type_fusion_interface.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 "modules/perception/common/base/object.h"
#include "modules/perception/common/lib/interface/base_init_options.h"
#include "modules/perception/common/lib/registerer/registerer.h"
#include "modules/perception/common/radar/common/object_sequence.h"
 
namespace apollo {
namespace perception {
namespace radar4d {
 
using apollo::perception::BaseInitOptions;
 
struct TypeFusionInitOption : public BaseInitOptions {};
 
struct TypeFusionOption {};
 
class BaseOneShotTypeFusion {
 public:
  virtual bool Init(const TypeFusionInitOption& option) = 0;
  virtual bool TypeFusion(const TypeFusionOption& option,
                          std::shared_ptr<perception::base::Object> object) = 0;
  virtual std::string Name() const = 0;
};
 
PERCEPTION_REGISTER_REGISTERER(BaseOneShotTypeFusion);
#define PERCEPTION_REGISTER_ONESHOTTYPEFUSION(name) \
  PERCEPTION_REGISTER_CLASS(BaseOneShotTypeFusion, name)
 
class BaseSequenceTypeFusion {
 public:
  typedef ObjectSequence::TrackedObjects TrackedObjects;
 
 public:
  virtual bool Init(const TypeFusionInitOption& option) = 0;
  virtual bool TypeFusion(const TypeFusionOption& option,
                          TrackedObjects* tracked_objects) = 0;
  virtual std::string Name() const = 0;
};
 
PERCEPTION_REGISTER_REGISTERER(BaseSequenceTypeFusion);
#define PERCEPTION_REGISTER_SEQUENCETYPEFUSION(name) \
  PERCEPTION_REGISTER_CLASS(BaseSequenceTypeFusion, name)
 
}  // namespace radar4d
}  // namespace perception
}  // namespace apollo