object_maintainer.cc

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/******************************************************************************
 * Copyright 2020 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.
 *****************************************************************************/
#include "modules/perception/camera_detection_multi_stage/detector/yolo/object_maintainer.h"
 
namespace apollo {
namespace perception {
namespace camera {
 
bool ObjectMaintainer::Add(int idx, base::ObjectPtr obj) {
  auto obj_it = assigned_index_.find(idx);
  if (obj_it == assigned_index_.end()) {
    assigned_index_[idx] = obj;
    return true;
  }
 
  auto pre_obj = obj_it->second;
  int cur_type = static_cast<int>(obj->sub_type);
  int pre_type = static_cast<int>(pre_obj->sub_type);
 
  if (obj->sub_type_probs[cur_type] > pre_obj->sub_type_probs[pre_type]) {
    *pre_obj = *obj;
  }
  return false;
}
 
}  // namespace camera
}  // namespace perception
}  // namespace apollo