Perception: one copy of yolo.proto for YOLO and YOLOv4

fix issue#13160

modules/perception/camera/lib/obstacle/detector/yolo/BUILD

@@ -12,7 +12,7 @@ cuda_library(
         ":object_maintainer",
         "//modules/perception/base",
         "//modules/perception/camera/common",
-        "//modules/perception/camera/lib/obstacle/detector/yolo/proto:yolo_cc_proto",
+        "//modules/perception/camera/proto:yolo_cc_proto",
         "@local_config_cuda//cuda:cudart",
     ],
 )
@@ -29,7 +29,7 @@ cc_library(
         "//cyber",
         "//modules/perception/base",
         "//modules/perception/camera/common",
-        "//modules/perception/camera/lib/obstacle/detector/yolo/proto:yolo_cc_proto",
+        "//modules/perception/camera/proto:yolo_cc_proto",
         "@local_config_cuda//cuda:cudart",
     ],
 )

modules/perception/camera/lib/obstacle/detector/yolo/proto/yolo.proto

-syntax = "proto2";
-
-package apollo.perception.camera.yolo;
-
-message YoloParam {
-  optional ModelParam model_param = 1;
-  optional NetworkParam net_param = 2;
-  optional NMSParam nms_param = 3;
-}
-
-message ModelParam {
-  optional string model_name = 1 [default = "yolo-2d"];
-  optional string proto_file = 2 [default = "caffe.pt"];
-  optional string weight_file = 3 [default = "caffe.model"];
-  optional string stage1_pt = 21 [default = "caffe.pt"];
-  optional string stage1_md = 22 [default = "caffe.model"];
-  optional string stage2_pt = 23 [default = "caffe.pt"];
-  optional string stage2_md = 24 [default = "caffe.model"];
-  optional string anchors_file = 4 [default = "anchors.txt"];
-  optional string types_file = 5 [default = "types.txt"];
-  optional string feature_file = 6 [default = "feature.pt"];
-
-  optional float offset_ratio = 7 [default = 0.288889];
-  optional float cropped_ratio = 13 [default = 0.711111];
-  optional int32 resized_width = 14 [default = 1440];
-  optional int32 aligned_pixel = 15 [default = 32];
-  optional float confidence_threshold = 8 [default = 0.1];
-  optional float light_vis_conf_threshold = 33 [default = 0.5];
-  optional float light_swt_conf_threshold = 34 [default = 0.5];
-  optional float roi_conf_threshold = 25 [default = 0.1];
-  optional float box_conf_threshold = 26 [default = 0.5];
-  optional float stage2_nms_threshold = 27 [default = 0.4];
-  optional float min_2d_height = 9 [default = 0.0];
-  optional float min_3d_height = 30 [default = 0.0];
-  optional float min_3d_width = 31 [default = 0.0];
-  optional float min_3d_length = 32 [default = 0.0];
-  optional string calibratetable_root = 11 [default = "./"];
-  optional string model_type = 12 [default = "CaffeNet"];
-  optional int32 ori_cycle = 16 [default = 1];
-  optional bool per_cls_reg = 17 [default = false];
-  repeated DimensionStatistics dimension_statistics = 18;
-  repeated BBoxStatistics bbox_statistics = 19;
-  optional string expand_file = 20 [default = "expand.txt"];
-  optional bool with_box3d = 41 [default = false];
-  optional bool with_frbox = 42 [default = false];
-  optional bool with_lights = 43 [default = false];
-  optional bool with_ratios = 44 [default = false];
-  optional int32 num_areas = 46 [default = 0];
-  optional float border_ratio = 45 [default = .01];
-}
-
-message NetworkParam {
-  optional string det1_loc_blob = 1 [default = "detect1_loc_pred"];
-  optional string det1_obj_blob = 2 [default = "detect1_obj_pred"];
-  optional string det1_cls_blob = 3 [default = "detect1_cls_pred"];
-  optional string det1_ori_blob = 4 [default = "detect1_ori_pred"];
-  optional string det1_ori_conf_blob = 5 [default = "detect1_ori_conf_pred"];
-  optional string det1_dim_blob = 6 [default = "detect1_dim_pred"];
-  optional string det2_loc_blob = 7 [default = "detect2_loc_pred"];
-  optional string det2_obj_blob = 8 [default = "detect2_obj_pred"];
-  optional string det2_cls_blob = 9 [default = "detect2_cls_pred"];
-  optional string det2_ori_blob = 10 [default = "detect2_ori_pred"];
-  optional string det2_ori_conf_blob = 11 [default = "detect2_ori_conf_pred"];
-  optional string det2_dim_blob = 12 [default = "detect2_dim_pred"];
-  optional string det3_loc_blob = 13 [default = "detect3_loc_pred"];
-  optional string det3_obj_blob = 14 [default = "detect3_obj_pred"];
-  optional string det3_cls_blob = 15 [default = "detect3_cls_pred"];
-  optional string det3_ori_blob = 16 [default = "detect3_ori_pred"];
-  optional string det3_ori_conf_blob = 17 [default = "detect3_ori_conf_pred"];
-  optional string det3_dim_blob = 18 [default = "detect3_dim_pred"];
-  optional string lof_blob = 19 [default = "lof_pred"];
-  optional string lor_blob = 20 [default = "lor_pred"];
-  optional string input_blob = 21 [default = "data"];
-  optional string rois_blob = 22 [default = "rois_pred"];
-  optional string feat_blob = 23 [default = "conv_feat"];
-  optional string box_blob = 24 [default = "box_pred"];
-  optional string iou_blob = 25 [default = "iou_pred"];
-  optional string brvis_blob = 26 [default = "brvis_pred"];
-  optional string brswt_blob = 27 [default = "brswt_pred"];
-  optional string ltvis_blob = 28 [default = "ltvis_pred"];
-  optional string ltswt_blob = 29 [default = "ltswt_pred"];
-  optional string rtvis_blob = 30 [default = "rtvis_pred"];
-  optional string rtswt_blob = 31 [default = "rtswt_pred"];
-  optional string area_id_blob = 32 [default = "area_id_pred"];
-  optional string visible_ratio_blob = 33 [default = "vis_pred"];
-  optional string cut_off_ratio_blob = 34 [default = "cut_pred"];
-}
-
-message NMSParam {
-  optional string type = 1 [default = "NormalNMS"];
-  optional float threshold = 2 [default = 0.4];
-  optional float sigma = 3 [default = 0.4];
-  optional float inter_cls_conf_thresh = 4 [default = 0.1];
-  optional float inter_cls_nms_thresh = 5 [default = 1.0];
-}
-
-message BBoxStatistics {
-  repeated float mean = 1;
-  repeated float std = 2;
-}
-
-message DimensionStatistics {
-  optional float mean_h = 1 [default = 0.0];
-  optional float mean_w = 2 [default = 0.0];
-  optional float mean_l = 3 [default = 0.0];
-  optional float std_h = 4 [default = 1.0];
-  optional float std_w = 5 [default = 1.0];
-  optional float std_l = 6 [default = 1.0];
-}

modules/perception/camera/lib/obstacle/detector/yolo/region_output.h

@@ -22,13 +22,14 @@
 #include <utility>
 #include <vector>
 
+#include "modules/perception/camera/proto/yolo.pb.h"
+
 #include "modules/perception/base/blob.h"
 #include "modules/perception/base/box.h"
 #include "modules/perception/base/object.h"
 #include "modules/perception/base/object_types.h"
 #include "modules/perception/camera/common/math_functions.h"
 #include "modules/perception/camera/common/util.h"
-#include "modules/perception/camera/lib/obstacle/detector/yolo/proto/yolo.pb.h"
 
 namespace apollo {
 namespace perception {
@@ -163,15 +164,14 @@ void compute_overlapped_by_idx_gpu(const int nthreads, const float *bbox_data,
                                    bool *overlapped_data,
                                    const cudaStream_t &_stream);
 
-
 int get_objects_gpu(
-        const YoloBlobs &yolo_blobs, const cudaStream_t &stream,
-        const std::vector<base::ObjectSubType> &types,
-        const NMSParam &nms, const yolo::ModelParam &model_param,
-        float light_vis_conf_threshold, float light_swt_conf_threshold,
-        base::Blob<bool> *overlapped, base::Blob<int> *idx_sm,
-        const std::map<base::ObjectSubType, std::vector<int>> &indices,
-        const std::map<base::ObjectSubType, std::vector<float>> &conf_scores);
+    const YoloBlobs &yolo_blobs, const cudaStream_t &stream,
+    const std::vector<base::ObjectSubType> &types, const NMSParam &nms,
+    const yolo::ModelParam &model_param, float light_vis_conf_threshold,
+    float light_swt_conf_threshold, base::Blob<bool> *overlapped,
+    base::Blob<int> *idx_sm,
+    const std::map<base::ObjectSubType, std::vector<int>> &indices,
+    const std::map<base::ObjectSubType, std::vector<float>> &conf_scores);
 
 void get_objects_cpu(const YoloBlobs &yolo_blobs, const cudaStream_t &stream,
                      const std::vector<base::ObjectSubType> &types,

modules/perception/camera/lib/obstacle/detector/yolo/yolo_obstacle_detector.h

@@ -20,13 +20,14 @@
 #include <string>
 #include <vector>
 
+#include "modules/perception/camera/proto/yolo.pb.h"
+
 #include "cyber/common/file.h"
 #include "modules/perception/base/box.h"
 #include "modules/perception/base/object_types.h"
 #include "modules/perception/camera/common/util.h"
 #include "modules/perception/camera/lib/interface/base_feature_extractor.h"
 #include "modules/perception/camera/lib/interface/base_obstacle_detector.h"
-#include "modules/perception/camera/lib/obstacle/detector/yolo/proto/yolo.pb.h"
 #include "modules/perception/camera/lib/obstacle/detector/yolo/region_output.h"
 #include "modules/perception/inference/inference.h"
 #include "modules/perception/inference/utils/resize.h"

modules/perception/camera/lib/obstacle/detector/yolov4/BUILD

@@ -12,7 +12,7 @@ cuda_library(
         ":object_maintainer",
         "//modules/perception/base",
         "//modules/perception/camera/common",
-        "//modules/perception/camera/lib/obstacle/detector/yolov4/proto:yolov4_cc_proto",
+        "//modules/perception/camera/proto:yolo_cc_proto",
         "@local_config_cuda//cuda:cudart",
     ],
 )
@@ -28,7 +28,7 @@ cc_library(
         "//cyber",
         "//modules/perception/base",
         "//modules/perception/camera/common",
-        "//modules/perception/camera/lib/obstacle/detector/yolov4/proto:yolov4_cc_proto",
+        "//modules/perception/camera/proto:yolo_cc_proto",
     ],
 )
 

modules/perception/camera/lib/obstacle/detector/yolov4/proto/BUILD

-## Auto generated by `proto_build_generator.py`
-load("@rules_proto//proto:defs.bzl", "proto_library")
-load("@rules_cc//cc:defs.bzl", "cc_proto_library")
-load("//tools:python_rules.bzl", "py_proto_library")
-
-package(default_visibility = ["//visibility:public"])
-
-cc_proto_library(
-    name = "yolov4_cc_proto",
-    deps = [
-        ":yolov4_proto",
-    ],
-)
-
-proto_library(
-    name = "yolov4_proto",
-    srcs = ["yolov4.proto"],
-)
-
-py_proto_library(
-    name = "yolov4_py_pb2",
-    deps = [
-        ":yolov4_proto",
-    ],
-)

modules/perception/camera/lib/obstacle/detector/yolov4/region_output.h

@@ -21,13 +21,14 @@
 #include <utility>
 #include <vector>
 
+#include "modules/perception/camera/proto/yolo.pb.h"
+
 #include "modules/perception/base/blob.h"
 #include "modules/perception/base/box.h"
 #include "modules/perception/base/object.h"
 #include "modules/perception/base/object_types.h"
 #include "modules/perception/camera/common/math_functions.h"
 #include "modules/perception/camera/common/util.h"
-#include "modules/perception/camera/lib/obstacle/detector/yolov4/proto/yolov4.pb.h"
 
 namespace apollo {
 namespace perception {

modules/perception/camera/lib/obstacle/detector/yolov4/yolov4_obstacle_detector.cc

@@ -31,7 +31,7 @@ namespace camera {
 using cyber::common::GetAbsolutePath;
 
 void Yolov4ObstacleDetector::LoadInputShape(
-  const yolo::ModelParam &model_param) {
+    const yolo::ModelParam &model_param) {
   float offset_ratio = model_param.offset_ratio();
   float cropped_ratio = model_param.cropped_ratio();
   int resized_width = model_param.resized_width();
@@ -80,7 +80,7 @@ void Yolov4ObstacleDetector::LoadParam(const yolo::YoloParam &yolo_param) {
 }
 
 bool Yolov4ObstacleDetector::InitNet(const yolo::YoloParam &yolo_param,
-                                   const std::string &model_root) {
+                                     const std::string &model_root) {
   const auto &model_param = yolo_param.model_param();
 
   std::string proto_file =
@@ -313,7 +313,7 @@ bool Yolov4ObstacleDetector::InitFeatureExtractor(const std::string &root_dir) {
 }
 
 bool Yolov4ObstacleDetector::Detect(const ObstacleDetectorOptions &options,
-                                  CameraFrame *frame) {
+                                    CameraFrame *frame) {
   if (frame == nullptr) {
     return false;
   }

modules/perception/camera/lib/obstacle/detector/yolov4/yolov4_obstacle_detector.h

@@ -20,13 +20,14 @@
 #include <string>
 #include <vector>
 
+#include "modules/perception/camera/proto/yolo.pb.h"
+
 #include "cyber/common/file.h"
 #include "modules/perception/base/box.h"
 #include "modules/perception/base/object_types.h"
 #include "modules/perception/camera/common/util.h"
 #include "modules/perception/camera/lib/interface/base_feature_extractor.h"
 #include "modules/perception/camera/lib/interface/base_obstacle_detector.h"
-#include "modules/perception/camera/lib/obstacle/detector/yolov4/proto/yolov4.pb.h"
 #include "modules/perception/camera/lib/obstacle/detector/yolov4/region_output.h"
 #include "modules/perception/inference/inference.h"
 #include "modules/perception/inference/utils/resize.h"

modules/perception/camera/lib/obstacle/detector/yolo/proto/BUILD → modules/perception/camera/proto/BUILD

 ## Auto generated by `proto_build_generator.py`
 load("@rules_proto//proto:defs.bzl", "proto_library")
 load("@rules_cc//cc:defs.bzl", "cc_proto_library")
-load("@com_github_grpc_grpc//bazel:python_rules.bzl", "py_proto_library")
+load("//tools:python_rules.bzl", "py_proto_library")
 
 package(default_visibility = ["//visibility:public"])