sensor_object.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 "Eigen/Core"
 
#include "modules/perception/common/base/object.h"
#include "modules/perception/common/base/sensor_meta.h"
#include "modules/perception/multi_sensor_fusion/base/base_forward_declaration.h"
 
namespace apollo {
namespace perception {
namespace fusion {
 
class SensorObject {
 public:
  SensorObject() = delete;
 
  explicit SensorObject(const std::shared_ptr<const base::Object>& object_ptr);
 
  SensorObject(const std::shared_ptr<const base::Object>& object_ptr,
               const std::shared_ptr<const SensorFrameHeader>& frame_header);
 
  SensorObject(const std::shared_ptr<const base::Object>& object_ptr,
               const std::shared_ptr<SensorFrame>& frame_ptr);
 
  // Getter
  // @brief get frame timestamp which might be different with object timestamp
  double GetTimestamp() const;
  bool GetRelatedFramePose(Eigen::Affine3d* pose) const;
 
  std::string GetSensorId() const;
  base::SensorType GetSensorType() const;
 
  inline std::shared_ptr<const base::Object> GetBaseObject() const {
    return object_;
  }
 
  inline double GetInvisiblePeriod() const { return invisible_period_; }
 
  inline void SetInvisiblePeriod(double period) { invisible_period_ = period; }
 
 private:
  // FRIEND_TEST(SensorObjectTest, test);
 
  std::shared_ptr<const base::Object> object_;
  double invisible_period_ = 0.0;
  std::shared_ptr<const SensorFrameHeader> frame_header_ = nullptr;
};
 
typedef std::shared_ptr<SensorObject> SensorObjectPtr;
typedef std::shared_ptr<const SensorObject> SensorObjectConstPtr;
 
class FusedObject {
 public:
  FusedObject();
  ~FusedObject() = default;
 
  inline double GetTimestamp() const { return object_->latest_tracked_time; }
 
  inline std::shared_ptr<base::Object> GetBaseObject() { return object_; }
 
 private:
  std::shared_ptr<base::Object> object_;
};
 
typedef std::shared_ptr<FusedObject> FusedObjectPtr;
 
bool IsLidar(const SensorObjectConstPtr& obj);
bool IsRadar(const SensorObjectConstPtr& obj);
bool IsCamera(const SensorObjectConstPtr& obj);
 
}  // namespace fusion
}  // namespace perception
}  // namespace apollo