base_detector.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 <string>
 
#include "Eigen/Core"
 
#include "modules/common_msgs/sensor_msgs/conti_radar.pb.h"
 
#include "cyber/common/macros.h"
#include "modules/perception/common/base/frame.h"
#include "modules/perception/common/base/hdmap_struct.h"
#include "modules/perception/common/lib/interface/base_init_options.h"
#include "modules/perception/common/lib/registerer/registerer.h"
 
namespace apollo {
namespace perception {
namespace radar {
 
struct DetectorInitOptions : public BaseInitOptions {};
 
struct DetectorOptions {
  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();
  base::HdmapStructPtr roi = nullptr;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
class BaseDetector {
 public:
  BaseDetector() = default;
  virtual ~BaseDetector() = default;
 
  virtual bool Init(const DetectorInitOptions& options) = 0;
 
  virtual bool Detect(const drivers::ContiRadar& corrected_obstacles,
                      const DetectorOptions& options,
                      base::FramePtr detected_frame) = 0;
 
  virtual std::string Name() const = 0;
 
 private:
  DISALLOW_COPY_AND_ASSIGN(BaseDetector);
};
 
PERCEPTION_REGISTER_REGISTERER(BaseDetector);
#define PERCEPTION_REGISTER_DETECTOR(name) \
  PERCEPTION_REGISTER_CLASS(BaseDetector, name)
 
}  // namespace radar
}  // namespace perception
}  // namespace apollo