sensor_frame.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 <memory>
#include <string>
#include <vector>
 
#include "Eigen/Core"
 
#include "modules/perception/common/base/frame.h"
#include "modules/perception/multi_sensor_fusion/base/base_forward_declaration.h"
#include "modules/perception/multi_sensor_fusion/base/sensor_object.h"
 
namespace apollo {
namespace perception {
namespace fusion {
 
struct SensorFrameHeader {
  base::SensorInfo sensor_info;
  double timestamp = 0.0;
  Eigen::Affine3d sensor2world_pose;
 
  SensorFrameHeader() = default;
  SensorFrameHeader(const base::SensorInfo& info, double ts,
                    const Eigen::Affine3d& pose)
      : sensor_info(info), timestamp(ts), sensor2world_pose(pose) {}
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;
 
class SensorFrame {
 public:
  SensorFrame();
 
  explicit SensorFrame(const base::FrameConstPtr& base_frame_ptr);
 
  void Initialize(const base::FrameConstPtr& base_frame_ptr);
 
  void Initialize(const base::FrameConstPtr& base_frame_ptr,
                  const SensorPtr& sensor);
 
  inline double GetTimestamp() const { return header_->timestamp; }
 
  inline bool GetPose(Eigen::Affine3d* pose) const {
    if (pose == nullptr) {
      AERROR << "pose is not available";
      return false;
    }
    *pose = header_->sensor2world_pose;
    return true;
  }
 
  inline std::vector<SensorObjectPtr>& GetForegroundObjects() {
    return foreground_objects_;
  }
 
  inline const std::vector<SensorObjectPtr>& GetForegroundObjects() const {
    return foreground_objects_;
  }
 
  inline std::vector<SensorObjectPtr>& GetBackgroundObjects() {
    return background_objects_;
  }
 
  inline const std::vector<SensorObjectPtr>& GetBackgroundObjects() const {
    return background_objects_;
  }
 
  std::string GetSensorId() const;
 
  base::SensorType GetSensorType() const;
 
  SensorFrameHeaderConstPtr GetHeader() const { return header_; }
 
 private:
  std::vector<SensorObjectPtr> foreground_objects_;
  std::vector<SensorObjectPtr> background_objects_;
 
  // sensor-specific frame supplements
  base::LidarFrameSupplement lidar_frame_supplement_;
  base::RadarFrameSupplement radar_frame_supplement_;
  base::CameraFrameSupplement camera_frame_supplement_;
 
  SensorFrameHeaderPtr header_ = nullptr;
};
 
}  // namespace fusion
}  // namespace perception
}  // namespace apollo