mrf_track_object_matcher.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 <string>
#include <utility>
#include <vector>
 
#include "cyber/common/macros.h"
#include "modules/perception/common/algorithm/graph/secure_matrix.h"
#include "modules/perception/common/lib/interface/base_init_options.h"
#include "modules/perception/radar4d_detection/interface/base_bipartite_graph_matcher.h"
#include "modules/perception/radar4d_detection/lib/tracker/multi_radar_fusion/mrf_track_object_distance.h"
 
namespace apollo {
namespace perception {
namespace radar4d {
 
using apollo::perception::BaseInitOptions;
 
struct MrfTrackObjectMatcherInitOptions : public BaseInitOptions {};
 
struct MrfTrackObjectMatcherOptions {};
 
class MrfTrackObjectMatcher {
 public:
  MrfTrackObjectMatcher() = default;
  ~MrfTrackObjectMatcher() = default;
 
  bool Init(const MrfTrackObjectMatcherInitOptions &options =
                MrfTrackObjectMatcherInitOptions());
 
  void Match(const MrfTrackObjectMatcherOptions &options,
             const std::vector<TrackedObjectPtr> &objects,
             const std::vector<MrfTrackDataPtr> &tracks,
             std::vector<std::pair<size_t, size_t>> *assignments,
             std::vector<size_t> *unassigned_tracks,
             std::vector<size_t> *unassigned_objects);
 
  std::string Name() const { return "MrfTrackObjectMatcher"; }
 
 protected:
  void ComputeAssociateMatrix(const std::vector<MrfTrackDataPtr> &tracks,
                              const std::vector<TrackedObjectPtr> &new_objects,
                              algorithm::SecureMat<float> *association_mat);
 
 protected:
  std::unique_ptr<MrfTrackObjectDistance> track_object_distance_;
  BaseBipartiteGraphMatcher *foreground_matcher_;
  BaseBipartiteGraphMatcher *background_matcher_;
 
  float bound_value_ = 100.f;
  float max_match_distance_ = 4.0f;
  bool use_semantic_map = false;
 
 private:
  DISALLOW_COPY_AND_ASSIGN(MrfTrackObjectMatcher);
};  // class MrfTrackObjectMatcher
 
}  // namespace radar4d
}  // namespace perception
}  // namespace apollo