select.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 <utility>
#include <vector>
 
#include "modules/perception/common/algorithm/graph/hungarian_optimizer.h"
#include "modules/perception/common/base/point.h"
#include "modules/perception/common/base/traffic_light.h"
 
namespace apollo {
namespace perception {
namespace trafficlight {
 
class Select {
public:
    Select() = default;
    bool Init(int rows, int cols);
    void SelectTrafficLights(
            const std::vector<base::TrafficLightPtr> &refined_bboxes,
            std::vector<base::TrafficLightPtr> *hdmap_bboxes);
    double Calc2dGaussianScore(base::Point2DI p1, base::Point2DI p2, float sigma1, float sigma2);
 
private:
    algorithm::HungarianOptimizer<float> munkres_;
};
}  // namespace trafficlight
}  // namespace perception
}  // namespace apollo