }
 
 protected:
  algorithm::ConvexHull2D<base::RadarPointDCloud, base::PolygonDType> hull_;
  double bottom_points_ignore_threshold_ = 0.1;
  double top_points_ignore_threshold_ = 1.6;
};  // class MrfShapeFilter
 
}  // namespace radar4d
}  // namespace perception
}  // namespace apollo