base_tracker.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 "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 radar {
 
struct TrackerInitOptions : public BaseInitOptions {};
 
struct TrackerOptions {};
 
class BaseTracker {
 public:
  BaseTracker() : name_("BaseTracker") {}
  virtual ~BaseTracker() = default;
 
  virtual bool Init(const TrackerInitOptions &options) = 0;
 
  virtual bool Track(const base::Frame &detected_frame,
                     const TrackerOptions &options,
                     base::FramePtr tracked_frame) = 0;
 
  virtual std::string Name() { return name_; }
 
 protected:
  std::string name_;
 
 private:
  DISALLOW_COPY_AND_ASSIGN(BaseTracker);
};
 
PERCEPTION_REGISTER_REGISTERER(BaseTracker);
#define PERCEPTION_REGISTER_TRACKER(name) \
  PERCEPTION_REGISTER_CLASS(BaseTracker, name)
}  // namespace radar
}  // namespace perception
}  // namespace apollo