base_preprocessor.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 <string>
#include <memory>
 
#include "modules/common_msgs/sensor_msgs/oculii_radar.pb.h"
#include "modules/perception/common/base/radar_point_cloud.h"
#include "modules/perception/common/radar/common/radar_frame.h"
 
#include "cyber/common/macros.h"
#include "modules/perception/common/base/frame.h"
#include "modules/perception/common/lib/interface/base_init_options.h"
#include "modules/perception/common/lib/registerer/registerer.h"
 
namespace apollo {
namespace perception {
namespace radar4d {
 
struct PreprocessorInitOptions : public BaseInitOptions {
  // reserved
};
 
struct PreprocessorOptions {
  Eigen::Matrix4d* radar2world_pose = nullptr;
  Eigen::Matrix4d* radar2novatel_trans = nullptr;
  Eigen::Vector3f car_linear_speed = Eigen::Vector3f::Zero();
  Eigen::Vector3f car_angular_speed = Eigen::Vector3f::Zero();
};
 
class BasePreprocessor {
 public:
  BasePreprocessor() = default;
  virtual ~BasePreprocessor() = default;
 
  virtual bool Init(const PreprocessorInitOptions& options) = 0;
 
  virtual bool Preprocess(
    const std::shared_ptr<apollo::drivers::OculiiPointCloud const>& message,
    const PreprocessorOptions& options,
    RadarFrame* frame) = 0;
 
  virtual std::string Name() const = 0;
 
 private:
  DISALLOW_COPY_AND_ASSIGN(BasePreprocessor);
};
 
PERCEPTION_REGISTER_REGISTERER(BasePreprocessor);
#define PERCEPTION_REGISTER_PREPROCESSOR(name) \
  PERCEPTION_REGISTER_CLASS(BasePreprocessor, name)
 
}  // namespace radar4d
}  // namespace perception
}  // namespace apollo