probabilistic_fusion.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 <memory>
#include <string>
#include <vector>
 
#include "cyber/common/macros.h"
#include "modules/perception/multi_sensor_fusion/base/sensor_data_manager.h"
#include "modules/perception/multi_sensor_fusion/interface/base_data_association.h"
#include "modules/perception/multi_sensor_fusion/interface/base_fusion_system.h"
#include "modules/perception/multi_sensor_fusion/interface/base_gatekeeper.h"
#include "modules/perception/multi_sensor_fusion/interface/base_tracker.h"
 
namespace apollo {
namespace perception {
namespace fusion {
 
struct FusionParams {
  bool use_lidar = true;
  bool use_radar = true;
  bool use_camera = true;
  std::string tracker_method;
  std::string data_association_method;
  std::string gate_keeper_method;
  std::vector<std::string> prohibition_sensors;
};
 
class ProbabilisticFusion : public BaseFusionSystem {
 public:
  ProbabilisticFusion() = default;
  ~ProbabilisticFusion() = default;
 
  bool Init(const FusionInitOptions& options) override;
 
  bool Fuse(const base::FrameConstPtr& sensor_frame,
            std::vector<base::ObjectPtr>* fused_objects) override;
 
  std::string Name() const override { return "ProbabilisticFusion"; }
 
 private:
  bool IsPublishSensor(const base::FrameConstPtr& sensor_frame) const;
 
  void FuseFrame(const SensorFramePtr& frame);
 
  void CollectFusedObjects(double timestamp,
                           std::vector<base::ObjectPtr>* fused_objects);
 
  void FuseForegroundTrack(const SensorFramePtr& frame);
 
  void FusebackgroundTrack(const SensorFramePtr& frame);
 
  void RemoveLostTrack();
 
  void UpdateAssignedTracks(
      const SensorFramePtr& frame,
      const std::vector<TrackMeasurmentPair>& assignments);
 
  void UpdateUnassignedTracks(const SensorFramePtr& frame,
                              const std::vector<size_t>& unassigned_track_inds);
 
  void CreateNewTracks(const SensorFramePtr& frame,
                       const std::vector<size_t>& unassigned_obj_inds);
 
  void CollectObjectsByTrack(double timestamp, const TrackPtr& track,
                             std::vector<base::ObjectPtr>* fused_objects);
 
  void CollectSensorMeasurementFromObject(
      const SensorObjectConstPtr& object,
      base::SensorObjectMeasurement* measurement);
 
 private:
  std::mutex data_mutex_;
  std::mutex fuse_mutex_;
 
  ScenePtr scenes_;
  std::vector<std::shared_ptr<BaseTracker>> trackers_;  // for foreground
 
  std::unique_ptr<BaseDataAssociation> matcher_;
  std::unique_ptr<BaseGatekeeper> gate_keeper_;
 
  FusionParams params_;
 
  DISALLOW_COPY_AND_ASSIGN(ProbabilisticFusion);
};
 
}  // namespace fusion
}  // namespace perception
}  // namespace apollo