mrf_tracker.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 <limits>
#include <string>
#include <vector>
 
#include "modules/perception/common/lib/interface/base_init_options.h"
#include "modules/perception/radar4d_detection/lib/tracker/common/mrf_track_data.h"
#include "modules/perception/radar4d_detection/lib/tracker/common/tracked_object.h"
#include "modules/perception/radar4d_detection/lib/tracker/multi_radar_fusion/mrf_base_filter.h"
 
namespace apollo {
namespace perception {
namespace radar4d {
 
using apollo::perception::BaseInitOptions;
 
struct MrfTrackerInitOptions : public BaseInitOptions {};
 
struct MrfTrackOptions {};
 
class MrfTracker {
 public:
  MrfTracker() = default;
  ~MrfTracker() {
    for (auto& filter : filters_) {
      delete filter;
    }
  }
  bool Init(const MrfTrackerInitOptions options = MrfTrackerInitOptions());
 
  void InitializeTrack(MrfTrackDataPtr new_track_data,
                       TrackedObjectPtr new_object);
 
  void UpdateTrackDataWithObject(MrfTrackDataPtr track_data,
                                 TrackedObjectPtr new_object);
 
  void UpdateTrackDataWithoutObject(double timestamp,
                                    MrfTrackDataPtr track_data);
 
  std::string Name() const { return "MrfTracker"; }
 
 protected:
  int GetNextTrackId() {
    if (global_track_id_counter_ == std::numeric_limits<int>::max()) {
      global_track_id_counter_ = 0;
    }
    return global_track_id_counter_++;
  }
 
 protected:
  // a single whole state filter or separate state filters
  std::vector<MrfBaseFilter*> filters_;
  // global track id
  int global_track_id_counter_ = 0;
  // filter option
  MrfFilterOptions filter_options_;
};  // class MrfTracker
 
}  // namespace radar4d
}  // namespace perception
}  // namespace apollo