semantic_builder.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 <vector>
 
#include "modules/perception/common/base/object.h"
#include "modules/perception/common/base/object_types.h"
#include "modules/perception/common/lidar/common/lidar_frame.h"
#include "modules/perception/common/lidar/common/lidar_point_label.h"
 
namespace apollo {
namespace perception {
namespace lidar {
 
using apollo::perception::base::ObjectPtr;
 
struct SemanticBuilderInitOptions {};
 
struct SemanticBuilderOptions {};
 
class SemanticBuilder {
public:
    SemanticBuilder() = default;
 
    ~SemanticBuilder() = default;
 
    bool Init(const SemanticBuilderInitOptions& options = SemanticBuilderInitOptions());
 
    bool Build(const SemanticBuilderOptions& options, LidarFrame* frame);
 
    std::string Name() const {
        return "SemanticBuilder";
    }
 
private:
    void GetObjSemanticAndMotionType(ObjectPtr object);
};  // class SemanticBuilder
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo