object_pool_types.h

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/******************************************************************************
 * Copyright 2018 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 "modules/perception/common/base/concurrent_object_pool.h"
#include "modules/perception/common/base/frame.h"
#include "modules/perception/common/base/object.h"
#include "modules/perception/common/base/point_cloud.h"
#include "modules/perception/common/base/radar_point_cloud.h"
 
namespace apollo {
namespace perception {
namespace base {
 
struct ObjectInitializer {
  void operator()(Object* object) const { object->Reset(); }
};
 
template <typename T>
struct PointCloudInitializer {
  void operator()(AttributePointCloud<Point<T>>* cloud) const {
    cloud->clear();
  }
};
 
template <typename T>
struct RadarPointCloudInitializer {
  void operator()(AttributeRadarPointCloud<RadarPoint<T>>* cloud) const {
    cloud->clear();
  }
};
 
struct FrameInitializer {
  void operator()(Frame* frame) const { frame->Reset(); }
};
 
static const size_t kObjectPoolSize = 10000;
static const size_t kPointCloudPoolSize = 1000;
static const size_t kFramePoolSize = 100;
 
using ObjectPool =
    ConcurrentObjectPool<Object, kObjectPoolSize, ObjectInitializer>;
using PointFCloudPool =
    ConcurrentObjectPool<AttributePointCloud<PointF>,
    kPointCloudPoolSize,
    PointCloudInitializer<float>>;
using PointDCloudPool =
    ConcurrentObjectPool<AttributePointCloud<PointD>,
    kPointCloudPoolSize,
    PointCloudInitializer<double>>;
using RadarPointFCloudPool =
    ConcurrentObjectPool<AttributeRadarPointCloud<RadarPointF>,
    kPointCloudPoolSize,
    RadarPointCloudInitializer<double>>;
using RadarPointDCloudPool =
    ConcurrentObjectPool<AttributeRadarPointCloud<RadarPointD>,
    kPointCloudPoolSize,
    RadarPointCloudInitializer<double>>;
using FramePool = ConcurrentObjectPool<Frame, kFramePoolSize, FrameInitializer>;
 
}  // namespace base
}  // namespace perception
}  // namespace apollo