multicue_obstacle_transformer.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 <algorithm>
#include <map>
#include <string>
#include <utility>
#include <vector>

#include "modules/perception/camera/lib/interface/base_obstacle_transformer.h"
#include "modules/perception/camera/lib/obstacle/transformer/multicue/multicue.pb.h"
#include "modules/perception/camera/lib/obstacle/transformer/multicue/obj_mapper.h"

namespace apollo {
namespace perception {
namespace camera {

class MultiCueObstacleTransformer : public BaseObstacleTransformer {
 public:
  MultiCueObstacleTransformer() : BaseObstacleTransformer() {
    mapper_ = new ObjMapper;
  }

  virtual ~MultiCueObstacleTransformer() {
    delete mapper_;
    mapper_ = nullptr;
  }
  bool Init(const ObstacleTransformerInitOptions &options =
                ObstacleTransformerInitOptions()) override;

  // @brief: transform 2D detections to 3D bounding box
  // @param [in]: frame
  // @param [out]: frame
  bool Transform(const ObstacleTransformerOptions &options,
                 CameraFrame *frame) override;

  std::string Name() const override;

 private:
  void SetObjMapperOptions(base::ObjectPtr obj, Eigen::Matrix3f camera_k_matrix,
                           int width_image, int height_image,
                           ObjMapperOptions *obj_mapper_options,
                           float *theta_ray);
  int MatchTemplates(base::ObjectSubType sub_type, float *dimension_hwl);
  void FillResults(float object_center[3], float dimension_hwl[3],
                   float rotation_y, Eigen::Affine3d camera2world_pose,
                   float theta_ray, base::ObjectPtr obj);

 private:
  multicue::MulticueParam multicue_param_;
  int image_width_ = 0;
  int image_height_ = 0;
  ObjMapper *mapper_ = nullptr;

 protected:
  ObjectTemplateManager *object_template_manager_ = nullptr;
};

}  // namespace camera
}  // namespace perception
}  // namespace apollo