tracker_types.hpp

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// Copyright 2021 Apex.AI, Inc.
//
// 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.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 
#ifndef TRACKING__TRACKER_TYPES_HPP_
#define TRACKING__TRACKER_TYPES_HPP_
 
#include <tracking/visibility_control.hpp>
 
#include <limits>
#include <unordered_set>
#include <vector>
 
namespace autoware
{
namespace perception
{
namespace tracking
{
 
constexpr uint16_t MAX_NUM_TRACKS = 256U;
 
constexpr uint16_t NUM_OBJ_POSE_DIM = 2U;
 
struct TRACKING_PUBLIC AssociatorResult
{
  static constexpr std::size_t UNASSIGNED = std::numeric_limits<std::size_t>::max();
  std::vector<std::size_t> track_assignments;
  std::unordered_set<std::size_t> unassigned_detection_indices;
  std::unordered_set<std::size_t> unassigned_track_indices;
  bool had_errors;
};
 
enum class TrackCreationPolicy
{
  LidarClusterOnly,
  LidarClusterIfVision
};
 
}  // namespace tracking
}  // namespace perception
}  // namespace autoware
 
#endif  // TRACKING__TRACKER_TYPES_HPP_