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体验新版 GitCode,发现更多精彩内容 >>
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7e1c4dbc
编写于
3月 06, 2018
作者:
L
Liangliang Zhang
提交者:
Jiaming Tao
3月 06, 2018
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
Perception: fixed multiple code issues and shortened BUILD lib names.
上级
55ac81cf
变更
28
显示空白变更内容
内联
并排
Showing
28 changed file
with
155 addition
and
219 deletion
+155
-219
modules/dreamview/backend/handlers/BUILD
modules/dreamview/backend/handlers/BUILD
+1
-1
modules/perception/BUILD
modules/perception/BUILD
+5
-5
modules/perception/obstacle/camera/detector/yolo_camera_detector/region_output.cc
...cle/camera/detector/yolo_camera_detector/region_output.cc
+12
-9
modules/perception/obstacle/camera/detector/yolo_camera_detector/yolo_camera_detector.cc
...era/detector/yolo_camera_detector/yolo_camera_detector.cc
+2
-2
modules/perception/obstacle/camera/visualizer/common/camera.cc
...es/perception/obstacle/camera/visualizer/common/camera.cc
+6
-7
modules/perception/obstacle/camera/visualizer/common/camera.h
...les/perception/obstacle/camera/visualizer/common/camera.h
+24
-66
modules/perception/obstacle/camera/visualizer/gl_fusion_visualizer.cc
...eption/obstacle/camera/visualizer/gl_fusion_visualizer.cc
+2
-4
modules/perception/obstacle/camera/visualizer/glfw_fusion_viewer.cc
...rception/obstacle/camera/visualizer/glfw_fusion_viewer.cc
+14
-22
modules/perception/obstacle/fusion/interface/BUILD
modules/perception/obstacle/fusion/interface/BUILD
+1
-1
modules/perception/obstacle/fusion/probabilistic_fusion/BUILD
...les/perception/obstacle/fusion/probabilistic_fusion/BUILD
+1
-1
modules/perception/obstacle/fusion/probabilistic_fusion/pbf_track_object_distance.cc
.../fusion/probabilistic_fusion/pbf_track_object_distance.cc
+6
-9
modules/perception/obstacle/fusion/probabilistic_fusion/pbf_track_object_distance.h
...e/fusion/probabilistic_fusion/pbf_track_object_distance.h
+6
-5
modules/perception/obstacle/onboard/BUILD
modules/perception/obstacle/onboard/BUILD
+18
-18
modules/perception/obstacle/onboard/lane_post_processing_subnode.cc
...rception/obstacle/onboard/lane_post_processing_subnode.cc
+16
-23
modules/perception/obstacle/onboard/lane_post_processing_subnode.h
...erception/obstacle/onboard/lane_post_processing_subnode.h
+6
-8
modules/perception/obstacle/onboard/lane_shared_data.h
modules/perception/obstacle/onboard/lane_shared_data.h
+5
-7
modules/perception/onboard/BUILD
modules/perception/onboard/BUILD
+2
-2
modules/perception/tool/export_sensor_data/BUILD
modules/perception/tool/export_sensor_data/BUILD
+1
-1
modules/perception/traffic_light/base/BUILD
modules/perception/traffic_light/base/BUILD
+6
-6
modules/perception/traffic_light/interface/BUILD
modules/perception/traffic_light/interface/BUILD
+2
-2
modules/perception/traffic_light/onboard/BUILD
modules/perception/traffic_light/onboard/BUILD
+4
-4
modules/perception/traffic_light/preprocessor/BUILD
modules/perception/traffic_light/preprocessor/BUILD
+2
-2
modules/perception/traffic_light/projection/BUILD
modules/perception/traffic_light/projection/BUILD
+2
-2
modules/perception/traffic_light/recognizer/BUILD
modules/perception/traffic_light/recognizer/BUILD
+2
-2
modules/perception/traffic_light/rectify/BUILD
modules/perception/traffic_light/rectify/BUILD
+2
-2
modules/perception/traffic_light/reviser/BUILD
modules/perception/traffic_light/reviser/BUILD
+2
-2
modules/perception/traffic_light/util/BUILD
modules/perception/traffic_light/util/BUILD
+1
-1
modules/perception/traffic_light/visualizer/BUILD
modules/perception/traffic_light/visualizer/BUILD
+4
-5
未找到文件。
modules/dreamview/backend/handlers/BUILD
浏览文件 @
7e1c4dbc
...
@@ -30,7 +30,7 @@ cc_library(
...
@@ -30,7 +30,7 @@ cc_library(
],
],
deps
=
[
deps
=
[
"//modules/common/adapters:adapter_manager"
,
"//modules/common/adapters:adapter_manager"
,
"//modules/perception/traffic_light/util
:perception_traffic_light_util
"
,
"//modules/perception/traffic_light/util"
,
"@civetweb//:civetweb++"
,
"@civetweb//:civetweb++"
,
"@opencv2//:highgui"
,
"@opencv2//:highgui"
,
],
],
...
...
modules/perception/BUILD
浏览文件 @
7e1c4dbc
...
@@ -14,12 +14,12 @@ cc_library(
...
@@ -14,12 +14,12 @@ cc_library(
"//modules/common/adapters:adapter_manager"
,
"//modules/common/adapters:adapter_manager"
,
"//modules/perception/common"
,
"//modules/perception/common"
,
"//modules/perception/lib/base"
,
"//modules/perception/lib/base"
,
"//modules/perception/obstacle/onboard:
perception_obstacle_
fusion_subnode"
,
"//modules/perception/obstacle/onboard:fusion_subnode"
,
"//modules/perception/obstacle/onboard:
perception_obstacle_
lidar_subnode"
,
"//modules/perception/obstacle/onboard:lidar_subnode"
,
"//modules/perception/obstacle/onboard:
perception_obstacle_
radar_subnode"
,
"//modules/perception/obstacle/onboard:radar_subnode"
,
"//modules/perception/onboard
:perception_onboard
"
,
"//modules/perception/onboard"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/traffic_light/onboard
:perception_traffic_light_onboard
"
,
"//modules/perception/traffic_light/onboard"
,
"@com_google_protobuf//:protobuf"
,
"@com_google_protobuf//:protobuf"
,
"@ros//:ros_common"
,
"@ros//:ros_common"
,
],
],
...
...
modules/perception/obstacle/camera/detector/yolo_camera_detector/region_output.cc
浏览文件 @
7e1c4dbc
...
@@ -16,9 +16,9 @@
...
@@ -16,9 +16,9 @@
#include "modules/perception/obstacle/camera/detector/yolo_camera_detector/region_output.h"
#include "modules/perception/obstacle/camera/detector/yolo_camera_detector/region_output.h"
#include <algorithm>
#include <map>
#include <map>
#include <vector>
#include <vector>
#include <algorithm>
#include "boost/iterator/counting_iterator.hpp"
#include "boost/iterator/counting_iterator.hpp"
#include "opencv2/opencv.hpp"
#include "opencv2/opencv.hpp"
...
@@ -63,16 +63,19 @@ float get_jaccard_overlap(const NormalizedBBox &bbox1,
...
@@ -63,16 +63,19 @@ float get_jaccard_overlap(const NormalizedBBox &bbox1,
const
NormalizedBBox
&
bbox2
)
{
const
NormalizedBBox
&
bbox2
)
{
NormalizedBBox
intersect_bbox
;
NormalizedBBox
intersect_bbox
;
get_intersect_bbox
(
bbox1
,
bbox2
,
&
intersect_bbox
);
get_intersect_bbox
(
bbox1
,
bbox2
,
&
intersect_bbox
);
float
intersect_width
=
0.
f
;
float
intersect_width
=
intersect_bbox
.
xmax
-
intersect_bbox
.
xmin
;
float
intersect_height
=
0.
f
;
float
intersect_height
=
intersect_bbox
.
ymax
-
intersect_bbox
.
ymin
;
intersect_width
=
intersect_bbox
.
xmax
-
intersect_bbox
.
xmin
;
intersect_height
=
intersect_bbox
.
ymax
-
intersect_bbox
.
ymin
;
if
(
intersect_width
>
0
&&
intersect_height
>
0
)
{
if
(
intersect_width
>
0
.0
&&
intersect_height
>
0.
0
)
{
float
intersect_size
=
intersect_width
*
intersect_height
;
float
intersect_size
=
intersect_width
*
intersect_height
;
float
bbox1_size
=
get_bbox_size
(
bbox1
);
float
bbox1_size
=
get_bbox_size
(
bbox1
);
float
bbox2_size
=
get_bbox_size
(
bbox2
);
float
bbox2_size
=
get_bbox_size
(
bbox2
);
return
intersect_size
/
(
bbox1_size
+
bbox2_size
-
intersect_size
);
const
double
delta
=
bbox1_size
+
bbox2_size
-
intersect_size
;
if
(
delta
>
0
)
{
return
intersect_size
/
std
::
fmax
(
delta
,
1e-9
);
}
else
{
return
intersect_size
/
std
::
fmin
(
delta
,
-
1e-9
);
}
}
else
{
}
else
{
return
0.
;
return
0.
;
}
}
...
@@ -139,7 +142,7 @@ void apply_nms_fast(const std::vector<NormalizedBBox> &bboxes,
...
@@ -139,7 +142,7 @@ void apply_nms_fast(const std::vector<NormalizedBBox> &bboxes,
void
cross_class_merge
(
std
::
vector
<
int
>
*
indices_ref
,
void
cross_class_merge
(
std
::
vector
<
int
>
*
indices_ref
,
std
::
vector
<
int
>
*
indices_target
,
std
::
vector
<
int
>
*
indices_target
,
std
::
vector
<
NormalizedBBox
>
bboxes
,
float
scale
)
{
std
::
vector
<
NormalizedBBox
>
bboxes
,
float
scale
)
{
for
(
int
i
=
0
;
i
<
static_cast
<
int
>
(
indices_ref
->
size
());
i
++
)
{
for
(
int
i
=
0
;
i
<
static_cast
<
int
>
(
indices_ref
->
size
());
++
i
)
{
int
ref_idx
=
indices_ref
->
at
(
i
);
int
ref_idx
=
indices_ref
->
at
(
i
);
NormalizedBBox
&
bbox_ref
=
bboxes
[
ref_idx
];
NormalizedBBox
&
bbox_ref
=
bboxes
[
ref_idx
];
for
(
std
::
vector
<
int
>::
iterator
it
=
indices_target
->
begin
();
for
(
std
::
vector
<
int
>::
iterator
it
=
indices_target
->
begin
();
...
@@ -155,7 +158,7 @@ void cross_class_merge(std::vector<int> *indices_ref,
...
@@ -155,7 +158,7 @@ void cross_class_merge(std::vector<int> *indices_ref,
bbox_target
.
ymax
<=
bbox_ref
.
ymax
)
{
bbox_target
.
ymax
<=
bbox_ref
.
ymax
)
{
it
=
indices_target
->
erase
(
it
);
it
=
indices_target
->
erase
(
it
);
}
else
{
}
else
{
it
++
;
++
it
;
}
}
}
}
}
}
...
...
modules/perception/obstacle/camera/detector/yolo_camera_detector/yolo_camera_detector.cc
浏览文件 @
7e1c4dbc
...
@@ -320,13 +320,13 @@ bool YoloCameraDetector::detect(const cv::Mat &frame,
...
@@ -320,13 +320,13 @@ bool YoloCameraDetector::detect(const cv::Mat &frame,
<<
sizeof
(
obj
->
internal_type_probs
);
<<
sizeof
(
obj
->
internal_type_probs
);
}
}
int
valid_obj_idx
=
0
;
int
total_obj_idx
=
0
;
auto
ori_blob
=
auto
ori_blob
=
cnnadapter_
->
get_blob_by_name
(
yolo_param_
.
net_param
().
ori_blob
());
cnnadapter_
->
get_blob_by_name
(
yolo_param_
.
net_param
().
ori_blob
());
auto
dim_blob
=
auto
dim_blob
=
cnnadapter_
->
get_blob_by_name
(
yolo_param_
.
net_param
().
dim_blob
());
cnnadapter_
->
get_blob_by_name
(
yolo_param_
.
net_param
().
dim_blob
());
if
(
ori_blob
!=
nullptr
&&
dim_blob
!=
nullptr
)
{
if
(
ori_blob
!=
nullptr
&&
dim_blob
!=
nullptr
)
{
int
valid_obj_idx
=
0
;
int
total_obj_idx
=
0
;
while
(
total_obj_idx
<
static_cast
<
int
>
(
temp_objects
.
size
()))
{
while
(
total_obj_idx
<
static_cast
<
int
>
(
temp_objects
.
size
()))
{
const
auto
&
obj
=
temp_objects
[
total_obj_idx
];
const
auto
&
obj
=
temp_objects
[
total_obj_idx
];
if
((
obj
->
lower_right
[
1
]
-
obj
->
upper_left
[
1
])
>=
_min_2d_height
&&
if
((
obj
->
lower_right
[
1
]
-
obj
->
upper_left
[
1
])
>=
_min_2d_height
&&
...
...
modules/perception/obstacle/camera/visualizer/common/camera.cc
浏览文件 @
7e1c4dbc
...
@@ -15,6 +15,9 @@
...
@@ -15,6 +15,9 @@
*****************************************************************************/
*****************************************************************************/
#include "modules/perception/obstacle/camera/visualizer/common/camera.h"
#include "modules/perception/obstacle/camera/visualizer/common/camera.h"
#include <cmath>
#include <algorithm>
#include <algorithm>
#include <iostream>
#include <iostream>
...
@@ -51,9 +54,7 @@ Camera::Camera() : _field_of_view(M_PI / 4.0f) {
...
@@ -51,9 +54,7 @@ Camera::Camera() : _field_of_view(M_PI / 4.0f) {
compute_projection_matrix
();
compute_projection_matrix
();
}
}
Camera
::~
Camera
()
{
Camera
::~
Camera
()
{
delete
_frame
;
}
delete
_frame
;
}
Camera
::
Camera
(
const
Camera
&
camera
)
{
Camera
::
Camera
(
const
Camera
&
camera
)
{
set_frame
(
new
Frame
());
set_frame
(
new
Frame
());
...
@@ -449,9 +450,7 @@ Eigen::Vector3d Camera::point_under_pixel(const Eigen::Vector2i &pixel,
...
@@ -449,9 +450,7 @@ Eigen::Vector3d Camera::point_under_pixel(const Eigen::Vector2i &pixel,
return
point
;
return
point
;
}
}
void
Camera
::
show_entire_scene
()
{
void
Camera
::
show_entire_scene
()
{
fit_sphere
(
scene_center
(),
scene_radius
());
}
fit_sphere
(
scene_center
(),
scene_radius
());
}
void
Camera
::
center_scene
()
{
void
Camera
::
center_scene
()
{
frame
()
->
project_on_line
(
scene_center
(),
view_direction
());
frame
()
->
project_on_line
(
scene_center
(),
view_direction
());
...
@@ -829,7 +828,7 @@ void Camera::draw(bool drawFarPlane, double scale) const {
...
@@ -829,7 +828,7 @@ void Camera::draw(bool drawFarPlane, double scale) const {
switch
(
type
())
{
switch
(
type
())
{
case
Camera
::
PERSPECTIVE
:
{
case
Camera
::
PERSPECTIVE
:
{
points
[
0
](
1
)
=
points
[
0
](
2
)
*
tan
(
field_of_view
()
/
2.0
);
points
[
0
](
1
)
=
points
[
0
](
2
)
*
std
::
tan
(
field_of_view
()
/
2.0
);
points
[
0
](
0
)
=
points
[
0
](
1
)
*
aspect_ratio
();
points
[
0
](
0
)
=
points
[
0
](
1
)
*
aspect_ratio
();
const
double
ratio
=
points
[
1
](
2
)
/
points
[
0
](
2
);
const
double
ratio
=
points
[
1
](
2
)
/
points
[
0
](
2
);
...
...
modules/perception/obstacle/camera/visualizer/common/camera.h
浏览文件 @
7e1c4dbc
...
@@ -14,8 +14,8 @@
...
@@ -14,8 +14,8 @@
* limitations under the License.
* limitations under the License.
*****************************************************************************/
*****************************************************************************/
#ifndef MODULES_PERCEPTION_OBSTACLE_VISUALIZER_CAMERA_H
#ifndef MODULES_PERCEPTION_OBSTACLE_VISUALIZER_CAMERA_H
_
#define MODULES_PERCEPTION_OBSTACLE_VISUALIZER_CAMERA_H
#define MODULES_PERCEPTION_OBSTACLE_VISUALIZER_CAMERA_H
_
#include "GL/glu.h"
#include "GL/glu.h"
#include "modules/perception/obstacle/camera/visualizer/common/frame.h"
#include "modules/perception/obstacle/camera/visualizer/common/frame.h"
...
@@ -37,9 +37,7 @@ class Camera {
...
@@ -37,9 +37,7 @@ class Camera {
enum
Type
{
PERSPECTIVE
,
ORTHOGRAPHIC
};
enum
Type
{
PERSPECTIVE
,
ORTHOGRAPHIC
};
public:
public:
Eigen
::
Vector3d
position
()
const
{
Eigen
::
Vector3d
position
()
const
{
return
frame
()
->
position
();
}
return
frame
()
->
position
();
}
Eigen
::
Vector3d
up_vector
()
const
{
Eigen
::
Vector3d
up_vector
()
const
{
return
frame
()
->
inverse_transform_of
(
Eigen
::
Vector3d
(
0.0
,
1.0
,
0.0
));
return
frame
()
->
inverse_transform_of
(
Eigen
::
Vector3d
(
0.0
,
1.0
,
0.0
));
...
@@ -53,17 +51,13 @@ class Camera {
...
@@ -53,17 +51,13 @@ class Camera {
return
frame
()
->
inverse_transform_of
(
Eigen
::
Vector3d
(
1.0
,
0.0
,
0.0
));
return
frame
()
->
inverse_transform_of
(
Eigen
::
Vector3d
(
1.0
,
0.0
,
0.0
));
}
}
Eigen
::
Quaterniond
orientation
()
const
{
Eigen
::
Quaterniond
orientation
()
const
{
return
frame
()
->
orientation
();
}
return
frame
()
->
orientation
();
}
void
set_from_model_view_matrix
(
const
double
*
const
modelViewMatrix
);
void
set_from_model_view_matrix
(
const
double
*
const
modelViewMatrix
);
void
set_from_projection_matrix
(
const
double
matrix
[
12
]);
void
set_from_projection_matrix
(
const
double
matrix
[
12
]);
void
set_position
(
const
Eigen
::
Vector3d
&
pos
)
{
void
set_position
(
const
Eigen
::
Vector3d
&
pos
)
{
frame
()
->
set_position
(
pos
);
}
frame
()
->
set_position
(
pos
);
}
void
set_orientation
(
const
Eigen
::
Quaterniond
&
q
);
void
set_orientation
(
const
Eigen
::
Quaterniond
&
q
);
...
@@ -102,13 +96,9 @@ class Camera {
...
@@ -102,13 +96,9 @@ class Camera {
void
rotate
(
Eigen
::
Vector3d
i_axis
,
double
i_angle
);
void
rotate
(
Eigen
::
Vector3d
i_axis
,
double
i_angle
);
Type
type
()
const
{
Type
type
()
const
{
return
_type
;
}
return
_type
;
}
double
field_of_view
()
const
{
double
field_of_view
()
const
{
return
_field_of_view
;
}
return
_field_of_view
;
}
double
horizontalfield_of_view
()
const
{
double
horizontalfield_of_view
()
const
{
return
2.0
*
atan
(
tan
(
field_of_view
()
/
2.0
)
*
aspect_ratio
());
return
2.0
*
atan
(
tan
(
field_of_view
()
/
2.0
)
*
aspect_ratio
());
...
@@ -119,25 +109,17 @@ class Camera {
...
@@ -119,25 +109,17 @@ class Camera {
static_cast
<
double
>
(
_screen_height
);
static_cast
<
double
>
(
_screen_height
);
}
}
int
screen_width
()
const
{
int
screen_width
()
const
{
return
_screen_width
;
}
return
_screen_width
;
}
int
screen_height
()
const
{
int
screen_height
()
const
{
return
_screen_height
;
}
return
_screen_height
;
}
void
get_viewport
(
GLint
viewport
[
4
])
const
;
void
get_viewport
(
GLint
viewport
[
4
])
const
;
double
pixelgl_ratio
(
const
Eigen
::
Vector3d
&
position
)
const
;
double
pixelgl_ratio
(
const
Eigen
::
Vector3d
&
position
)
const
;
double
znear_coefficient
()
const
{
double
znear_coefficient
()
const
{
return
_znear_coef
;
}
return
_znear_coef
;
}
double
zclipping_coefficient
()
const
{
double
zclipping_coefficient
()
const
{
return
_zclipping_coef
;
}
return
_zclipping_coef
;
}
virtual
double
znear
()
const
;
virtual
double
znear
()
const
;
...
@@ -167,21 +149,13 @@ class Camera {
...
@@ -167,21 +149,13 @@ class Camera {
void
setscreen_widthandheight
(
int
width
,
int
height
);
void
setscreen_widthandheight
(
int
width
,
int
height
);
void
setznear_coefficient
(
double
coef
)
{
void
setznear_coefficient
(
double
coef
)
{
_znear_coef
=
coef
;
}
_znear_coef
=
coef
;
}
void
setzclipping_coefficient
(
double
coef
)
{
void
setzclipping_coefficient
(
double
coef
)
{
_zclipping_coef
=
coef
;
}
_zclipping_coef
=
coef
;
}
double
scene_radius
()
const
{
double
scene_radius
()
const
{
return
_scene_radius
;
}
return
_scene_radius
;
}
Eigen
::
Vector3d
scene_center
()
const
{
Eigen
::
Vector3d
scene_center
()
const
{
return
_scene_center
;
}
return
_scene_center
;
}
double
distance_to_scene_center
()
const
;
double
distance_to_scene_center
()
const
;
...
@@ -198,13 +172,9 @@ class Camera {
...
@@ -198,13 +172,9 @@ class Camera {
bool
set_revolve_around_point_from_pixel
(
const
Eigen
::
Vector2i
&
pixel
);
bool
set_revolve_around_point_from_pixel
(
const
Eigen
::
Vector2i
&
pixel
);
Eigen
::
Vector3d
revolve_around_point
()
const
{
Eigen
::
Vector3d
revolve_around_point
()
const
{
return
_revolve_around_point
;
}
return
_revolve_around_point
;
}
Frame
*
frame
()
const
{
Frame
*
frame
()
const
{
return
_frame
;
}
return
_frame
;
}
void
set_frame
(
Frame
*
const
mcf
);
void
set_frame
(
Frame
*
const
mcf
);
...
@@ -255,37 +225,25 @@ class Camera {
...
@@ -255,37 +225,25 @@ class Camera {
Eigen
::
Vector3d
point_under_pixel
(
const
Eigen
::
Vector2i
&
pixel
,
Eigen
::
Vector3d
point_under_pixel
(
const
Eigen
::
Vector2i
&
pixel
,
bool
*
found
)
const
;
bool
*
found
)
const
;
double
io_distance
()
const
{
double
io_distance
()
const
{
return
_io_distance
;
}
return
_io_distance
;
}
double
physical_distance_to_screen
()
const
{
double
physical_distance_to_screen
()
const
{
return
_physical_distance_to_screen
;
return
_physical_distance_to_screen
;
}
}
double
physicalscreen_width
()
const
{
double
physicalscreen_width
()
const
{
return
_physicalscreen_width
;
}
return
_physicalscreen_width
;
}
double
focus_distance
()
const
{
double
focus_distance
()
const
{
return
_focus_distance
;
}
return
_focus_distance
;
}
void
setio_distance
(
double
distance
)
{
void
setio_distance
(
double
distance
)
{
_io_distance
=
distance
;
}
_io_distance
=
distance
;
}
void
setphysical_distance_to_screen
(
double
distance
)
{
void
setphysical_distance_to_screen
(
double
distance
)
{
_physical_distance_to_screen
=
distance
;
_physical_distance_to_screen
=
distance
;
}
}
void
set_physicalscreen_width
(
double
width
)
{
void
set_physicalscreen_width
(
double
width
)
{
_physicalscreen_width
=
width
;
}
_physicalscreen_width
=
width
;
}
void
setfocus_distance
(
double
distance
)
{
void
setfocus_distance
(
double
distance
)
{
_focus_distance
=
distance
;
}
_focus_distance
=
distance
;
}
private:
private:
// Frame
// Frame
...
@@ -316,4 +274,4 @@ class Camera {
...
@@ -316,4 +274,4 @@ class Camera {
}
// namespace perception
}
// namespace perception
}
// namespace apollo
}
// namespace apollo
#endif //
QGLVIEWER_CAMERA_H
#endif //
MODULES_PERCEPTION_OBSTACLE_VISUALIZER_CAMERA_H_
modules/perception/obstacle/camera/visualizer/gl_fusion_visualizer.cc
浏览文件 @
7e1c4dbc
...
@@ -14,8 +14,8 @@
...
@@ -14,8 +14,8 @@
* limitations under the License.
* limitations under the License.
*****************************************************************************/
*****************************************************************************/
#include "modules/perception/obstacle/camera/visualizer/gl_fusion_visualizer.h"
#include "modules/common/log.h"
#include "modules/common/log.h"
#include "modules/perception/obstacle/camera/visualizer/gl_fusion_visualizer.h"
namespace
apollo
{
namespace
apollo
{
namespace
perception
{
namespace
perception
{
...
@@ -94,9 +94,7 @@ void GLFusionVisualizer::set_main_car_points() {
...
@@ -94,9 +94,7 @@ void GLFusionVisualizer::set_main_car_points() {
}
}
void
GLFusionVisualizer
::
update_camera_system
(
FrameContent
*
content
)
{
void
GLFusionVisualizer
::
update_camera_system
(
FrameContent
*
content
)
{
Eigen
::
Matrix4d
pose_v2w
=
content
->
get_opengl_camera_system_pose
();
Eigen
::
Matrix4d
pose_v2w
=
Eigen
::
Matrix4d
::
Identity
();
pose_v2w
=
Eigen
::
Matrix4d
::
Identity
();
Eigen
::
Vector4d
camera_center_w
(
_camera_center_velodyne
[
0
],
Eigen
::
Vector4d
camera_center_w
(
_camera_center_velodyne
[
0
],
_camera_center_velodyne
[
1
],
_camera_center_velodyne
[
1
],
_camera_center_velodyne
[
2
],
0
);
_camera_center_velodyne
[
2
],
0
);
...
...
modules/perception/obstacle/camera/visualizer/glfw_fusion_viewer.cc
浏览文件 @
7e1c4dbc
...
@@ -19,14 +19,14 @@
...
@@ -19,14 +19,14 @@
#include <yaml-cpp/yaml.h>
#include <yaml-cpp/yaml.h>
#include <boost/shared_ptr.hpp>
#include <boost/shared_ptr.hpp>
#include <cfloat>
#include <fstream>
#include <fstream>
#include <iomanip>
#include <iomanip>
#include <iostream>
#include <iostream>
#include <
cfloat
>
#include <
map
>
#include <sstream>
#include <sstream>
#include <string>
#include <string>
#include <vector>
#include <vector>
#include <map>
#include "modules/perception/lib/config_manager/calibration_config_manager.h"
#include "modules/perception/lib/config_manager/calibration_config_manager.h"
#include "modules/perception/obstacle/camera/visualizer/common/bmp.h"
#include "modules/perception/obstacle/camera/visualizer/common/bmp.h"
...
@@ -213,9 +213,7 @@ void GLFWFusionViewer::spin_once() {
...
@@ -213,9 +213,7 @@ void GLFWFusionViewer::spin_once() {
glfwSwapBuffers
(
_window
);
glfwSwapBuffers
(
_window
);
}
}
void
GLFWFusionViewer
::
close
()
{
void
GLFWFusionViewer
::
close
()
{
glfwTerminate
();
}
glfwTerminate
();
}
void
GLFWFusionViewer
::
set_camera_para
(
Eigen
::
Vector3d
i_position
,
void
GLFWFusionViewer
::
set_camera_para
(
Eigen
::
Vector3d
i_position
,
Eigen
::
Vector3d
i_scn_center
,
Eigen
::
Vector3d
i_scn_center
,
...
@@ -303,7 +301,6 @@ bool GLFWFusionViewer::opengl_init() {
...
@@ -303,7 +301,6 @@ bool GLFWFusionViewer::opengl_init() {
glEnable
(
GL_NORMALIZE
);
glEnable
(
GL_NORMALIZE
);
glEnable
(
GL_COLOR_MATERIAL
);
glEnable
(
GL_COLOR_MATERIAL
);
GLenum
err
=
glewInit
();
GLenum
err
=
glewInit
();
if
(
GLEW_OK
!=
err
)
{
if
(
GLEW_OK
!=
err
)
{
fprintf
(
stderr
,
"GLEW init failed!
\n
"
);
fprintf
(
stderr
,
"GLEW init failed!
\n
"
);
...
@@ -718,13 +715,9 @@ void GLFWFusionViewer::mouse_move(double xpos, double ypos) {
...
@@ -718,13 +715,9 @@ void GLFWFusionViewer::mouse_move(double xpos, double ypos) {
_mouse_prev_y
=
ypos
;
_mouse_prev_y
=
ypos
;
}
}
void
GLFWFusionViewer
::
mouse_wheel
(
double
delta
)
{
void
GLFWFusionViewer
::
mouse_wheel
(
double
delta
)
{
_mode_mat
(
2
,
3
)
-=
delta
;
}
_mode_mat
(
2
,
3
)
-=
delta
;
}
void
GLFWFusionViewer
::
reset
()
{
void
GLFWFusionViewer
::
reset
()
{
_mode_mat
=
Eigen
::
Matrix4d
::
Identity
();
}
_mode_mat
=
Eigen
::
Matrix4d
::
Identity
();
}
void
GLFWFusionViewer
::
keyboard
(
int
key
)
{
void
GLFWFusionViewer
::
keyboard
(
int
key
)
{
switch
(
key
)
{
switch
(
key
)
{
...
@@ -1091,10 +1084,8 @@ void GLFWFusionViewer::draw_camera_box2d(const std::vector<ObjectPtr>& objects,
...
@@ -1091,10 +1084,8 @@ void GLFWFusionViewer::draw_camera_box2d(const std::vector<ObjectPtr>& objects,
std
::
vector
<
Eigen
::
Vector2d
>
points
;
std
::
vector
<
Eigen
::
Vector2d
>
points
;
points
.
resize
(
8
);
points
.
resize
(
8
);
Eigen
::
Vector3d
tc
=
(
v2c
*
Eigen
::
Vector4d
(
center
[
0
],
center
[
1
],
center
[
2
],
1
)).
head
(
3
);
tc
=
center
.
head
(
3
);
Eigen
::
Vector3d
tc
=
center
.
head
(
3
);
get_boundingbox
(
tc
,
v2c
,
width
,
height
,
length
,
obj
->
direction
,
theta
,
get_boundingbox
(
tc
,
v2c
,
width
,
height
,
length
,
obj
->
direction
,
theta
,
&
points
);
&
points
);
...
@@ -1148,9 +1139,8 @@ void GLFWFusionViewer::draw_camera_box2d(const std::vector<ObjectPtr>& objects,
...
@@ -1148,9 +1139,8 @@ void GLFWFusionViewer::draw_camera_box2d(const std::vector<ObjectPtr>& objects,
// Draw texts using OpenGL
// Draw texts using OpenGL
// distance
// distance
if
(
_show_type_id_label
)
{
if
(
_show_type_id_label
)
{
std
::
string
c
=
std
::
string
c
=
std
::
to_string
(
std
::
to_string
(
static_cast
<
int
>
(
static_cast
<
int
>
((
sqrt
(
tc
.
x
()
*
tc
.
x
()
+
tc
.
z
()
*
tc
.
z
()))));
(
sqrt
(
tc
.
x
()
*
tc
.
x
()
+
tc
.
z
()
*
tc
.
z
()))));
glColor3ub
(
box2d_color
[
0
],
box2d_color
[
1
],
box2d_color
[
2
]);
glColor3ub
(
box2d_color
[
0
],
box2d_color
[
1
],
box2d_color
[
2
]);
double
x_txt
=
points
[
7
].
x
();
double
x_txt
=
points
[
7
].
x
();
double
y_txt
=
points
[
7
].
y
()
-
8
;
double
y_txt
=
points
[
7
].
y
()
-
8
;
...
@@ -1589,7 +1579,9 @@ void GLFWFusionViewer::draw_camera_box(const std::vector<ObjectPtr>& objects,
...
@@ -1589,7 +1579,9 @@ void GLFWFusionViewer::draw_camera_box(const std::vector<ObjectPtr>& objects,
offset_x
,
offset_y
,
image_width
,
image_height
);
offset_x
,
offset_y
,
image_width
,
image_height
);
}
}
// TODO(All) fix the code after continue
continue
;
continue
;
/*
if (_show_camera_box2d) {
if (_show_camera_box2d) {
if (obj->camera_supplement != nullptr) {
if (obj->camera_supplement != nullptr) {
auto box2d_color = s_color_table[obj->track_id % s_color_table.size()];
auto box2d_color = s_color_table[obj->track_id % s_color_table.size()];
...
@@ -1600,9 +1592,8 @@ void GLFWFusionViewer::draw_camera_box(const std::vector<ObjectPtr>& objects,
...
@@ -1600,9 +1592,8 @@ void GLFWFusionViewer::draw_camera_box(const std::vector<ObjectPtr>& objects,
image_width, image_height);
image_width, image_height);
// Draw texts using OpenGL
// Draw texts using OpenGL
// distance
// distance
std
::
string
c
=
std::string c = std::to_string(
std
::
to_string
(
static_cast
<
int
>
(
static_cast<int>((sqrt(tc.x() * tc.x() + tc.z() * tc.z()))));
(
sqrt
(
tc
.
x
()
*
tc
.
x
()
+
tc
.
z
()
*
tc
.
z
()))));
auto dis_txt_color =
auto dis_txt_color =
s_color_table[obj->track_id % s_color_table.size()];
s_color_table[obj->track_id % s_color_table.size()];
glColor3ub(dis_txt_color[0], dis_txt_color[1], dis_txt_color[2]);
glColor3ub(dis_txt_color[0], dis_txt_color[1], dis_txt_color[2]);
...
@@ -1643,6 +1634,7 @@ void GLFWFusionViewer::draw_camera_box(const std::vector<ObjectPtr>& objects,
...
@@ -1643,6 +1634,7 @@ void GLFWFusionViewer::draw_camera_box(const std::vector<ObjectPtr>& objects,
glColor4f(1.0f, 1.0f, 1.0f, 1.0f); // reset the color to white
glColor4f(1.0f, 1.0f, 1.0f, 1.0f); // reset the color to white
}
}
}
}
*/
}
}
}
}
...
...
modules/perception/obstacle/fusion/interface/BUILD
浏览文件 @
7e1c4dbc
...
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
...
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
package
(
default_visibility
=
[
"//visibility:public"
])
package
(
default_visibility
=
[
"//visibility:public"
])
cc_library
(
cc_library
(
name
=
"
perception_obstacle_fusion_
interface"
,
name
=
"interface"
,
srcs
=
[],
srcs
=
[],
hdrs
=
glob
([
"*.h"
]),
hdrs
=
glob
([
"*.h"
]),
deps
=
[
deps
=
[
...
...
modules/perception/obstacle/fusion/probabilistic_fusion/BUILD
浏览文件 @
7e1c4dbc
...
@@ -41,7 +41,7 @@ cc_library(
...
@@ -41,7 +41,7 @@ cc_library(
"//modules/perception/lib/config_manager"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/obstacle/base"
,
"//modules/perception/obstacle/base"
,
"//modules/perception/obstacle/common"
,
"//modules/perception/obstacle/common"
,
"//modules/perception/obstacle/fusion/interface
:perception_obstacle_fusion_interface
"
,
"//modules/perception/obstacle/fusion/interface"
,
"//modules/perception/obstacle/onboard:hdmapinput"
,
"//modules/perception/obstacle/onboard:hdmapinput"
,
"@eigen"
,
"@eigen"
,
"@pcl"
,
"@pcl"
,
...
...
modules/perception/obstacle/fusion/probabilistic_fusion/pbf_track_object_distance.cc
浏览文件 @
7e1c4dbc
...
@@ -20,8 +20,10 @@
...
@@ -20,8 +20,10 @@
#include <limits>
#include <limits>
#include <map>
#include <map>
#include <utility>
#include <utility>
#include "Eigen/StdVector"
#include "Eigen/StdVector"
#include "boost/format.hpp"
#include "boost/format.hpp"
#include "modules/common/log.h"
#include "modules/common/log.h"
#include "modules/perception/obstacle/fusion/probabilistic_fusion/pbf_base_track_object_matcher.h"
#include "modules/perception/obstacle/fusion/probabilistic_fusion/pbf_base_track_object_matcher.h"
#include "modules/perception/obstacle/fusion/probabilistic_fusion/pbf_sensor_manager.h"
#include "modules/perception/obstacle/fusion/probabilistic_fusion/pbf_sensor_manager.h"
...
@@ -31,10 +33,6 @@ EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector2d);
...
@@ -31,10 +33,6 @@ EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector2d);
namespace
apollo
{
namespace
apollo
{
namespace
perception
{
namespace
perception
{
PbfTrackObjectDistance
::
PbfTrackObjectDistance
()
{}
PbfTrackObjectDistance
::~
PbfTrackObjectDistance
()
{}
float
PbfTrackObjectDistance
::
Compute
(
float
PbfTrackObjectDistance
::
Compute
(
const
PbfTrackPtr
&
fused_track
,
const
PbfSensorObjectPtr
&
sensor_object
,
const
PbfTrackPtr
&
fused_track
,
const
PbfSensorObjectPtr
&
sensor_object
,
const
TrackObjectDistanceOptions
&
options
)
{
const
TrackObjectDistanceOptions
&
options
)
{
...
@@ -52,7 +50,7 @@ float PbfTrackObjectDistance::Compute(
...
@@ -52,7 +50,7 @@ float PbfTrackObjectDistance::Compute(
return
(
std
::
numeric_limits
<
float
>::
max
)();
return
(
std
::
numeric_limits
<
float
>::
max
)();
}
}
float
distance
=
(
std
::
numeric_limits
<
float
>::
max
)
();
float
distance
=
std
::
numeric_limits
<
float
>::
max
();
const
PbfSensorObjectPtr
&
lidar_object
=
fused_track
->
GetLatestLidarObject
();
const
PbfSensorObjectPtr
&
lidar_object
=
fused_track
->
GetLatestLidarObject
();
const
PbfSensorObjectPtr
&
radar_object
=
fused_track
->
GetLatestRadarObject
();
const
PbfSensorObjectPtr
&
radar_object
=
fused_track
->
GetLatestRadarObject
();
if
(
is_lidar
(
sensor_type
))
{
if
(
is_lidar
(
sensor_type
))
{
...
@@ -197,12 +195,11 @@ bool PbfTrackObjectDistance::ComputePolygonCenter(
...
@@ -197,12 +195,11 @@ bool PbfTrackObjectDistance::ComputePolygonCenter(
int
nu
=
std
::
max
(
range
,
size
/
range
+
1
);
int
nu
=
std
::
max
(
range
,
size
/
range
+
1
);
nu
=
std
::
min
(
nu
,
size
);
nu
=
std
::
min
(
nu
,
size
);
int
count
=
0
;
int
count
=
0
;
std
::
map
<
double
,
int
>::
iterator
it
=
distance2idx
.
begin
()
;
for
(
auto
it
=
distance2idx
.
begin
();
it
!=
distance2idx
.
end
()
&&
count
<
nu
;
for
(;
it
!=
distance2idx
.
end
()
&&
count
<
nu
;
++
it
,
++
count
)
{
++
it
,
++
count
)
{
polygon_part
.
push_back
(
polygon
[
it
->
second
]);
polygon_part
.
push_back
(
polygon
[
it
->
second
]);
}
}
bool
state
=
ComputePolygonCenter
(
polygon_part
,
center
);
return
ComputePolygonCenter
(
polygon_part
,
center
);
return
state
;
}
}
}
// namespace perception
}
// namespace perception
...
...
modules/perception/obstacle/fusion/probabilistic_fusion/pbf_track_object_distance.h
浏览文件 @
7e1c4dbc
...
@@ -14,8 +14,8 @@
...
@@ -14,8 +14,8 @@
* limitations under the License.
* limitations under the License.
*****************************************************************************/
*****************************************************************************/
#ifndef MODULES_PERCEPTION_OBSTACLE_FUSION_P
ROBABILISTIC_FUSION_PBF_TRACK_OBJECT_DISTANCE_H_ // NOLINT
#ifndef MODULES_PERCEPTION_OBSTACLE_FUSION_P
BF_PBF_TRACK_OBJECT_DISTANCE_H_
#define MODULES_PERCEPTION_OBSTACLE_FUSION_P
ROBABILISTIC_FUSION_PBF_TRACK_OBJECT_DISTANCE_H_ // NOLINT
#define MODULES_PERCEPTION_OBSTACLE_FUSION_P
BF_PBF_TRACK_OBJECT_DISTANCE_H_
#include "modules/common/macro.h"
#include "modules/common/macro.h"
#include "modules/perception/obstacle/base/types.h"
#include "modules/perception/obstacle/base/types.h"
...
@@ -28,10 +28,11 @@ namespace perception {
...
@@ -28,10 +28,11 @@ namespace perception {
struct
TrackObjectDistanceOptions
{
struct
TrackObjectDistanceOptions
{
Eigen
::
Vector3d
*
ref_point
=
nullptr
;
Eigen
::
Vector3d
*
ref_point
=
nullptr
;
};
};
class
PbfTrackObjectDistance
{
class
PbfTrackObjectDistance
{
public:
public:
PbfTrackObjectDistance
();
PbfTrackObjectDistance
()
=
default
;
virtual
~
PbfTrackObjectDistance
();
virtual
~
PbfTrackObjectDistance
()
=
default
;
float
Compute
(
const
PbfTrackPtr
&
fused_track
,
float
Compute
(
const
PbfTrackPtr
&
fused_track
,
const
PbfSensorObjectPtr
&
sensor_object
,
const
PbfSensorObjectPtr
&
sensor_object
,
...
@@ -66,4 +67,4 @@ class PbfTrackObjectDistance {
...
@@ -66,4 +67,4 @@ class PbfTrackObjectDistance {
}
// namespace perception
}
// namespace perception
}
// namespace apollo
}
// namespace apollo
#endif // MODULES_PERCEPTION_OBSTACLE_FUSION_P
ROBABILISTIC_FUSION_PBF_TRACK_OBJECT_DISTANCE_H_ // NOLINT
#endif // MODULES_PERCEPTION_OBSTACLE_FUSION_P
BF_PBF_TRACK_OBJECT_DISTANCE_H_
modules/perception/obstacle/onboard/BUILD
浏览文件 @
7e1c4dbc
...
@@ -42,7 +42,7 @@ cc_library(
...
@@ -42,7 +42,7 @@ cc_library(
)
)
cc_library
(
cc_library
(
name
=
"
perception_obstacle_
lidar_subnode"
,
name
=
"lidar_subnode"
,
srcs
=
[
srcs
=
[
"lidar_process_subnode.cc"
,
"lidar_process_subnode.cc"
,
],
],
...
@@ -62,13 +62,13 @@ cc_library(
...
@@ -62,13 +62,13 @@ cc_library(
"//modules/perception/obstacle/lidar/tracker/hm_tracker"
,
"//modules/perception/obstacle/lidar/tracker/hm_tracker"
,
"//modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser"
,
"//modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser"
,
"//modules/perception/obstacle/lidar/visualizer/opengl_visualizer"
,
"//modules/perception/obstacle/lidar/visualizer/opengl_visualizer"
,
"//modules/perception/onboard
:perception_onboard
"
,
"//modules/perception/onboard"
,
"@ros//:ros_common"
,
"@ros//:ros_common"
,
],
],
)
)
cc_library
(
cc_library
(
name
=
"
perception_obstacle_
radar_subnode"
,
name
=
"radar_subnode"
,
srcs
=
[
srcs
=
[
"radar_process_subnode.cc"
,
"radar_process_subnode.cc"
,
],
],
...
@@ -91,14 +91,14 @@ cc_library(
...
@@ -91,14 +91,14 @@ cc_library(
"//modules/perception/obstacle/lidar/visualizer/opengl_visualizer"
,
"//modules/perception/obstacle/lidar/visualizer/opengl_visualizer"
,
"//modules/perception/obstacle/radar/dummy"
,
"//modules/perception/obstacle/radar/dummy"
,
"//modules/perception/obstacle/radar/modest:modest_detector"
,
"//modules/perception/obstacle/radar/modest:modest_detector"
,
"//modules/perception/onboard
:perception_onboard
"
,
"//modules/perception/onboard"
,
"@eigen"
,
"@eigen"
,
"@ros//:ros_common"
,
"@ros//:ros_common"
,
],
],
)
)
cc_library
(
cc_library
(
name
=
"
perception_obstacle_
fusion_subnode"
,
name
=
"fusion_subnode"
,
srcs
=
[
srcs
=
[
"fusion_subnode.cc"
,
"fusion_subnode.cc"
,
],
],
...
@@ -113,7 +113,7 @@ cc_library(
...
@@ -113,7 +113,7 @@ cc_library(
"//modules/perception/obstacle/fusion/probabilistic_fusion"
,
"//modules/perception/obstacle/fusion/probabilistic_fusion"
,
"//modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter"
,
"//modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter"
,
"//modules/perception/obstacle/lidar/visualizer/opengl_visualizer"
,
"//modules/perception/obstacle/lidar/visualizer/opengl_visualizer"
,
"//modules/perception/onboard
:perception_onboard
"
,
"//modules/perception/onboard"
,
"@ros//:ros_common"
,
"@ros//:ros_common"
,
],
],
)
)
...
@@ -130,7 +130,7 @@ cc_library(
...
@@ -130,7 +130,7 @@ cc_library(
"//modules/common/adapters:adapter_manager"
,
"//modules/common/adapters:adapter_manager"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/obstacle/camera/motionmanager"
,
"//modules/perception/obstacle/camera/motionmanager"
,
"//modules/perception/onboard
:perception_onboard
"
,
"//modules/perception/onboard"
,
"@ros//:ros_common"
,
"@ros//:ros_common"
,
],
],
)
)
...
@@ -153,7 +153,7 @@ cc_library(
...
@@ -153,7 +153,7 @@ cc_library(
"//modules/perception/obstacle/lidar/visualizer/opengl_visualizer"
,
"//modules/perception/obstacle/lidar/visualizer/opengl_visualizer"
,
"//modules/perception/obstacle/onboard:lidar_process"
,
"//modules/perception/obstacle/onboard:lidar_process"
,
"//modules/perception/obstacle/radar/modest:modest_detector"
,
"//modules/perception/obstacle/radar/modest:modest_detector"
,
"//modules/perception/onboard
:perception_onboard
"
,
"//modules/perception/onboard"
,
"@ros//:ros_common"
,
"@ros//:ros_common"
,
],
],
)
)
...
@@ -170,7 +170,7 @@ cc_library(
...
@@ -170,7 +170,7 @@ cc_library(
],
],
deps
=
[
deps
=
[
"//modules/perception/obstacle/base"
,
"//modules/perception/obstacle/base"
,
"//modules/perception/onboard
:perception_onboard
"
,
"//modules/perception/onboard"
,
],
],
)
)
...
@@ -183,22 +183,22 @@ cc_library(
...
@@ -183,22 +183,22 @@ cc_library(
"object_shared_data.h"
,
"object_shared_data.h"
,
],
],
deps
=
[
deps
=
[
"//modules/common:log"
,
"//modules/common/adapters:adapter_manager"
,
"//modules/common/adapters:adapter_manager"
,
"//modules/perception/lib/config_manager:config_manager"
,
"//modules/perception/common"
,
"//modules/perception/obstacle/base:base"
,
"//modules/perception/lib/base"
,
"//modules/perception/obstacle/camera/interface:interface"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/obstacle/base"
,
"//modules/perception/obstacle/camera/interface"
,
"//modules/perception/obstacle/onboard:perception_obstacle_shared_data"
,
"//modules/perception/obstacle/onboard:perception_obstacle_shared_data"
,
"//modules/perception/onboard:perception_onboard"
,
"//modules/perception/onboard"
,
"//modules/common:log"
,
"//modules/perception/common:common"
,
"//modules/perception/lib/base:base"
,
"@eigen"
,
"@eigen"
,
"@opencv2//:core"
,
"@opencv2//:core"
,
],
],
)
)
cc_library
(
cc_library
(
name
=
"
perception_obstacle_lowcost_visualizer
_subnode"
,
name
=
"
visualization
_subnode"
,
srcs
=
[
srcs
=
[
"visualization_subnode.cc"
,
"visualization_subnode.cc"
,
],
],
...
@@ -212,7 +212,7 @@ cc_library(
...
@@ -212,7 +212,7 @@ cc_library(
"//modules/perception/obstacle/base"
,
"//modules/perception/obstacle/base"
,
"//modules/perception/obstacle/camera/common:util"
,
"//modules/perception/obstacle/camera/common:util"
,
"//modules/perception/obstacle/camera/visualizer"
,
"//modules/perception/obstacle/camera/visualizer"
,
"//modules/perception/onboard
:perception_onboard
"
,
"//modules/perception/onboard"
,
],
],
)
)
...
...
modules/perception/obstacle/onboard/lane_post_processing_subnode.cc
浏览文件 @
7e1c4dbc
...
@@ -18,17 +18,16 @@
...
@@ -18,17 +18,16 @@
#include "modules/perception/obstacle/onboard/lane_post_processing_subnode.h"
#include "modules/perception/obstacle/onboard/lane_post_processing_subnode.h"
#include <yaml-cpp/yaml.h>
#include <Eigen/Core>
#include <Eigen/Dense>
#include <opencv2/opencv.hpp>
#include <cfloat>
#include <cfloat>
#include "Eigen/Dense"
#include "opencv2/opencv.hpp"
#include "yaml-cpp/yaml.h"
#include "modules/common/log.h"
#include "modules/common/log.h"
#include "modules/perception/common/perception_gflags.h"
#include "modules/perception/common/perception_gflags.h"
#include "modules/perception/lib/config_manager/config_manager.h"
#include "modules/perception/lib/base/time_util.h"
#include "modules/perception/lib/base/time_util.h"
#include "modules/perception/lib/config_manager/config_manager.h"
#include "modules/perception/onboard/event_manager.h"
#include "modules/perception/onboard/event_manager.h"
#include "modules/perception/onboard/shared_data_manager.h"
#include "modules/perception/onboard/shared_data_manager.h"
...
@@ -72,13 +71,13 @@ bool LanePostProcessingSubnode::InitSharedData() {
...
@@ -72,13 +71,13 @@ bool LanePostProcessingSubnode::InitSharedData() {
}
}
// init preprocess_data
// init preprocess_data
camera_object_data_
=
dynamic_cast
<
CameraObjectData
*>
(
camera_object_data_
=
dynamic_cast
<
CameraObjectData
*>
(
shared_data_manager_
->
GetSharedData
(
"CameraObjectData"
));
shared_data_manager_
->
GetSharedData
(
"CameraObjectData"
));
if
(
camera_object_data_
==
nullptr
)
{
if
(
camera_object_data_
==
nullptr
)
{
AERROR
<<
"failed to get shared data instance: CameraObjectData "
;
AERROR
<<
"failed to get shared data instance: CameraObjectData "
;
return
false
;
return
false
;
}
}
lane_shared_data_
=
dynamic_cast
<
LaneSharedData
*>
(
lane_shared_data_
=
dynamic_cast
<
LaneSharedData
*>
(
shared_data_manager_
->
GetSharedData
(
"LaneSharedData"
));
shared_data_manager_
->
GetSharedData
(
"LaneSharedData"
));
if
(
lane_shared_data_
==
nullptr
)
{
if
(
lane_shared_data_
==
nullptr
)
{
AERROR
<<
"failed to get shared data instance: LaneSharedData "
;
AERROR
<<
"failed to get shared data instance: LaneSharedData "
;
...
@@ -86,8 +85,7 @@ bool LanePostProcessingSubnode::InitSharedData() {
...
@@ -86,8 +85,7 @@ bool LanePostProcessingSubnode::InitSharedData() {
}
}
AINFO
<<
"init shared data successfully, data: "
AINFO
<<
"init shared data successfully, data: "
<<
camera_object_data_
->
name
()
<<
" and "
<<
camera_object_data_
->
name
()
<<
" and "
<<
lane_shared_data_
->
name
();
<<
lane_shared_data_
->
name
();
return
true
;
return
true
;
}
}
...
@@ -98,8 +96,7 @@ bool LanePostProcessingSubnode::InitAlgorithmPlugin() {
...
@@ -98,8 +96,7 @@ bool LanePostProcessingSubnode::InitAlgorithmPlugin() {
BaseCameraLanePostProcessorRegisterer
::
GetInstanceByName
(
BaseCameraLanePostProcessorRegisterer
::
GetInstanceByName
(
FLAGS_onboard_lane_post_processor
));
FLAGS_onboard_lane_post_processor
));
if
(
!
lane_post_processor_
)
{
if
(
!
lane_post_processor_
)
{
AERROR
<<
"failed to get instance: "
AERROR
<<
"failed to get instance: "
<<
FLAGS_onboard_lane_post_processor
;
<<
FLAGS_onboard_lane_post_processor
;
return
false
;
return
false
;
}
}
if
(
!
lane_post_processor_
->
Init
())
{
if
(
!
lane_post_processor_
->
Init
())
{
...
@@ -109,8 +106,7 @@ bool LanePostProcessingSubnode::InitAlgorithmPlugin() {
...
@@ -109,8 +106,7 @@ bool LanePostProcessingSubnode::InitAlgorithmPlugin() {
}
}
AINFO
<<
"init alg pulgins successfully
\n
"
AINFO
<<
"init alg pulgins successfully
\n
"
<<
" lane post-processer: "
<<
" lane post-processer: "
<<
FLAGS_onboard_lane_post_processor
;
<<
FLAGS_onboard_lane_post_processor
;
return
true
;
return
true
;
}
}
...
@@ -128,8 +124,7 @@ bool LanePostProcessingSubnode::InitWorkRoot() {
...
@@ -128,8 +124,7 @@ bool LanePostProcessingSubnode::InitWorkRoot() {
// get work root dir
// get work root dir
work_root_dir_
=
config_manager
->
work_root
();
work_root_dir_
=
config_manager
->
work_root
();
AINFO
<<
"init config manager successfully, work_root: "
AINFO
<<
"init config manager successfully, work_root: "
<<
work_root_dir_
;
<<
work_root_dir_
;
return
true
;
return
true
;
}
}
...
@@ -166,16 +161,15 @@ Status LanePostProcessingSubnode::ProcEvents() {
...
@@ -166,16 +161,15 @@ Status LanePostProcessingSubnode::ProcEvents() {
return
Status
::
OK
();
return
Status
::
OK
();
}
}
bool
LanePostProcessingSubnode
::
GetSharedData
(
bool
LanePostProcessingSubnode
::
GetSharedData
(
const
Event
&
event
,
const
Event
&
event
,
shared_ptr
<
SensorObjects
>
*
objs
)
{
shared_ptr
<
SensorObjects
>
*
objs
)
{
double
timestamp
=
event
.
timestamp
;
double
timestamp
=
event
.
timestamp
;
string
device_id
=
event
.
reserve
;
string
device_id
=
event
.
reserve
;
device_id_
=
device_id
;
device_id_
=
device_id
;
string
data_key
;
string
data_key
;
if
(
!
SubnodeHelper
::
ProduceSharedDataKey
(
timestamp
,
device_id
,
&
data_key
))
{
if
(
!
SubnodeHelper
::
ProduceSharedDataKey
(
timestamp
,
device_id
,
&
data_key
))
{
AERROR
<<
"failed to produce shared data key. EventID:"
AERROR
<<
"failed to produce shared data key. EventID:"
<<
event
.
event_id
<<
event
.
event_id
<<
" timestamp:"
<<
timestamp
<<
" timestamp:"
<<
timestamp
<<
" device_id:"
<<
device_id
;
<<
" device_id:"
<<
device_id
;
return
false
;
return
false
;
}
}
...
@@ -187,8 +181,7 @@ bool LanePostProcessingSubnode::GetSharedData(
...
@@ -187,8 +181,7 @@ bool LanePostProcessingSubnode::GetSharedData(
}
}
void
LanePostProcessingSubnode
::
PublishDataAndEvent
(
void
LanePostProcessingSubnode
::
PublishDataAndEvent
(
double
timestamp
,
double
timestamp
,
const
SharedDataPtr
<
LaneObjects
>
&
lane_objects
)
{
const
SharedDataPtr
<
LaneObjects
>
&
lane_objects
)
{
string
key
;
string
key
;
if
(
!
SubnodeHelper
::
ProduceSharedDataKey
(
timestamp
,
device_id_
,
&
key
))
{
if
(
!
SubnodeHelper
::
ProduceSharedDataKey
(
timestamp
,
device_id_
,
&
key
))
{
AERROR
<<
"failed to produce shared key. time: "
AERROR
<<
"failed to produce shared key. time: "
...
...
modules/perception/obstacle/onboard/lane_post_processing_subnode.h
浏览文件 @
7e1c4dbc
...
@@ -19,10 +19,10 @@
...
@@ -19,10 +19,10 @@
#ifndef MODULES_PERCEPTION_OBSTACLE_ONBOARD_LANE_POST_PROCESSING_SUBNODE_H_
#ifndef MODULES_PERCEPTION_OBSTACLE_ONBOARD_LANE_POST_PROCESSING_SUBNODE_H_
#define MODULES_PERCEPTION_OBSTACLE_ONBOARD_LANE_POST_PROCESSING_SUBNODE_H_
#define MODULES_PERCEPTION_OBSTACLE_ONBOARD_LANE_POST_PROCESSING_SUBNODE_H_
#include <Eigen/Core>
#include <string>
#include <memory>
#include <memory>
#include <string>
#include "Eigen/Core"
#include "modules/common/adapters/adapter_manager.h"
#include "modules/common/adapters/adapter_manager.h"
#include "modules/perception/obstacle/base/object.h"
#include "modules/perception/obstacle/base/object.h"
...
@@ -50,10 +50,8 @@ class LanePostProcessingSubnode : public Subnode {
...
@@ -50,10 +50,8 @@ class LanePostProcessingSubnode : public Subnode {
bool
InitSharedData
();
bool
InitSharedData
();
bool
InitAlgorithmPlugin
();
bool
InitAlgorithmPlugin
();
bool
InitWorkRoot
();
bool
InitWorkRoot
();
bool
GetSharedData
(
const
Event
&
event
,
bool
GetSharedData
(
const
Event
&
event
,
std
::
shared_ptr
<
SensorObjects
>*
objs
);
std
::
shared_ptr
<
SensorObjects
>*
objs
);
void
PublishDataAndEvent
(
double
timestamp
,
void
PublishDataAndEvent
(
double
timestamp
,
const
SharedDataPtr
<
LaneObjects
>&
lane_objects
);
const
SharedDataPtr
<
LaneObjects
>&
lane_objects
);
std
::
unique_ptr
<
BaseCameraLanePostProcessor
>
lane_post_processor_
;
std
::
unique_ptr
<
BaseCameraLanePostProcessor
>
lane_post_processor_
;
...
...
modules/perception/obstacle/onboard/lane_shared_data.h
浏览文件 @
7e1c4dbc
...
@@ -19,8 +19,8 @@
...
@@ -19,8 +19,8 @@
#include <string>
#include <string>
#include "modules/perception/onboard/common_shared_data.h"
#include "modules/perception/obstacle/camera/lane_post_process/common/type.h"
#include "modules/perception/obstacle/camera/lane_post_process/common/type.h"
#include "modules/perception/onboard/common_shared_data.h"
namespace
apollo
{
namespace
apollo
{
namespace
perception
{
namespace
perception
{
...
@@ -30,9 +30,7 @@ class LaneSharedData : public CommonSharedData<LaneObjects> {
...
@@ -30,9 +30,7 @@ class LaneSharedData : public CommonSharedData<LaneObjects> {
LaneSharedData
()
=
default
;
LaneSharedData
()
=
default
;
virtual
~
LaneSharedData
()
=
default
;
virtual
~
LaneSharedData
()
=
default
;
std
::
string
name
()
const
override
{
std
::
string
name
()
const
override
{
return
"LaneSharedData"
;
}
return
"LaneSharedData"
;
}
private:
private:
DISALLOW_COPY_AND_ASSIGN
(
LaneSharedData
);
DISALLOW_COPY_AND_ASSIGN
(
LaneSharedData
);
...
...
modules/perception/onboard/BUILD
浏览文件 @
7e1c4dbc
...
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
...
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
package
(
default_visibility
=
[
"//visibility:public"
])
package
(
default_visibility
=
[
"//visibility:public"
])
cc_library
(
cc_library
(
name
=
"
perception_
onboard"
,
name
=
"onboard"
,
srcs
=
[
srcs
=
[
"common_shared_data.cc"
,
"common_shared_data.cc"
,
"dag_streaming.cc"
,
"dag_streaming.cc"
,
...
@@ -50,10 +50,10 @@ cc_test(
...
@@ -50,10 +50,10 @@ cc_test(
"//modules/perception/conf:perception_config"
,
"//modules/perception/conf:perception_config"
,
],
],
deps
=
[
deps
=
[
":onboard"
,
"//external:gflags"
,
"//external:gflags"
,
"//modules/common:log"
,
"//modules/common:log"
,
"//modules/perception/lib/pcl_util"
,
"//modules/perception/lib/pcl_util"
,
"//modules/perception/onboard:perception_onboard"
,
"@gtest"
,
"@gtest"
,
"@gtest//:main"
,
"@gtest//:main"
,
],
],
...
...
modules/perception/tool/export_sensor_data/BUILD
浏览文件 @
7e1c4dbc
...
@@ -17,7 +17,7 @@ cc_library(
...
@@ -17,7 +17,7 @@ cc_library(
"//modules/perception/lib/base"
,
"//modules/perception/lib/base"
,
"//modules/perception/lib/pcl_util"
,
"//modules/perception/lib/pcl_util"
,
"//modules/perception/obstacle/radar/modest:modest_detector"
,
"//modules/perception/obstacle/radar/modest:modest_detector"
,
"//modules/perception/onboard
:perception_onboard
"
,
"//modules/perception/onboard"
,
"@pcl"
,
"@pcl"
,
"@ros//:ros_common"
,
"@ros//:ros_common"
,
],
],
...
...
modules/perception/traffic_light/base/BUILD
浏览文件 @
7e1c4dbc
...
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
...
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
package
(
default_visibility
=
[
"//visibility:public"
])
package
(
default_visibility
=
[
"//visibility:public"
])
cc_library
(
cc_library
(
name
=
"
perception_traffic_light_
base"
,
name
=
"base"
,
srcs
=
[
srcs
=
[
"image.cc"
,
"image.cc"
,
"light.cc"
,
"light.cc"
,
...
@@ -23,14 +23,14 @@ cc_library(
...
@@ -23,14 +23,14 @@ cc_library(
"//modules/common:log"
,
"//modules/common:log"
,
"//modules/map/proto:map_proto"
,
"//modules/map/proto:map_proto"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/onboard
:perception_onboard
"
,
"//modules/perception/onboard"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/traffic_light/util
:perception_traffic_light_util
"
,
"//modules/perception/traffic_light/util"
,
],
],
)
)
cc_test
(
cc_test
(
name
=
"
perception_traffic_light_
base_test"
,
name
=
"base_test"
,
size
=
"small"
,
size
=
"small"
,
srcs
=
[
srcs
=
[
"image_test.cc"
,
"image_test.cc"
,
...
@@ -42,8 +42,8 @@ cc_test(
...
@@ -42,8 +42,8 @@ cc_test(
"//modules/map/proto:map_proto"
,
"//modules/map/proto:map_proto"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/traffic_light/base
:perception_traffic_light_base
"
,
"//modules/perception/traffic_light/base"
,
"//modules/perception/traffic_light/util
:perception_traffic_light_util
"
,
"//modules/perception/traffic_light/util"
,
"@gtest//:main"
,
"@gtest//:main"
,
"@opencv2//:core"
,
"@opencv2//:core"
,
],
],
...
...
modules/perception/traffic_light/interface/BUILD
浏览文件 @
7e1c4dbc
...
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
...
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
package
(
default_visibility
=
[
"//visibility:public"
])
package
(
default_visibility
=
[
"//visibility:public"
])
cc_library
(
cc_library
(
name
=
"
perception_traffic_light_
interface"
,
name
=
"interface"
,
srcs
=
[
srcs
=
[
"base_projection.cc"
,
"base_projection.cc"
,
],
],
...
@@ -22,7 +22,7 @@ cc_library(
...
@@ -22,7 +22,7 @@ cc_library(
"//modules/map/proto:map_proto"
,
"//modules/map/proto:map_proto"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/traffic_light/base
:perception_traffic_light_base
"
,
"//modules/perception/traffic_light/base"
,
],
],
)
)
...
...
modules/perception/traffic_light/onboard/BUILD
浏览文件 @
7e1c4dbc
...
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
...
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
package
(
default_visibility
=
[
"//visibility:public"
])
package
(
default_visibility
=
[
"//visibility:public"
])
cc_library
(
cc_library
(
name
=
"
perception_traffic_light_
onboard"
,
name
=
"onboard"
,
srcs
=
[
srcs
=
[
"hdmap_input.cc"
,
"hdmap_input.cc"
,
"tl_preprocessor_subnode.cc"
,
"tl_preprocessor_subnode.cc"
,
...
@@ -24,10 +24,10 @@ cc_library(
...
@@ -24,10 +24,10 @@ cc_library(
"//modules/map/proto:map_proto"
,
"//modules/map/proto:map_proto"
,
"//modules/perception/lib/base"
,
"//modules/perception/lib/base"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/onboard
:perception_onboard
"
,
"//modules/perception/onboard"
,
"//modules/perception/onboard/proto:dag_proto"
,
"//modules/perception/onboard/proto:dag_proto"
,
"//modules/perception/traffic_light/base
:perception_traffic_light_base
"
,
"//modules/perception/traffic_light/base"
,
"//modules/perception/traffic_light/interface
:perception_traffic_light_interface
"
,
"//modules/perception/traffic_light/interface"
,
"//modules/perception/traffic_light/preprocessor:perception_traffic_light_preprocessor"
,
"//modules/perception/traffic_light/preprocessor:perception_traffic_light_preprocessor"
,
"//modules/perception/traffic_light/projection:perception_traffic_light_projection"
,
"//modules/perception/traffic_light/projection:perception_traffic_light_projection"
,
"//modules/perception/traffic_light/recognizer:perception_traffic_light_recognizer"
,
"//modules/perception/traffic_light/recognizer:perception_traffic_light_recognizer"
,
...
...
modules/perception/traffic_light/preprocessor/BUILD
浏览文件 @
7e1c4dbc
...
@@ -15,8 +15,8 @@ cc_library(
...
@@ -15,8 +15,8 @@ cc_library(
"//modules/common/proto:error_code_proto"
,
"//modules/common/proto:error_code_proto"
,
"//modules/common/proto:header_proto"
,
"//modules/common/proto:header_proto"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/traffic_light/base
:perception_traffic_light_base
"
,
"//modules/perception/traffic_light/base"
,
"//modules/perception/traffic_light/interface
:perception_traffic_light_interface
"
,
"//modules/perception/traffic_light/interface"
,
"//modules/perception/traffic_light/projection:perception_traffic_light_projection"
,
"//modules/perception/traffic_light/projection:perception_traffic_light_projection"
,
],
],
)
)
...
...
modules/perception/traffic_light/projection/BUILD
浏览文件 @
7e1c4dbc
...
@@ -19,8 +19,8 @@ cc_library(
...
@@ -19,8 +19,8 @@ cc_library(
"//modules/map/proto:map_proto"
,
"//modules/map/proto:map_proto"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/traffic_light/base
:perception_traffic_light_base
"
,
"//modules/perception/traffic_light/base"
,
"//modules/perception/traffic_light/interface
:perception_traffic_light_interface
"
,
"//modules/perception/traffic_light/interface"
,
],
],
)
)
...
...
modules/perception/traffic_light/recognizer/BUILD
浏览文件 @
7e1c4dbc
...
@@ -19,8 +19,8 @@ cc_library(
...
@@ -19,8 +19,8 @@ cc_library(
"//modules/map/proto:map_proto"
,
"//modules/map/proto:map_proto"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/traffic_light/base
:perception_traffic_light_base
"
,
"//modules/perception/traffic_light/base"
,
"//modules/perception/traffic_light/interface
:perception_traffic_light_interface
"
,
"//modules/perception/traffic_light/interface"
,
],
],
)
)
...
...
modules/perception/traffic_light/rectify/BUILD
浏览文件 @
7e1c4dbc
...
@@ -24,8 +24,8 @@ cc_library(
...
@@ -24,8 +24,8 @@ cc_library(
"//modules/perception/lib/config_manager"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/obstacle/common"
,
"//modules/perception/obstacle/common"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/traffic_light/base
:perception_traffic_light_base
"
,
"//modules/perception/traffic_light/base"
,
"//modules/perception/traffic_light/interface
:perception_traffic_light_interface
"
,
"//modules/perception/traffic_light/interface"
,
],
],
)
)
...
...
modules/perception/traffic_light/reviser/BUILD
浏览文件 @
7e1c4dbc
...
@@ -17,8 +17,8 @@ cc_library(
...
@@ -17,8 +17,8 @@ cc_library(
"//modules/map/proto:map_proto"
,
"//modules/map/proto:map_proto"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/traffic_light/base
:perception_traffic_light_base
"
,
"//modules/perception/traffic_light/base"
,
"//modules/perception/traffic_light/interface
:perception_traffic_light_interface
"
,
"//modules/perception/traffic_light/interface"
,
],
],
)
)
...
...
modules/perception/traffic_light/util/BUILD
浏览文件 @
7e1c4dbc
...
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
...
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
package
(
default_visibility
=
[
"//visibility:public"
])
package
(
default_visibility
=
[
"//visibility:public"
])
cc_library
(
cc_library
(
name
=
"
perception_traffic_light_
util"
,
name
=
"util"
,
srcs
=
[
srcs
=
[
"color_space.cc"
,
"color_space.cc"
,
],
],
...
...
modules/perception/traffic_light/visualizer/BUILD
浏览文件 @
7e1c4dbc
...
@@ -7,19 +7,18 @@ cc_binary(
...
@@ -7,19 +7,18 @@ cc_binary(
srcs
=
[
srcs
=
[
"tl_visualizer.cc"
,
"tl_visualizer.cc"
,
],
],
linkopts
=
[
"-lopencv_core -lopencv_imgproc -lopencv_highgui"
],
deps
=
[
deps
=
[
"//modules/common"
,
"//modules/common"
,
"//modules/common:log"
,
"//modules/common:log"
,
"//modules/common/adapters:adapter_gflags"
,
"//modules/common/adapters:adapter_gflags"
,
"//modules/perception/traffic_light/base:perception_traffic_light_base"
,
"//modules/perception/traffic_light/util:perception_traffic_light_util"
,
"//modules/perception/lib/base"
,
"//modules/perception/common"
,
"//modules/perception/common"
,
"//modules/perception/lib/base"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/traffic_light/base"
,
"//modules/perception/traffic_light/util"
,
"@ros//:ros_common"
,
"@ros//:ros_common"
,
],
],
linkopts
=
[
"-lopencv_core -lopencv_imgproc -lopencv_highgui"
],
)
)
cpplint
()
cpplint
()
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