omt_obstacle_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 <memory>
#include <string>
#include <vector>
 
#include <boost/circular_buffer.hpp>
 
#include "modules/perception/camera_tracking/proto/omt.pb.h"
 
#include "modules/perception/camera_tracking/base/obstacle_reference.h"
#include "modules/perception/camera_tracking/base/target.h"
#include "modules/perception/camera_tracking/common/camera_tracking_frame.h"
#include "modules/perception/camera_tracking/common/similar.h"
#include "modules/perception/camera_tracking/interface/base_feature_extractor.h"
#include "modules/perception/camera_tracking/interface/base_obstacle_tracker.h"
#include "modules/perception/common/camera/common/object_template_manager.h"
 
namespace apollo {
namespace perception {
namespace camera {
 
struct alignas(16) Hypothesis {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  int target;
  int object;
  float score;
 
  Hypothesis() : target(-1), object(-1), score(-1) {}
 
  Hypothesis(int tar, int obj, float score)
      : target(tar), object(obj), score(score) {}
 
  bool operator<(const Hypothesis &b) const { return score < b.score; }
 
  bool operator>(const Hypothesis &b) const { return score > b.score; }
};
 
class OMTObstacleTracker : public BaseObstacleTracker {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  OMTObstacleTracker() = default;
  ~OMTObstacleTracker() = default;
 
  bool Init(const ObstacleTrackerInitOptions &options) override;
 
  bool Process(std::shared_ptr<CameraTrackingFrame> camera_frame);
 
  bool FeatureExtract(CameraTrackingFrame *frame) override;
 
  bool Predict(CameraTrackingFrame *frame) override;
 
  // bool CalSimilarity(CameraTrackingFrame *frame) override;
 
  bool Associate2D(std::shared_ptr<CameraTrackingFrame> frame) override;
 
  bool Associate3D(std::shared_ptr<CameraTrackingFrame> frame) override;
 
 private:
  float ScoreAppearance(const Target &target, TrackObjectPtr object);
 
  float ScoreMotion(const Target &target, TrackObjectPtr object);
  float ScoreShape(const Target &target, TrackObjectPtr object);
  float ScoreOverlap(const Target &target, TrackObjectPtr track_obj);
  void ClearTargets();
  bool CombineDuplicateTargets();
  void GenerateHypothesis(const TrackObjectPtrs &objects);
  int CreateNewTarget(const TrackObjectPtrs &objects);
 
 private:
  std::shared_ptr<BaseFeatureExtractor> feature_extractor_;
  OmtParam omt_param_;
  boost::circular_buffer<std::shared_ptr<CameraTrackingFrame>> frame_buffer_;
  SimilarMap similar_map_;
  std::shared_ptr<BaseSimilar> similar_ = nullptr;
  // Target is one tracked object in a sequence
  // targets_ is all the tracked objects in a sequence
  apollo::common::EigenVector<Target> targets_;
  std::vector<bool> used_;
  ObstacleReference reference_;
  std::vector<std::vector<float>> kTypeAssociatedCost_;
  int track_id_ = 0;
  int frame_num_ = 0;
  int gpu_id_ = 0;
  float width_ = 0.0f;
  float height_ = 0.0f;
 
 protected:
  ObjectTemplateManager *object_template_manager_ = nullptr;
};
 
}  // namespace camera
}  // namespace perception
}  // namespace apollo