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提交 8047dffb 编写于 作者: W wangxuehui 提交者： Liangliang Zhang
浏览文件
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perception: remove lib/io/protobuf_util.h file, fix size_t type

上级 4c76cc6c
隐藏空白更改
内联 并排
Showing with 254 addition and 338 deletion
modules/perception/camera/app/BUILD
浏览文件 @ 8047dffb
......@@ -29,7 +29,6 @@ cc_library(
"//modules/perception/base:base",
"//modules/perception/camera/common:common",
"//modules/perception/camera/lib/interface:interface",
# "//modules/perception/camera/lib/calibration_service/online_calibration_service:online_calibration_service",
],
)
......@@ -47,10 +46,10 @@ cc_library(
"@yaml_cpp//:yaml",
"//external:gflags",
"//cybertron",
"//modules/common/util:file_util",
"//modules/perception/base:base",
"//modules/perception/camera/common:common",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/camera/lib/calibration_service/online_calibration_service:online_calibration_service",
"//modules/perception/camera/lib/calibrator/laneline:laneline_calibrator",
"//modules/perception/camera/lib/feature_extractor/tfe:external_feature_extractor",
......@@ -62,13 +61,11 @@ cc_library(
"//modules/perception/camera/lib/obstacle/postprocessor/location_refiner:location_refiner_obstacle_postprocessor",
"//modules/perception/camera/lib/obstacle/tracker/omt:omt_obstacle_tracker",
"//modules/perception/camera/lib/obstacle/transformer/multicue:multicue_obstacle_transformer",
"//modules/perception/inference/utils:inference_util_lib",
"//modules/perception/inference/utils:inference_cuda_util_lib",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/io:protobuf_util",
"//modules/perception/lib/utils:utils",
"//modules/perception/lib/singleton:singleton",
"//modules/perception/inference/utils:inference_util_lib",
"//modules/perception/inference/utils:inference_cuda_util_lib",
],
)
......@@ -84,13 +81,13 @@ cc_library(
deps = [
":camera_app_lib_proto",
"//cybertron",
"//modules/common/util:file_util",
"//modules/perception/camera/common:common",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/camera/lib/traffic_light/detector/detection:detection",
"//modules/perception/camera/lib/traffic_light/detector/recognition:recognition",
"//modules/perception/camera/lib/traffic_light/tracker:semantic_decision",
"//modules/perception/camera/common:common",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/io:protobuf_util",
"//modules/perception/lib/utils:utils",
],
)
......
modules/perception/camera/app/debug_info.cc
浏览文件 @ 8047dffb
......@@ -67,7 +67,7 @@ void WriteTracking(std::ofstream &fout,
return;
}
char output[500];
for (int i = 0; i < static_cast<int>(tracked_object.size()); ++i) {
for (size_t i = 0; i < tracked_object.size(); ++i) {
base::ObjectPtr ptr = tracked_object[i];
snprintf(output,
sizeof(output),
......@@ -256,8 +256,8 @@ int WriteLanelines(const bool enable,
// camera_image_point_set
fprintf(file_save, "\"camera_point_set\":\n");
fprintf(file_save, "[");
for (int k = 0; k < static_cast<int>(camera_point_set.size()); k++) {
if (k < static_cast<int>(camera_point_set.size()) - 1) {
for (size_t k = 0; k < camera_point_set.size(); k++) {
if (k < camera_point_set.size() - 1) {
fprintf(file_save, "{\"x\":%.4f,\"y\":%.4f,\"z\":%.4f},",
camera_point_set[k].x, camera_point_set[k].y,
camera_point_set[k].z);
......@@ -280,9 +280,8 @@ int WriteLanelines(const bool enable,
// curve_image_point_set
fprintf(file_save, "\"image_point_set\":\n");
fprintf(file_save, "[");
for (int k = 0; k < static_cast<int>(image_point_set.size());
k++) {
if (k < static_cast<int>(image_point_set.size()) - 1) {
for (size_t k = 0; k < image_point_set.size(); k++) {
if (k < image_point_set.size() - 1) {
fprintf(file_save, "{\"x\":%.4f,\"y\":%.4f},",
image_point_set[k].x, image_point_set[k].y);
} else {
......@@ -333,11 +332,8 @@ void WriteFusionTracking(std::ofstream &fout,
}
AINFO << "Write track results:" << frame_num;
if (camera_name == "onsemi_narrow") {
for (int i = 0; i < static_cast<int>(tracked_object.size()); ++i) {
for (size_t i = 0; i < tracked_object.size(); ++i) {
base::ObjectPtr ptr = tracked_object[i];
// if (ptr->camera_supplement.sensor_name == "onsemi_obstacle") {
// continue; // do not show the 6mm target in the 12mm camera
// }
char output[300];
snprintf(output,
sizeof(output),
......@@ -366,7 +362,7 @@ void WriteFusionTracking(std::ofstream &fout,
fout << output << std::endl;
}
} else if (camera_name == "onsemi_obstacle") {
for (int i = 0; i < static_cast<int>(tracked_object.size()); ++i) {
for (size_t i = 0; i < tracked_object.size(); ++i) {
base::ObjectPtr ptr = tracked_object[i];
char output[300];
snprintf(output,
......
modules/perception/camera/app/debug_info.h
浏览文件 @ 8047dffb
......@@ -18,8 +18,8 @@
#include <fstream>
#include <string>
#include <vector>
#include "modules/perception/camera/common/camera_frame.h"
#include "modules/perception/base/object.h"
#include "modules/perception/camera/common/camera_frame.h"
#include "modules/perception/camera/lib/interface/base_calibration_service.h"
namespace apollo {
......
modules/perception/camera/app/obstacle_camera_perception.cc
浏览文件 @ 8047dffb
......@@ -16,22 +16,22 @@
#include "modules/perception/camera/app/obstacle_camera_perception.h"
#include <gflags/gflags.h>
#include <yaml-cpp/yaml.h>
#include <algorithm>
#include <fstream>
#include <string>
#include <vector>
#include <algorithm>
#include <utility>
#include <vector>
#include "cybertron/common/log.h"
#include "modules/perception/inference/utils/cuda_util.h"
#include "modules/perception/common/io/io_util.h"
#include "modules/common/util/file.h"
#include "modules/perception/base/object.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
#include "modules/perception/lib/utils/perf.h"
#include "modules/perception/lib/singleton/singleton.h"
#include "modules/perception/camera/common/global_config.h"
#include "modules/perception/camera/app/debug_info.h"
#include "modules/perception/camera/common/global_config.h"
#include "modules/perception/camera/common/util.h"
#include "modules/perception/common/io/io_util.h"
#include "modules/perception/inference/utils/cuda_util.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/singleton/singleton.h"
#include "modules/perception/lib/utils/perf.h"
namespace apollo {
namespace perception {
......@@ -47,7 +47,7 @@ bool ObstacleCameraPerception::Init(
lib::FileUtil::GetAbsolutePath(options.root_dir,
options.conf_file);
config_file = lib::FileUtil::GetAbsolutePath(work_root, config_file);
CHECK(lib::ParseProtobufFromFile<app::PerceptionParam>(
CHECK(apollo::common::util::GetProtoFromFile<app::PerceptionParam>(
config_file, &perception_param_)) << "Read config failed: ";
CHECK(inference::CudaUtil::set_device_id(perception_param_.gpu_id()));
......@@ -392,7 +392,7 @@ bool ObstacleCameraPerception::Perception(
std::to_string(frame->frame_id) + ".txt",
frame);
// set the sensor name of each object
for (int i = 0; i < static_cast<int>(frame->detected_objects.size()); i++) {
for (size_t i = 0; i < frame->detected_objects.size(); i++) {
frame->detected_objects[i]->camera_supplement.sensor_name =
frame->data_provider->sensor_name();
}
......
modules/perception/camera/app/traffic_light_camera_perception.cc
浏览文件 @ 8047dffb
......@@ -19,13 +19,13 @@
#include <string>
#include "cybertron/common/log.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
#include "modules/perception/lib/utils/perf.h"
#include "modules/common/util/file.h"
#include "modules/perception/camera/common/util.h"
#include "modules/perception/camera/lib/traffic_light/detector/detection/detection.h"
#include "modules/perception/camera/lib/traffic_light/detector/recognition/recognition.h"
#include "modules/perception/camera/lib/traffic_light/tracker/semantic_decision.h"
#include "modules/perception/camera/common/util.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/utils/perf.h"
namespace apollo {
namespace perception {
......@@ -41,7 +41,7 @@ bool TrafficLightCameraPerception::Init(
lib::FileUtil::GetAbsolutePath(options.root_dir, options.conf_file);
proto_path = lib::FileUtil::GetAbsolutePath(work_root, proto_path);
AINFO << "proto_path " << proto_path;
if (!lib::ParseProtobufFromFile(proto_path, &tl_param_)) {
if (!apollo::common::util::GetProtoFromFile(proto_path, &tl_param_)) {
AINFO << "load proto param failed, root dir: " << options.root_dir;
return false;
}
......
modules/perception/camera/app/traffic_light_camera_perception.h
浏览文件 @ 8047dffb
......@@ -17,13 +17,13 @@
#include <memory>
#include <string>
#include "modules/perception/camera/app/perception.pb.h"
#include "modules/perception/camera/common/camera_frame.h"
#include "modules/perception/camera/lib/interface/base_camera_perception.h"
#include "modules/perception/camera/lib/interface/base_feature_extractor.h"
#include "modules/perception/camera/lib/interface/base_init_options.h"
#include "modules/perception/camera/common/camera_frame.h"
#include "modules/perception/camera/lib/interface/base_traffic_light_tracker.h"
#include "modules/perception/camera/lib/interface/base_traffic_light_detector.h"
#include "modules/perception/camera/app/perception.pb.h"
namespace apollo {
namespace perception {
......
modules/perception/camera/common/BUILD
浏览文件 @ 8047dffb
......@@ -3,7 +3,6 @@ load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
cc_library(
name = "camera_frame",
hdrs = [
......@@ -29,8 +28,6 @@ cc_library(
"//modules/perception/common/i_lib/core:core",
"//modules/perception/common/i_lib/da:i_ransac",
"//modules/perception/common/i_lib/geometry:i_plane",
#"//modules/perception/common/i_lib/geometry:i_util",
#"//modules/perception/common/i_lib/numeric:numeric",
],
)
......@@ -78,14 +75,14 @@ cc_library(
deps = [
"//external:gflags",
"//cybertron",
"//modules/common/util:file_util",
"//modules/perception/base:base",
"//modules/perception/camera/common/proto:object_template_meta_schema_proto",
"//modules/perception/common/io:io_util",
"//modules/perception/lib/config_manager:config_manager",
"//modules/perception/lib/io:protobuf_util",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/singleton:singleton",
"//modules/perception/lib/thread:thread",
"//modules/perception/camera/common/proto:object_template_meta_schema_proto",
],
)
......@@ -107,7 +104,6 @@ cc_library(
"@eigen",
"//modules/perception/common/i_lib/core:core",
"//modules/perception/common/i_lib/geometry:i_plane",
#"//modules/perception/common/i_lib/geometry:i_util",
],
)
......
modules/perception/camera/common/camera_ground_plane.cc
浏览文件 @ 8047dffb
......@@ -19,8 +19,8 @@
#include <utility>
#include "cybertron/common/log.h"
#include "modules/perception/common/i_lib/geometry/i_util.h"
#include "modules/perception/common/i_lib/da/i_ransac.h"
#include "modules/perception/common/i_lib/geometry/i_util.h"
namespace apollo {
......
modules/perception/camera/common/data_provider.cc
浏览文件 @ 8047dffb
......@@ -13,8 +13,8 @@
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "cybertron/common/log.h"
#include "modules/perception/camera/common/data_provider.h"
#include "cybertron/common/log.h"
namespace apollo {
namespace perception {
......
modules/perception/camera/common/object_template_manager.cc
浏览文件 @ 8047dffb
......@@ -24,10 +24,10 @@
#include <utility>
#include "cybertron/common/log.h"
#include "modules/common/util/file.h"
#include "modules/perception/common/io/io_util.h"
#include "modules/perception/lib/config_manager/config_manager.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
namespace apollo {
namespace perception {
......@@ -63,7 +63,8 @@ bool ObjectTemplateManager::Init(
std::string config =
lib::FileUtil::GetAbsolutePath(options.root_dir, options.conf_file);
ObjectTemplateMeta proto;
if (!lib::ParseProtobufFromFile<ObjectTemplateMeta>(config, &proto)) {
if (!apollo::common::util::GetProtoFromFile<ObjectTemplateMeta>(
config, &proto)) {
AERROR << "Read config failed: " << config;
return false;
}
......@@ -187,7 +188,7 @@ void ObjectTemplateManager::LoadVehTemplates(const ObjectTemplate &tmplt) {
list_tpl.push_back(std::make_tuple(dim.h(), dim.w(), dim.l()));
}
std::sort(list_tpl.begin(), list_tpl.end());
for (int i = 0; i < static_cast<int>(list_tpl.size()); ++i) {
for (size_t i = 0; i < list_tpl.size(); ++i) {
veh_hwl_.push_back(std::get<0>(list_tpl[i]));
veh_hwl_.push_back(std::get<1>(list_tpl[i]));
veh_hwl_.push_back(std::get<2>(list_tpl[i]));
......
modules/perception/camera/common/object_template_manager.h
浏览文件 @ 8047dffb
......@@ -24,10 +24,10 @@
#include <unordered_map>
#include <vector>
#include "gflags/gflags.h"
#include "cybertron/common/log.h"
#include "modules/perception/base/object_types.h"
#include "modules/perception/camera/common/proto/object_template_meta_schema.pb.h"
#include "gflags/gflags.h"
#include "modules/perception/lib/singleton/singleton.h"
#include "modules/perception/lib/thread/mutex.h"
......
modules/perception/camera/common/twod_threed_util.h
浏览文件 @ 8047dffb
......@@ -16,15 +16,13 @@
#pragma once
#include <float.h>
#include <Eigen/Dense>
#include <algorithm>
#include <cstdlib>
#include <utility>
#include <vector>
#include <algorithm>
#include "cybertron/common/log.h"
#include "modules/perception/common/i_lib/core/i_constant.h"
#include "modules/perception/common/i_lib/geometry/i_util.h"
#include "modules/perception/common/i_lib/geometry/i_line.h"
......
modules/perception/camera/common/undistortion_handler.h
浏览文件 @ 8047dffb
......@@ -21,8 +21,8 @@
#include <string>
#include "modules/perception/base/blob.h"
#include "modules/perception/base/image.h"
#include "modules/perception/base/distortion_model.h"
#include "modules/perception/base/image.h"
#include "modules/perception/common/sensor_manager/sensor_manager.h"
namespace apollo {
......
modules/perception/camera/common/util.h
浏览文件 @ 8047dffb
......@@ -21,19 +21,19 @@
#include <google/protobuf/io/gzip_stream.h>
#include <google/protobuf/text_format.h>
#include <cblas.h>
#include <string>
#include <vector>
#include <map>
#include <algorithm>
#include <numeric>
#include <memory>
#include <iostream>
#include <fstream>
#include <iostream>
#include <map>
#include <memory>
#include <numeric>
#include <string>
#include <vector>
#include "glog/logging.h"
#include "modules/perception/base/blob.h"
#include "modules/perception/base/image.h"
#include "modules/perception/base/object.h"
#include "modules/perception/base/object_types.h"
#include "modules/perception/base/image.h"
#include "glog/logging.h"
namespace apollo {
namespace perception {
......
modules/perception/camera/lib/calibration_service/online_calibration_service/BUILD
浏览文件 @ 8047dffb
......@@ -12,9 +12,9 @@ cc_library(
"online_calibration_service.h",
],
deps = [
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/common/i_lib/core:core",
"//modules/perception/common/i_lib/geometry:i_plane",
"//modules/perception/camera/lib/interface:interface",
],
)
......
modules/perception/camera/lib/calibrator/laneline/laneline_calibrator.cc
浏览文件 @ 8047dffb
......@@ -104,7 +104,7 @@ bool LaneLineCalibrator::LoadEgoLaneline(
bool found_ego_left = false;
bool found_ego_right = false;
// using points from model fitting
for (int i = 0; i < static_cast<int>(lane_objects.size()); ++i) {
for (size_t i = 0; i < lane_objects.size(); ++i) {
if (lane_objects[i].pos_type ==
base::LaneLinePositionType::EGO_LEFT) {
int num_points = lane_objects[i].curve_image_point_set.size();
......
modules/perception/camera/lib/feature_extractor/tfe/BUILD
浏览文件 @ 8047dffb
......@@ -28,12 +28,14 @@ cc_library(
],
deps = [
":tracking_feature_proto",
"//modules/common/util:file_util",
"//modules/perception/camera/common:common",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/inference:inference_lib",
"//modules/perception/inference:inference_factory_lib",
"//modules/perception/inference/utils:inference_util_lib",
"//modules/perception/inference:inference_lib",
"//modules/perception/inference/utils:inference_resize_lib",
"//modules/perception/inference/utils:inference_util_lib",
"//modules/perception/lib/io:file_util",
],
)
......@@ -49,7 +51,7 @@ cc_library(
deps = [
":tracking_feature_proto",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/io:protobuf_util",
"//modules/common/util:file_util",
"//modules/perception/camera/common:common",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/inference:inference_factory_lib",
......@@ -76,7 +78,7 @@ cc_library(
"//modules/perception/inference/utils:inference_gemm_lib",
"//modules/perception/inference/operators:perception_inference_operators",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/io:protobuf_util",
"//modules/common/util:file_util",
],
)
......
modules/perception/camera/lib/feature_extractor/tfe/external_feature_extractor.cc
浏览文件 @ 8047dffb
......@@ -14,10 +14,12 @@
* limitations under the License.
*****************************************************************************/
#include "modules/perception/camera/lib/feature_extractor/tfe/external_feature_extractor.h"
#include <vector>
#include <map>
#include <vector>
#include "modules/common/util/file.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
#include "modules/perception/camera/common/global_config.h"
#include "modules/perception/camera/common/util.h"
#include "modules/perception/inference/inference_factory.h"
......@@ -31,8 +33,8 @@ bool ExternalFeatureExtractor::Init(const FeatureExtractorInitOptions
&options) {
std::string efx_config =
lib::FileUtil::GetAbsolutePath(options.root_dir, options.conf_file);
CHECK(lib::ParseProtobufFromFile<tracking_feature::ExternalParam>(efx_config,
&param_))
CHECK(apollo::common::util::GetProtoFromFile
<tracking_feature::ExternalParam>(efx_config, &param_))
<< "Read config failed: " << efx_config;
AINFO << "Load config Success: " << param_.ShortDebugString();
std::string proto_file =
......
modules/perception/camera/lib/feature_extractor/tfe/project_feature.cc
浏览文件 @ 8047dffb
......@@ -19,11 +19,11 @@
#include <vector>
#include "cybertron/common/log.h"
#include "modules/common/util/file.h"
#include "modules/perception/camera/common/global_config.h"
#include "modules/perception/inference/inference_factory.h"
#include "modules/perception/inference/utils/gemm.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
#include "modules/perception/lib/singleton/singleton.h"
namespace apollo {
......@@ -33,8 +33,8 @@ namespace camera {
bool ProjectFeature::Init(const FeatureExtractorInitOptions &options) {
std::string efx_config =
lib::FileUtil::GetAbsolutePath(options.root_dir, options.conf_file);
CHECK(lib::ParseProtobufFromFile<tracking_feature::ExternalParam>(efx_config,
&param_))
CHECK(apollo::common::util::GetProtoFromFile
<tracking_feature::ExternalParam>(efx_config, &param_))
<< "Read config failed: " << efx_config;
AINFO << "Load config Success: " << param_.ShortDebugString();
std::string proto_file =
......
modules/perception/camera/lib/feature_extractor/tfe/tracking_feat_extractor.cc
浏览文件 @ 8047dffb
......@@ -16,9 +16,9 @@
#include <iostream>
#include <fstream>
#include "modules/common/util/file.h"
#include "modules/perception/camera/lib/feature_extractor/tfe/tracking_feat_extractor.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
namespace apollo {
namespace perception {
......@@ -36,7 +36,7 @@ bool TrackingFeatureExtractor::Init(const FeatureExtractorInitOptions
std::string config_path =
lib::FileUtil::GetAbsolutePath(init_options.root_dir,
init_options.conf_file);
if (!lib::ParseProtobufFromFile(config_path, &feat_param)) {
if (!apollo::common::util::GetProtoFromFile(config_path, &feat_param)) {
AERROR << "read proto_config fail";
return false;
}
......
modules/perception/camera/lib/interface/BUILD
浏览文件 @ 8047dffb
......@@ -69,8 +69,6 @@ cc_library(
hdrs = [
"base_obstacle_postprocessor.h",
],
deps = [
],
)
cc_library(
......@@ -228,5 +226,4 @@ cc_library(
],
)
cpplint()
modules/perception/camera/lib/lane/detector/denseline/BUILD
浏览文件 @ 8047dffb
......@@ -13,17 +13,17 @@ cc_library(
"denseline_lane_detector.h",
],
deps = [
"//modules/common/util:file_util",
"//modules/perception/base:base",
"//modules/perception/camera/common:common",
"//modules/perception/camera/lib/lane/common:denseline_proto",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/camera/lib/lane/common:denseline_proto",
"//modules/perception/inference:inference_factory_lib",
"//modules/perception/inference/tensorrt:rt_net",
"//modules/perception/inference/utils:inference_util_lib",
"//modules/perception/inference/utils:inference_resize_lib",
"//modules/perception/lib/registerer:registerer",
"//modules/perception/inference/utils:inference_util_lib",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/io:protobuf_util",
"//modules/perception/lib/registerer:registerer",
],
)
......
modules/perception/camera/lib/lane/detector/denseline/denseline_lane_detector.cc
浏览文件 @ 8047dffb
......@@ -18,7 +18,7 @@
#include <map>
#include <algorithm>
#include "modules/perception/lib/io/protobuf_util.h"
#include "modules/common/util/file.h"
#include "modules/perception/camera/common/util.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/inference/utils/resize.h"
......@@ -31,7 +31,7 @@ namespace camera {
bool DenselineLaneDetector::Init(const LaneDetectorInitOptions &options) {
std::string proto_path =
lib::FileUtil::GetAbsolutePath(options.root_dir, options.conf_file);
if (!lib::ParseProtobufFromFile(proto_path, &denseline_param_)) {
if (!apollo::common::util::GetProtoFromFile(proto_path, &denseline_param_)) {
AINFO << "load proto param failed, root dir: " << options.root_dir;
return false;
}
......
modules/perception/camera/lib/lane/postprocessor/denseline/BUILD
浏览文件 @ 8047dffb
......@@ -30,14 +30,14 @@ cc_library(
deps = [
"//cybertron",
":denseline_postprocessor_proto",
"//modules/common/util:file_util",
"//modules/perception/base:base",
"//modules/perception/camera/common:common",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/camera/lib/lane/common:denseline_proto",
"//modules/perception/camera/lib/lane/common:common_functions",
"//modules/perception/lib/registerer:registerer",
"//modules/perception/camera/lib/lane/common:denseline_proto",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/io:protobuf_util",
"//modules/perception/lib/registerer:registerer",
"//modules/perception/lib/singleton:singleton",
"//modules/perception/lib/utils:utils",
],
......
modules/perception/camera/lib/lane/postprocessor/denseline/denseline_lane_postprocessor.cc
浏览文件 @ 8047dffb
......@@ -20,12 +20,12 @@
#include <iostream>
#include "cybertron/common/log.h"
#include "modules/common/util/file.h"
#include "modules/perception/base/object_types.h"
#include "modules/perception/lib/singleton/singleton.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
#include "modules/perception/camera/lib/lane/common/denseline.pb.h"
#include "modules/perception/camera/common/math_functions.h"
#include "modules/perception/camera/lib/lane/common/denseline.pb.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/singleton/singleton.h"
#include "modules/perception/lib/utils/timer.h"
namespace apollo {
......@@ -39,7 +39,7 @@ bool DenselineLanePostprocessor::Init(
const std::string& proto_path =
lib::FileUtil::GetAbsolutePath(options.detect_config_root,
options.detect_config_name);
if (!lib::ParseProtobufFromFile(proto_path, &denseline_param)) {
if (!apollo::common::util::GetProtoFromFile(proto_path, &denseline_param)) {
AINFO << "load proto param failed, root dir: " << options.root_dir;
return false;
}
......@@ -58,7 +58,7 @@ bool DenselineLanePostprocessor::Init(
const std::string& postprocessor_config =
lib::FileUtil::GetAbsolutePath(root_dir, conf_file);
AINFO << "postprocessor_config:" << postprocessor_config;
if (!lib::ParseProtobufFromFile(
if (!apollo::common::util::GetProtoFromFile(
postprocessor_config, &lane_postprocessor_param_)) {
AERROR << "Read config detect_param failed: " << postprocessor_config;
return false;
......
modules/perception/camera/lib/lane/postprocessor/denseline/denseline_lane_postprocessor.h
浏览文件 @ 8047dffb
......@@ -93,7 +93,7 @@ class DenselineLanePostprocessor : public BaseLanePostprocessor {
static bool CompareCCSize(const ConnectedComponent& cc1,
const ConnectedComponent& cc2) {
std::vector<base::Point2DI> cc1_pixels = cc1.GetPixels();
std::vector<base::Point2DI> cc2_pixels = cc1.GetPixels();
std::vector<base::Point2DI> cc2_pixels = cc2.GetPixels();
return cc1_pixels.size() > cc2_pixels.size();
}
// @brief: infer point set from lane center
......
modules/perception/camera/lib/obstacle/detector/yolo/BUILD
浏览文件 @ 8047dffb
......@@ -51,19 +51,19 @@ cc_library(
],
deps = [
":region_output",
"//modules/common/util:file_util",
"//modules/perception/base:base",
"//modules/perception/camera/common:common",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/camera/lib/feature_extractor/tfe:external_feature_extractor",
"//modules/perception/camera/lib/feature_extractor/tfe:project_feature",
"//modules/perception/camera/lib/feature_extractor/tfe:tracking_feat_extractor",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/camera/lib/obstacle/detector/yolo/proto:yolo_proto",
"//modules/perception/inference:inference_lib",
"//modules/perception/inference:inference_factory_lib",
"//modules/perception/inference/utils:inference_util_lib",
"//modules/perception/inference:inference_lib",
"//modules/perception/inference/utils:inference_resize_lib",
"//modules/perception/inference/utils:inference_util_lib",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/io:protobuf_util",
"//modules/perception/lib/utils:utils",
],
)
......
modules/perception/camera/lib/obstacle/detector/yolo/region_output.cu
浏览文件 @ 8047dffb
......@@ -525,7 +525,7 @@ void get_objects_gpu(const YoloBlobs &yolo_blobs,
overlapped,
idx_sm,
stream);
for (int k = 0; k < num_classes; k++) {
for (int k = 0; k < num_classes; ++k) {
apply_nms_gpu(res_box_data,
cpu_cls_data + k * num_candidates,
rest_indices,
......@@ -562,7 +562,7 @@ void get_objects_gpu(const YoloBlobs &yolo_blobs,
}
const std::vector<float> &scores = conf_scores.find(label)->second;
std::vector<int> &indice = it->second;
for (int j = 0; j < static_cast<int>(indice.size()); ++j) {
for (size_t j = 0; j < indice.size(); ++j) {
int idx = indice[j];
const float *bbox = cpu_box_data + idx * kBoxBlockSize;
if (scores[idx] < model_param.confidence_threshold()) {
......@@ -662,7 +662,7 @@ void get_max_score_index(const std::vector<float> &scores,
const int top_k,
std::vector<std::pair<float, int> > *score_index_vec) {
// Generate index score pairs.
for (int i = 0; i < static_cast<int>(scores.size()); ++i) {
for (size_t i = 0; i < scores.size(); ++i) {
if (scores[i] > threshold) {
score_index_vec->push_back(std::make_pair(scores[i], i));
}
......@@ -731,16 +731,16 @@ void apply_boxvoting_fast(std::vector<NormalizedBBox> *bboxes,
return;
}
indices->clear();
for (int i = 0; i < static_cast<int>(bboxes->size()); i++) {
for (size_t i = 0; i < bboxes->size(); ++i) {
(*bboxes)[i].mask = false;
if ((*scores)[i] > conf_threshold) {
indices->push_back(i);
}
}
for (int count = 0; count < static_cast<int>(indices->size()); count++) {
for (size_t count = 0; count < indices->size(); ++count) {
int max_box_idx = 0;
for (int i = 1; i < static_cast<int>(indices->size()); i++) {
for (size_t i = 1; i < indices->size(); ++i) {
int idx = indices->at(i);
if ((*bboxes)[idx].mask) {
continue;
......@@ -758,7 +758,7 @@ void apply_boxvoting_fast(std::vector<NormalizedBBox> *bboxes,
float x2_vt = best_bbox.xmax * s_vt;
float y1_vt = best_bbox.ymin * s_vt;
float y2_vt = best_bbox.ymax * s_vt;
for (int i = 0; i < static_cast<int>(indices->size()); i++) {
for (size_t i = 0; i < indices->size(); ++i) {
int sub_it = indices->at(i);
if ((*bboxes)[sub_it].mask) {
continue;
......@@ -812,7 +812,7 @@ void apply_nms_fast(const std::vector<NormalizedBBox> &bboxes,
while (score_index_vec.size() != 0) {
const int idx = score_index_vec.front().second;
bool keep = true;
for (int k = 0; k < static_cast<int>(indices->size()); ++k) {
for (size_t k = 0; k < indices->size(); ++k) {
if (keep) {
const int kept_idx = (*indices)[k];
float overlap = get_jaccard_overlap(bboxes[idx], bboxes[kept_idx]);
......@@ -833,9 +833,9 @@ void apply_nms_fast(const std::vector<NormalizedBBox> &bboxes,
void filter_bbox(const MinDims &min_dims,
std::vector<base::ObjectPtr> *objects) {
int valid_obj_idx = 0;
int total_obj_idx = 0;
while (total_obj_idx < static_cast<int>(objects->size())) {
size_t valid_obj_idx = 0;
size_t total_obj_idx = 0;
while (total_obj_idx < objects->size()) {
const auto &obj = (*objects)[total_obj_idx];
if ((obj->camera_supplement.box.ymax
- obj->camera_supplement.box.ymin) >= min_dims.min_2d_height &&
......@@ -968,7 +968,7 @@ void fill_area_id(bool with_flag, base::ObjectPtr obj, const float *data) {
int get_area_id(float visible_ratios[4]) {
int area_id = 0;
int max_face = 0;
for (int i = 1; i < 4; i++) {
for (int i = 1; i < 4; ++i) {
if (visible_ratios[i] > visible_ratios[max_face]) {
max_face = i;
}
......
modules/perception/camera/lib/obstacle/detector/yolo/yolo_obstacle_detector.cc
浏览文件 @ 8047dffb
......@@ -17,9 +17,9 @@
#include "cybertron/common/log.h"
#include "modules/perception/base/common.h"
#include "modules/perception/camera/common/timer.h"
#include "modules/perception/lib/utils/perf.h"
#include "modules/perception/inference/utils/resize.h"
#include "modules/perception/inference/inference_factory.h"
#include "modules/perception/inference/utils/resize.h"
#include "modules/perception/lib/utils/perf.h"
namespace apollo {
namespace perception {
......@@ -197,7 +197,7 @@ bool YoloObstacleDetector::Init(const ObstacleDetectorInitOptions &options) {
CHECK(base_camera_model_ != nullptr) << "base_camera_model is nullptr!";
std::string config_path =
lib::FileUtil::GetAbsolutePath(options.root_dir, options.conf_file);
if (!lib::ParseProtobufFromFile(config_path, &yolo_param_)) {
if (!apollo::common::util::GetProtoFromFile(config_path, &yolo_param_)) {
AERROR << "read proto_config fail";
return false;
}
......
modules/perception/camera/lib/obstacle/detector/yolo/yolo_obstacle_detector.h
浏览文件 @ 8047dffb
......@@ -15,22 +15,23 @@
*****************************************************************************/
#pragma once
#include <string>
#include <map>
#include <vector>
#include <memory>
#include "modules/perception/base/object_types.h"
#include <string>
#include <vector>
#include "modules/common/util/file.h"
#include "modules/perception/base/box.h"
#include "modules/perception/inference/inference.h"
#include "modules/perception/inference/utils/resize.h"
#include "modules/perception/inference/utils/util.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/camera/lib/interface/base_obstacle_detector.h"
#include "modules/perception/lib/io/protobuf_util.h"
#include "modules/perception/inference/inference.h"
#include "modules/perception/inference/utils/resize.h"
#include "modules/perception/inference/utils/util.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/camera/lib/interface/base_feature_extractor.h"
namespace apollo {
namespace perception {
......
modules/perception/camera/lib/obstacle/postprocessor/location_refiner/BUILD
浏览文件 @ 8047dffb
......@@ -30,11 +30,11 @@ cc_library(
":obj_postprocessor",
":location_refiner_proto",
"//cybertron",
"//modules/common/util:file_util",
"//modules/perception/camera/common:common",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/lib/singleton:singleton",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/io:protobuf_util",
"//modules/perception/lib/singleton:singleton",
],
)
......
modules/perception/camera/lib/obstacle/postprocessor/location_refiner/location_refiner_obstacle_postprocessor.cc
浏览文件 @ 8047dffb
......@@ -19,11 +19,11 @@
#include <algorithm>
#include "cybertron/common/log.h"
#include "modules/common/util/file.h"
#include "modules/perception/camera/common/global_config.h"
#include "modules/perception/camera/lib/interface/base_calibration_service.h"
#include "modules/perception/lib/singleton/singleton.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
#include "modules/perception/lib/singleton/singleton.h"
// TODO(Xun): code completion
......@@ -36,9 +36,9 @@ bool LocationRefinerObstaclePostprocessor::Init(
std::string postprocessor_config =
lib::FileUtil::GetAbsolutePath(options.root_dir, options.conf_file);
if (!lib::ParseProtobufFromFile<location_refiner::LocationRefinerParam>(
postprocessor_config,
&location_refiner_param_)) {
if (!apollo::common::util::GetProtoFromFile
<location_refiner::LocationRefinerParam>(postprocessor_config,
&location_refiner_param_)) {
AERROR << "Read config failed: " << postprocessor_config;
return false;
}
......
modules/perception/camera/lib/obstacle/tracker/common/kalman_filter.cc
浏览文件 @ 8047dffb
......@@ -219,7 +219,7 @@ void MaxNMeanFilter::AddMeasure(const Eigen::VectorXd &z) {
Eigen::VectorXd MaxNMeanFilter::get_state() const {
Eigen::VectorXd x = measures_[0];
for (unsigned int i = 1; i < measures_.size(); ++i) {
for (size_t i = 1; i < measures_.size(); ++i) {
x += measures_[i];
}
x = x / measures_.size();
......
modules/perception/camera/lib/obstacle/tracker/common/similar.cc
浏览文件 @ 8047dffb
......@@ -35,7 +35,7 @@ bool CosineSimilar::Calc(CameraFrame *frame1,
for (auto &object1 : frame1->detected_objects) {
for (auto &object2 : frame2->detected_objects) {
float s = 0;
for (int k = 0; k < static_cast<int>(dim); ++k) {
for (size_t k = 0; k < dim; ++k) {
s += object1->camera_supplement.object_feature[k]
* object2->camera_supplement.object_feature[k];
}
......
modules/perception/camera/lib/obstacle/tracker/omt/BUILD
浏览文件 @ 8047dffb
......@@ -18,7 +18,6 @@ proto_library(
)
cc_library(
name = "track_object",
srcs = [
......@@ -30,8 +29,8 @@ cc_library(
deps = [
":frame_list",
"//modules/perception/base:base",
"//modules/perception/inference/utils:inference_util_lib",
"//modules/perception/inference/utils:inference_cuda_util_lib",
"//modules/perception/inference/utils:inference_util_lib",
],
)
......@@ -62,8 +61,8 @@ cc_library(
"//cybertron",
"//modules/perception/camera/common:common",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/inference/utils:inference_util_lib",
"//modules/perception/inference/utils:inference_cuda_util_lib",
"//modules/perception/inference/utils:inference_util_lib",
],
)
......@@ -80,9 +79,11 @@ cc_library(
":obstacle_reference",
":omt_proto",
":target",
"//modules/common/util:file_util",
"//modules/perception/camera/common:common",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/camera/lib/obstacle/tracker/common:common",
"//modules/perception/lib/io:file_util",
],
)
......
modules/perception/camera/lib/obstacle/tracker/omt/obstacle_reference.cc
浏览文件 @ 8047dffb
......@@ -246,7 +246,7 @@ void ObstacleReference::CorrectSize(CameraFrame *frame) {
std::vector<float> height_error(kTemplateHWL.size(), 0);
float obj_h = obj->size[2];
for (int i = 0; i < static_cast<int>(height_error.size()); ++i) {
for (size_t i = 0; i < height_error.size(); ++i) {
height_error[i] =
std::abs(kTemplateHWL[i].at(obj->sub_type).at(0) - obj_h);
}
......
modules/perception/camera/lib/obstacle/tracker/omt/omt_obstacle_tracker.cc
浏览文件 @ 8047dffb
......@@ -19,19 +19,20 @@
#include <google/protobuf/io/gzip_stream.h>
#include <fcntl.h>
#include <vector>
#include <algorithm>
#include <functional>
#include <string>
#include <map>
#include <string>
#include <vector>
#include "modules/common/util/file.h"
#include "modules/perception/base/point.h"
#include "modules/perception/camera/common/global_config.h"
#include "modules/perception/camera/common/math_functions.h"
#include "modules/perception/camera/common/util.h"
#include "modules/perception/common/geometry/common.h"
#include "modules/perception/camera/common/global_config.h"
#include "modules/perception/lib/singleton/singleton.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
#include "modules/perception/base/point.h"
#include "modules/perception/camera/common/math_functions.h"
#include "modules/perception/lib/singleton/singleton.h"
namespace apollo {
namespace perception {
......@@ -40,7 +41,8 @@ namespace camera {
bool OMTObstacleTracker::Init(const ObstacleTrackerInitOptions &options) {
std::string omt_config =
lib::FileUtil::GetAbsolutePath(options.root_dir, options.conf_file);
if (!lib::ParseProtobufFromFile<omt::OmtParam>(omt_config, &omt_param_)) {
if (!apollo::common::util::GetProtoFromFile
<omt::OmtParam>(omt_config, &omt_param_)) {
AERROR << "Read config failed: " << omt_config;
return false;
}
......@@ -91,11 +93,11 @@ std::string OMTObstacleTracker::Name() const {
bool OMTObstacleTracker::CombineDuplicateTargets() {
std::vector<Hypothesis> score_list;
Hypothesis hypo;
for (int i = 0; i < static_cast<int>(targets_.size()); ++i) {
for (size_t i = 0; i < targets_.size(); ++i) {
if (targets_[i].Size() == 0) {
continue;
}
for (int j = i + 1; j < static_cast<int>(targets_.size()); ++j) {
for (size_t j = i + 1; j < targets_.size(); ++j) {
if (targets_[j].Size() == 0) {
continue;
}
......@@ -182,9 +184,9 @@ bool OMTObstacleTracker::CombineDuplicateTargets() {
void OMTObstacleTracker::GenerateHypothesis(const TrackObjectPtrs &objects) {
std::vector<Hypothesis> score_list;
Hypothesis hypo;
for (int i = 0; i < static_cast<int>(targets_.size()); ++i) {
for (size_t i = 0; i < targets_.size(); ++i) {
ADEBUG << "Target " << targets_[i].id;
for (int j = 0; j < static_cast<int>(objects.size()); ++j) {
for (size_t j = 0; j < objects.size(); ++j) {
hypo.target = i;
hypo.object = j;
float sa = ScoreAppearance(targets_[i], objects[j]);
......@@ -337,7 +339,7 @@ int OMTObstacleTracker::CreateNewTarget(const TrackObjectPtrs &objects) {
target_rects.push_back(target_rect);
}
int created_count = 0;
for (int i = 0; i < static_cast<int>(objects.size()); ++i) {
for (size_t i = 0; i < objects.size(); ++i) {
if (!used_[i]) {
bool is_covered = false;
const auto &sub_type = objects[i]->object->sub_type;
......@@ -387,7 +389,7 @@ bool OMTObstacleTracker::Associate2D(const ObstacleTrackerOptions &options,
}
TrackObjectPtrs track_objects;
for (int i = 0; i < static_cast<int>(frame->detected_objects.size()); ++i) {
for (size_t i = 0; i < frame->detected_objects.size(); ++i) {
// TODO(gaohan): use pool
TrackObjectPtr track_ptr(new TrackObject);
track_ptr->object = frame->detected_objects[i];
......
modules/perception/camera/lib/obstacle/tracker/omt/target.cc
浏览文件 @ 8047dffb
......@@ -62,8 +62,8 @@ void Target::Add(TrackObjectPtr object) {
tracked_objects.push_back(object);
}
void Target::RemoveOld(int frame_id) {
int index = 0;
while (index < static_cast<int>(tracked_objects.size()) &&
size_t index = 0;
while (index < tracked_objects.size() &&
tracked_objects[index]->indicator.frame_id < frame_id) {
++index;
}
......
modules/perception/camera/lib/obstacle/transformer/multicue/BUILD
浏览文件 @ 8047dffb
......@@ -44,10 +44,10 @@ cc_library(
":multicue_proto",
":obj_mapper",
"//cybertron",
"//modules/perception/camera/lib/interface:interface",
"//modules/common/util:file_util",
"//modules/perception/camera/common:common",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/io:protobuf_util",
"//modules/perception/lib/singleton:singleton",
],
)
......
modules/perception/camera/lib/obstacle/transformer/multicue/multicue_obstacle_transformer.cc
浏览文件 @ 8047dffb
......@@ -16,9 +16,9 @@
#include "modules/perception/camera/lib/obstacle/transformer/multicue/multicue_obstacle_transformer.h"
#include "cybertron/common/log.h"
#include "modules/common/util/file.h"
#include "modules/perception/camera/common/global_config.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
#include "modules/perception/lib/singleton/singleton.h"
namespace apollo {
......@@ -30,8 +30,8 @@ bool MultiCueObstacleTransformer::Init(
std::string transformer_config =
lib::FileUtil::GetAbsolutePath(options.root_dir, options.conf_file);
if (!lib::ParseProtobufFromFile<multicue::MulticueParam>(transformer_config,
&multicue_param_)) {
if (!apollo::common::util::GetProtoFromFile
<multicue::MulticueParam>(transformer_config, &multicue_param_)) {
AERROR << "Read config failed: " << transformer_config;
return false;
}
......
modules/perception/camera/lib/traffic_light/detector/detection/BUILD
浏览文件 @ 8047dffb
......@@ -30,15 +30,15 @@ cc_library(
":select",
":trafficlight_detector_detection_proto",
"//cybertron",
"//modules/common/util:file_util",
"//modules/perception/base:base",
"//modules/perception/camera/common:common",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/io:protobuf_util",
"//modules/perception/inference:inference_lib",
"//modules/perception/inference:inference_factory_lib",
"//modules/perception/inference/utils:inference_util_lib",
"//modules/perception/inference:inference_lib",
"//modules/perception/inference/utils:inference_resize_lib",
"//modules/perception/inference/utils:inference_util_lib",
"//modules/perception/lib/io:file_util",
],
)
......
modules/perception/camera/lib/traffic_light/detector/detection/detection.cc
浏览文件 @ 8047dffb
......@@ -22,8 +22,8 @@
#include <numeric>
#include "cybertron/common/log.h"
#include "modules/common/util/file.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
#include "modules/perception/camera/common/util.h"
#include "modules/perception/inference/utils/util.h"
#include "modules/perception/inference/utils/resize.h"
......@@ -37,7 +37,7 @@ bool TrafficLightDetection::Init(
std::string proto_path =
lib::FileUtil::GetAbsolutePath(options.root_dir, options.conf_file);
AINFO << "proto_path " << proto_path;
if (!lib::ParseProtobufFromFile(proto_path, &detection_param_)) {
if (!apollo::common::util::GetProtoFromFile(proto_path, &detection_param_)) {
AINFO << "load proto param failed, root dir: " << options.root_dir;
return false;
}
......@@ -183,7 +183,7 @@ TrafficLightDetection::Inference(std::vector<base::TrafficLightPtr> *lights,
detection_param_.min_crop_size(), 3);
param_blob_->Reshape(batch_num, 6, 1, 1);
float *param_data = param_blob_->mutable_cpu_data();
for (int i = 0; i < static_cast<int>(batch_num); ++i) {
for (size_t i = 0; i < batch_num; ++i) {
auto offset = i * param_blob_length_;
param_data[offset + 0] = detection_param_.min_crop_size();
param_data[offset + 1] = detection_param_.min_crop_size();
......@@ -195,7 +195,7 @@ TrafficLightDetection::Inference(std::vector<base::TrafficLightPtr> *lights,
AINFO << "reshape inputblob " << input_img_blob->shape_string();
for (int i = 0; i < static_cast<int>(batch_num); ++i) {
for (size_t i = 0; i < batch_num; ++i) {
base::TrafficLightPtr light = lights->at(i);
base::RectI cbox;
crop_->getCropBox(img_width, img_height, light, &cbox);
......@@ -283,7 +283,7 @@ bool TrafficLightDetection::Detect(
AINFO << "Dump output Done! Get box num:" << detected_bboxes_.size();
for (int j = 0; j < static_cast<int>(detected_bboxes_.size()); ++j) {
for (size_t j = 0; j < detected_bboxes_.size(); ++j) {
base::RectI &region = detected_bboxes_[j]->region.detection_roi;
float score = detected_bboxes_[j]->region.detect_score;
lights_ref[0]->region.debug_roi.push_back(region);
......
modules/perception/camera/lib/traffic_light/detector/detection/select.cc
浏览文件 @ 8047dffb
......@@ -46,16 +46,16 @@ void Select::SelectTrafficLights(
std::vector<std::pair<size_t, size_t> > assignments;
munkres_.costs()->Resize(hdmap_bboxes->size(), refined_bboxes.size());
for (int row = 0; row < static_cast<int>(hdmap_bboxes->size()); ++row) {
for (size_t row = 0; row < hdmap_bboxes->size(); ++row) {
auto center_hd = (*hdmap_bboxes)[row]->region.detection_roi.Center();
if ((*hdmap_bboxes)[row]->region.outside_image) {
AINFO << "projection_roi outside image, set score to 0.";
for (int col = 0; col < static_cast<int>(refined_bboxes.size()); ++col) {
for (size_t col = 0; col < refined_bboxes.size(); ++col) {
(*munkres_.costs())(row, col) = 0.0;
}
continue;
}
for (int col = 0; col < static_cast<int>(refined_bboxes.size()); ++col) {
for (size_t col = 0; col < refined_bboxes.size(); ++col) {
float gaussian_score = 100.0f;
auto center_refine = refined_bboxes[col]->region.detection_roi.Center();
// use gaussian score as metrics of distance and width
......
modules/perception/camera/lib/traffic_light/detector/recognition/BUILD
浏览文件 @ 8047dffb
......@@ -26,14 +26,14 @@ cc_library(
],
deps = [
":trafficlight_detector_recognition_proto",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/base:base",
"//modules/perception/camera/common:common",
"//modules/perception/inference:inference_lib",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/inference:inference_factory_lib",
"//modules/perception/base:base",
"//modules/perception/lib/io:file_util",
"//modules/perception/inference/utils:inference_util_lib",
"//modules/perception/inference:inference_lib",
"//modules/perception/inference/utils:inference_resize_lib",
"//modules/perception/inference/utils:inference_util_lib",
"//modules/perception/lib/io:file_util",
],
)
......@@ -51,7 +51,7 @@ cc_library(
"//modules/perception/inference:inference_lib",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/io:protobuf_util",
"//modules/common/util:file_util",
],
)
......
modules/perception/camera/lib/traffic_light/detector/recognition/classify.cc
浏览文件 @ 8047dffb
......@@ -171,7 +171,7 @@ void ClassifyBySimple::Prob2Color(const float *out_put_data, float threshold,
light->status.confidence = out_put_data[max_color_id];
AINFO << "Light status recognized as " << name_map[max_color_id];
AINFO << "Color Prob:";
for (int j = 0; j < static_cast<int>(status_map.size()); j++) {
for (size_t j = 0; j < status_map.size(); j++) {
AINFO << out_put_data[j];
}
}
......
modules/perception/camera/lib/traffic_light/detector/recognition/recognition.cc
浏览文件 @ 8047dffb
......@@ -17,8 +17,8 @@
#include <string>
#include "modules/common/util/file.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
namespace apollo {
namespace perception {
......@@ -30,7 +30,7 @@ TrafficLightRecognition::Init(const TrafficLightDetectorInitOptions& options) {
lib::FileUtil::GetAbsolutePath(options.root_dir, options.conf_file);
AINFO << "proto_path " << proto_path;
if (!lib::ParseProtobufFromFile(proto_path, &recognize_param_)) {
if (!apollo::common::util::GetProtoFromFile(proto_path, &recognize_param_)) {
AINFO << "load proto param failed, root dir: " << options.root_dir;
return false;
}
......
modules/perception/camera/lib/traffic_light/preprocessor/BUILD
浏览文件 @ 8047dffb
......@@ -18,7 +18,6 @@ proto_library(
)
cc_library(
name = "multi_camera_projection",
srcs = [
......@@ -30,12 +29,12 @@ cc_library(
deps = [
":pose",
"//cybertron",
"//modules/common/util:file_util",
"//modules/perception/base:base",
"//modules/perception/camera/common:common",
"//modules/perception/common/sensor_manager:sensor_manager",
"//modules/perception/common/io:io_util",
"//modules/perception/common/sensor_manager:sensor_manager",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/io:protobuf_util",
],
)
......@@ -78,7 +77,7 @@ cc_library(
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/lib/utils:utils",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/io:protobuf_util",
"//modules/common/util:file_util",
"//modules/perception/lib/config_manager:config_manager",
"//modules/perception/camera/lib/interface:base_init_options",
],
......
modules/perception/camera/lib/traffic_light/preprocessor/multi_camera_projection.cc
浏览文件 @ 8047dffb
......@@ -18,15 +18,15 @@
#include <gflags/gflags.h>
#include <boost/function.hpp>
#include <boost/bind.hpp>
#include <string>
#include <algorithm>
#include <numeric>
#include <limits>
#include <cmath>
#include <limits>
#include <numeric>
#include <string>
#include "cybertron/common/log.h"
#include "modules/common/util/file.h"
#include "modules/perception/common/sensor_manager/sensor_manager.h"
#include "modules/perception/lib/io/protobuf_util.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/common/io/io_util.h"
#include "modules/perception/camera/common/util.h"
......
modules/perception/camera/lib/traffic_light/preprocessor/tl_preprocessor.cc
浏览文件 @ 8047dffb
......@@ -18,11 +18,11 @@
#include <gflags/gflags.h>
#include "cybertron/common/log.h"
#include "modules/common/util/file.h"
#include "modules/perception/camera/common/util.h"
#include "modules/perception/lib/config_manager/config_manager.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
#include "modules/perception/lib/utils/time_util.h"
#include "modules/perception/lib/config_manager/config_manager.h"
namespace apollo {
namespace perception {
......@@ -312,7 +312,7 @@ bool TLPreprocessor::ProjectLightsAndSelectCamera(
// project light region on each camera's image plane
const auto &camera_names = projection_.getCameraNamesByDescendingFocalLen();
for (int cam_id = 0; cam_id < static_cast<int>(num_cameras_); ++cam_id) {
for (size_t cam_id = 0; cam_id < num_cameras_; ++cam_id) {
const std::string &camera_name = camera_names[cam_id];
if (!ProjectLights(pose, camera_name, lights,
&(lights_on_image_array_[cam_id]),
......@@ -325,7 +325,7 @@ bool TLPreprocessor::ProjectLightsAndSelectCamera(
}
projections_outside_all_images_ = (lights->size() > 0);
for (int cam_id = 0; cam_id < static_cast<int>(num_cameras_); ++cam_id) {
for (size_t cam_id = 0; cam_id < num_cameras_; ++cam_id) {
projections_outside_all_images_ = projections_outside_all_images_ &&
(lights_on_image_array_[cam_id].size() < lights->size());
}
......
modules/perception/camera/lib/traffic_light/tracker/BUILD
浏览文件 @ 8047dffb
......@@ -26,9 +26,9 @@ cc_library(
],
deps = [
":trafficlight_tracker_semantic_proto",
"//modules/common/util:file_util",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/io:protobuf_util",
],
)
......
modules/perception/camera/lib/traffic_light/tracker/semantic_decision.cc
浏览文件 @ 8047dffb
......@@ -20,8 +20,8 @@
#include <sstream>
#include <map>
#include "modules/common/util/file.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
namespace apollo {
namespace perception {
......@@ -42,7 +42,7 @@ bool compare(const SemanticTable& s1, const SemanticTable& s2) {
bool SemanticReviser::Init(const TrafficLightTrackerInitOptions& options) {
std::string proto_path =
lib::FileUtil::GetAbsolutePath(options.root_dir, options.conf_file);
if (!lib::ParseProtobufFromFile(proto_path, &semantic_param_)) {
if (!apollo::common::util::GetProtoFromFile(proto_path, &semantic_param_)) {
AINFO << "load proto param failed, root dir: " << options.root_dir;
return false;
}
......@@ -98,7 +98,7 @@ SemanticReviser::ReviseBySemantic(SemanticTable semantic_table,
int max_color_num = 0;
base::TLColor max_color = base::TLColor::TL_UNKNOWN_COLOR;
for (int i = 0; i < static_cast<int>(semantic_table.light_ids.size()); ++i) {
for (size_t i = 0; i < semantic_table.light_ids.size(); ++i) {
int index = semantic_table.light_ids.at(i);
base::TrafficLightPtr light = lights_ref[index];
auto color = light->status.color;
......@@ -257,7 +257,7 @@ bool SemanticReviser::Track(const TrafficLightTrackerOptions& options,
return true;
}
for (int i = 0; i < static_cast<int>(lights_ref.size()); i++) {
for (size_t i = 0; i < lights_ref.size(); i++) {
base::TrafficLightPtr light = lights_ref.at(i);
int cur_semantic = light->semantic;
AINFO << "light " << light->id << " semantic " << cur_semantic;
......@@ -287,7 +287,7 @@ bool SemanticReviser::Track(const TrafficLightTrackerOptions& options,
}
}
for (int i = 0; i < static_cast<int>(semantic_table.size()); ++i) {
for (size_t i = 0; i < semantic_table.size(); ++i) {
SemanticTable cur_semantic_table = semantic_table.at(i);
ReviseByTimeSeries(time_stamp, cur_semantic_table, &lights_ref);
}
......
modules/perception/camera/test/BUILD
浏览文件 @ 8047dffb
......@@ -536,7 +536,7 @@
# # "//modules/perception/camera/lib/obstacle/tracker/omt:omt_proto",
# # "//modules/perception/camera/lib/obstacle/tracker/omt:target",
# # "//modules/perception/lib/io:file_util",
# # "//modules/perception/lib/io:protobuf_util",
# # "//modules/common/util:file_util",
# # "@gtest//:main",
# # ]
# # )
......@@ -554,7 +554,7 @@
# "//modules/perception/camera/lib/obstacle/tracker/omt:target",
# "//modules/perception/inference/utils:inference_gemm_lib",
# "//modules/perception/lib/io:file_util",
# "//modules/perception/lib/io:protobuf_util",
# "//modules/common/util:file_util",
# "@gtest//:main",
# ]
# )
......
modules/perception/camera/test/camera_common_util_test.cc
浏览文件 @ 8047dffb
......@@ -334,12 +334,12 @@ TEST(UtilTest, GetCybertronWorkRootTest) {
GetCybertronWorkRoot(&work_root);
EXPECT_EQ(work_root, "");
char cybertron_path[80] = "CYBERTRON_PATH=/home/caros/cybertron";
char cybertron_path[] = "CYBERTRON_PATH=/home/caros/cybertron";
putenv(cybertron_path);
GetCybertronWorkRoot(&work_root);
EXPECT_EQ(work_root, "/home/caros/cybertron");
char module_path[80] = "MODULE_PATH=/home/test/perception-camera";
char module_path[] = "MODULE_PATH=/home/test/perception-camera";
putenv(module_path);
GetCybertronWorkRoot(&work_root);
EXPECT_EQ(work_root, "/home/test/perception-camera");
......
modules/perception/camera/test/camera_lib_obstacle_detector_yolo_yolo_obstacle_detector_test.cc
浏览文件 @ 8047dffb
......@@ -142,7 +142,7 @@ TEST(YoloCameraDetectorTest, inference_init_test) {
lib::FileUtil::GetAbsolutePath(init_options.root_dir,
init_options.conf_file);
yolo::YoloParam yolo_param;
lib::ParseProtobufFromFile(config_path, &yolo_param);
apollo::common::util::GetProtoFromFile(config_path, &yolo_param);
yolo::YoloParam origin_yolo_param;
origin_yolo_param.CopyFrom(yolo_param);
yolo_param.mutable_model_param()->set_model_type("Unknownnet");
......@@ -185,7 +185,7 @@ TEST(YoloCameraDetectorTest, anchor_init_test) {
init_options.conf_file);
yolo::YoloParam yolo_param;
yolo::YoloParam origin_yolo_param;
lib::ParseProtobufFromFile(config_path, &yolo_param);
apollo::common::util::GetProtoFromFile(config_path, &yolo_param);
origin_yolo_param.CopyFrom(yolo_param);
yolo_param.mutable_model_param()->set_anchors_file("unknown_anchor.txt");
{
......@@ -226,7 +226,7 @@ TEST(YoloCameraDetectorTest, type_init_test) {
init_options.conf_file);
yolo::YoloParam yolo_param;
yolo::YoloParam origin_yolo_param;
lib::ParseProtobufFromFile(config_path, &yolo_param);
apollo::common::util::GetProtoFromFile(config_path, &yolo_param);
origin_yolo_param.CopyFrom(yolo_param);
yolo_param.mutable_model_param()->set_types_file("config.pt");
{
......@@ -267,7 +267,7 @@ TEST(YoloCameraDetectorTest, feature_init_test) {
init_options.conf_file);
yolo::YoloParam yolo_param;
yolo::YoloParam origin_yolo_param;
lib::ParseProtobufFromFile(config_path, &yolo_param);
apollo::common::util::GetProtoFromFile(config_path, &yolo_param);
origin_yolo_param.CopyFrom(yolo_param);
yolo_param.mutable_model_param()->set_feature_file("unknown.pt");
{
......
modules/perception/camera/test/camera_lib_obstacle_tracker_common_test.cc
浏览文件 @ 8047dffb
......@@ -285,7 +285,7 @@ TEST(KalmanConstTest, const_filter_test) {
0.19266443, 2.05814734, 0.44203236, -0.36923239, -2.74245158,
1.71922351, 0.50960368, -1.24154697, -1.7048239 , 0.80218156};
for (int i = 0; i < static_cast<int>(measurements.size()); ++i) {
for (size_t i = 0; i < measurements.size(); ++i) {
param << measurements[i];
filter.Predict(1.0);
filter.Correct(param);
......
modules/perception/camera/test/camera_lib_obstacle_tracker_omt_reference_test.cc
浏览文件 @ 8047dffb
......@@ -15,15 +15,15 @@
*****************************************************************************/
#include "modules/perception/camera/lib/obstacle/tracker/omt/obstacle_reference.h"
#include "gtest/gtest.h"
#include "modules/common/util/file.h"
#include "modules/perception/base/object_types.h"
#include "modules/perception/camera/common/object_template_manager.h"
#include "modules/perception/camera/common/util.h"
#include "modules/perception/camera/lib/obstacle/tracker/omt/frame_list.h"
#include "modules/perception/camera/lib/obstacle/tracker/omt/omt.pb.h"
#include "modules/perception/camera/lib/obstacle/tracker/omt/target.h"
#include "gtest/gtest.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
namespace apollo {
namespace perception {
......@@ -46,7 +46,7 @@ TEST(RefTest, update_test) {
"/apollo/modules/perception/testdata/"
"camera/lib/obstacle/tracker/omt/data/models/omt_obstacle_tracker",
"config.pt");
CHECK(lib::ParseProtobufFromFile<omt::OmtParam>(
CHECK(apollo::common::util::GetProtoFromFile<omt::OmtParam>(
omt_config, &omt_param));
ref.Init(omt_param.reference(), 1920.0f, 1080.0f);
std::string sensor_name = "onsemi_obstacle";
......
modules/perception/camera/test/camera_lib_obstacle_tracker_omt_target_test.cc
浏览文件 @ 8047dffb
......@@ -13,15 +13,15 @@
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "gtest/gtest.h"
#include "modules/common/util/file.h"
#include "modules/perception/base/object_types.h"
#include "modules/perception/camera/common/object_template_manager.h"
#include "modules/perception/camera/common/util.h"
#include "modules/perception/camera/lib/obstacle/tracker/omt/frame_list.h"
#include "modules/perception/camera/lib/obstacle/tracker/omt/omt.pb.h"
#include "modules/perception/camera/lib/obstacle/tracker/omt/target.h"
#include "gtest/gtest.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
namespace apollo {
namespace perception {
......@@ -46,7 +46,7 @@ TEST(TargetTest, target_test) {
"omt_obstacle_tracker",
"config.pt");
ASSERT_TRUE(lib::ParseProtobufFromFile<omt::OmtParam>(
ASSERT_TRUE(apollo::common::util::GetProtoFromFile<omt::OmtParam>(
omt_config, &omt_param));
// first frame with one car object
......@@ -223,7 +223,7 @@ TEST(TargetTest, clapping_velocity_test) {
"omt_obstacle_tracker",
"config.pt");
ASSERT_TRUE(lib::ParseProtobufFromFile<omt::OmtParam>(
ASSERT_TRUE(apollo::common::util::GetProtoFromFile<omt::OmtParam>(
omt_config, &omt_param));
auto read_pos_and_theta_vec = [](const std::string& fname)
......@@ -263,7 +263,7 @@ TEST(TargetTest, clapping_velocity_test) {
std::string pos_theta_filename = "/apollo/modules/perception/testdata/"
"camera/lib/obstacle/tracker/omt/test_data/target_pos_theta1.txt";
auto pos_and_theta_vec = read_pos_and_theta_vec(pos_theta_filename);
for (int i = 0; i < static_cast<int>(pos_and_theta_vec.size()); ++i) {
for (size_t i = 0; i < pos_and_theta_vec.size(); ++i) {
double ts = i * 0.066;
CameraFrame frame;
base::ObjectPtr object(new base::Object);
......@@ -322,7 +322,7 @@ TEST(TargetTest, clapping_velocity_test) {
std::string pos_theta_filename = "/apollo/modules/perception/testdata/"
"camera/lib/obstacle/tracker/omt/test_data/target_pos_theta1.txt";
auto pos_and_theta_vec = read_pos_and_theta_vec(pos_theta_filename);
for (int i = 0; i < static_cast<int>(pos_and_theta_vec.size()); ++i) {
for (size_t i = 0; i < pos_and_theta_vec.size(); ++i) {
CameraFrame frame;
base::ObjectPtr object(new base::Object);
base::BBox2DF bbox(500, 500, 1000, 1000);
......@@ -377,7 +377,7 @@ TEST(TargetTest, clapping_velocity_test) {
std::string pos_theta_filename = "/apollo/modules/perception/testdata/"
"camera/lib/obstacle/tracker/omt/test_data/target_pos_theta2.txt";
auto pos_and_theta_vec = read_pos_and_theta_vec(pos_theta_filename);
for (int i = 0; i < static_cast<int>(pos_and_theta_vec.size()); ++i) {
for (size_t i = 0; i < pos_and_theta_vec.size(); ++i) {
double ts = i * 0.066;
CameraFrame frame;
base::ObjectPtr object(new base::Object);
......@@ -435,7 +435,7 @@ TEST(TargetTest, clapping_velocity_test) {
std::string pos_theta_filename = "/apollo/modules/perception/testdata/"
"camera/lib/obstacle/tracker/omt/test_data/target_pos_theta3.txt";
auto pos_and_theta_vec = read_pos_and_theta_vec(pos_theta_filename);
for (int i = 0; i < static_cast<int>(pos_and_theta_vec.size()); ++i) {
for (size_t i = 0; i < pos_and_theta_vec.size(); ++i) {
double ts = i * 0.033;
CameraFrame frame;
base::ObjectPtr object(new base::Object);
......@@ -494,7 +494,7 @@ TEST(TargetTest, clapping_velocity_test) {
std::string pos_theta_filename = "/apollo/modules/perception/testdata/"
"camera/lib/obstacle/tracker/omt/test_data/target_pos_theta4.txt";
auto pos_and_theta_vec = read_pos_and_theta_vec(pos_theta_filename);
for (int i = 0; i < static_cast<int>(pos_and_theta_vec.size()); ++i) {
for (size_t i = 0; i < pos_and_theta_vec.size(); ++i) {
double ts = i * 0.033;
CameraFrame frame;
base::ObjectPtr object(new base::Object);
......
modules/perception/camera/test/camera_lib_traffic_light_detector_recognition_test.cc
浏览文件 @ 8047dffb
......@@ -73,7 +73,6 @@ TEST(RecognizeTest, yellow) {
#ifndef CPU_ONLY
ASSERT_TRUE(recognition->Detect(recognition_options, &frame));
// 直接 EXPECT_EQ 会出 core
AINFO << "COLOR " << static_cast<int>(lights[0]->status.color);
ASSERT_TRUE(base::TLColor::TL_YELLOW == lights[0]->status.color);
#endif
......@@ -130,7 +129,6 @@ TEST(RecognizeTest, red) {
#ifndef CPU_ONLY
ASSERT_TRUE(recognition->Detect(recognition_options, &frame));
// 直接 EXPECT_EQ 会出 core
AINFO << "COLOR " << static_cast<int>(lights[0]->status.color);
ASSERT_TRUE(base::TLColor::TL_RED == lights[0]->status.color);
#endif
......@@ -184,7 +182,6 @@ TEST(RecognizeTest, green) {
frame.traffic_lights = lights;
ASSERT_TRUE(recognition->Detect(recognition_options, &frame));
// 直接 EXPECT_EQ 会出 core
AINFO << "COLOR " << static_cast<int>(lights[0]->status.color);
ASSERT_TRUE(base::TLColor::TL_GREEN == lights[0]->status.color);
}
......@@ -240,7 +237,6 @@ TEST(RecognizeTest, black) {
#ifndef CPU_ONLY
ASSERT_TRUE(recognition->Detect(recognition_options, &frame));
// 直接 EXPECT_EQ 会出 core
AINFO << "COLOR " << static_cast<int>(lights[0]->status.color);
ASSERT_TRUE(base::TLColor::TL_BLACK == lights[0]->status.color);
#endif
......@@ -293,7 +289,6 @@ TEST(RecognizeTest, no_detection) {
#ifndef CPU_ONLY
ASSERT_TRUE(recognition->Detect(recognition_options, &frame));
// 直接 EXPECT_EQ 会出 core
AINFO << "COLOR " << static_cast<int>(lights[0]->status.color);
ASSERT_TRUE(base::TLColor::TL_UNKNOWN_COLOR == lights[0]->status.color);
#endif
......@@ -404,7 +399,6 @@ TEST(RecognizeTest, quadrate) {
#ifndef CPU_ONLY
ASSERT_TRUE(recognition->Detect(recognition_options, &frame));
// 直接 EXPECT_EQ 会出 core
AINFO << "COLOR " << static_cast<int>(lights[0]->status.color);
ASSERT_TRUE(base::TLColor::TL_GREEN == lights[0]->status.color);
#endif
......@@ -467,7 +461,6 @@ TEST(RecognizeTest, horizontal) {
#ifndef CPU_ONLY
ASSERT_TRUE(recognition->Detect(recognition_options, &frame));
// 直接 EXPECT_EQ 会出 core
AINFO << "COLOR " << static_cast<int>(lights[0]->status.color);
ASSERT_TRUE(base::TLColor::TL_GREEN == lights[0]->status.color);
#endif
......
modules/perception/camera/test/camera_lib_traffic_light_tracker_test.cc
浏览文件 @ 8047dffb
......@@ -35,7 +35,7 @@ void do_test(std::shared_ptr<SemanticReviser> _reviser,
TrafficLightTrackerOptions option;
CameraFrame frame;
frame.timestamp = 100;
for (int i = 0; i < static_cast<int>(color_list.size()); ++i) {
for (size_t i = 0; i < color_list.size(); ++i) {
std::vector<base::TrafficLightPtr> light;
light.emplace_back(new base::TrafficLight);
light[0]->status.color = base::TLColor(color_list[i]);
......@@ -96,7 +96,7 @@ TEST(SemanticReviser, mix) {
TrafficLightTrackerOptions option;
CameraFrame frame;
frame.timestamp = 100;
for (int i = 0; i < static_cast<int>(color_list.size()); ++i) {
for (size_t i = 0; i < color_list.size(); ++i) {
std::vector<base::TrafficLightPtr> light;
light.emplace_back(new base::TrafficLight);
light[0]->status.color = base::TLColor(color_list[i]);
......@@ -123,7 +123,7 @@ TEST(SemanticReviser, mix_yellow) {
TrafficLightTrackerOptions option;
CameraFrame frame;
frame.timestamp = 100;
for (int i = 0; i < static_cast<int>(color_list.size()); ++i) {
for (size_t i = 0; i < color_list.size(); ++i) {
std::vector<base::TrafficLightPtr> light;
light.emplace_back(new base::TrafficLight);
light[0]->status.color = base::TLColor(color_list[i]);
......@@ -150,7 +150,7 @@ TEST(SemanticReviser, mix_black) {
TrafficLightTrackerOptions option;
CameraFrame frame;
frame.timestamp = 100;
for (int i = 0; i < static_cast<int>(color_list.size()); ++i) {
for (size_t i = 0; i < color_list.size(); ++i) {
std::vector<base::TrafficLightPtr> light;
light.emplace_back(new base::TrafficLight);
light[0]->status.color = base::TLColor(color_list[i]);
......@@ -177,7 +177,7 @@ TEST(SemanticReviser, unknown_to_black) {
TrafficLightTrackerOptions option;
CameraFrame frame;
frame.timestamp = 100;
for (int i = 0; i < static_cast<int>(color_list.size()); ++i) {
for (size_t i = 0; i < color_list.size(); ++i) {
std::vector<base::TrafficLightPtr> light;
light.emplace_back(new base::TrafficLight);
light[0]->status.color = base::TLColor(color_list[i]);
......@@ -204,7 +204,7 @@ TEST(SemanticReviser, black_to_unknown) {
TrafficLightTrackerOptions option;
CameraFrame frame;
frame.timestamp = 100;
for (int i = 0; i < static_cast<int>(color_list.size()); ++i) {
for (size_t i = 0; i < color_list.size(); ++i) {
std::vector<base::TrafficLightPtr> light;
light.emplace_back(new base::TrafficLight);
light[0]->status.color = base::TLColor(color_list[i]);
......@@ -263,7 +263,7 @@ TEST(SemanticReviser, mix_yellow_red_flash) {
TrafficLightTrackerOptions option;
CameraFrame frame;
frame.timestamp = 100;
for (int i = 0; i < static_cast<int>(color_list.size()); ++i) {
for (size_t i = 0; i < color_list.size(); ++i) {
std::vector<base::TrafficLightPtr> light;
light.emplace_back(new base::TrafficLight);
light[0]->status.color = base::TLColor(color_list[i]);
......@@ -327,7 +327,7 @@ TEST(SemanticReviser, green_blink) {
options.conf_file = "semantic.pt";
reviser->Init(options);
frame.timestamp = 100;
for (int i = 0; i < static_cast<int>(color_list.size()); ++i) {
for (size_t i = 0; i < color_list.size(); ++i) {
std::vector<base::TrafficLightPtr> light;
light.emplace_back(new base::TrafficLight);
light[0]->status.color = base::TLColor(color_list[i]);
......
modules/perception/camera/tools/lane_detection/BUILD
浏览文件 @ 8047dffb
......@@ -31,15 +31,15 @@ cc_binary(
":lane_common",
"//external:gflags",
"//cybertron",
"//modules/perception/camera/lib/interface:interface",
"//modules/common/util:file_util",
"//modules/perception/base:base",
"//modules/perception/camera/common:common",
"//modules/perception/camera/lib/calibration_service/online_calibration_service:online_calibration_service",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/camera/lib/lane/detector/denseline:denseline_lane_detector",
"//modules/perception/camera/lib/lane/postprocessor/denseline:denseline_lane_postprocessor",
"//modules/perception/base:base",
"//modules/perception/camera/common:common",
"//modules/perception/common/io:io_util",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/io:protobuf_util",
]
)
......
modules/perception/camera/tools/lane_detection/lane_common.cc
浏览文件 @ 8047dffb
......@@ -46,8 +46,8 @@ void show_detect_point_set(const cv::Mat& image,
int draw_size = 2;
cv::Mat draw_mat = image.clone();
for (int line_idx = 0;
line_idx < static_cast<int>(detect_laneline_point_set.size()); line_idx++) {
for (size_t line_idx = 0;
line_idx < detect_laneline_point_set.size(); ++line_idx) {
if (line_idx == 0) {
color = cv::Scalar(0, 255, 0);
} else if (line_idx == 1) {
......@@ -57,8 +57,8 @@ void show_detect_point_set(const cv::Mat& image,
} else if (line_idx == 3) {
color = cv::Scalar(0, 255, 255);
}
for (int i = 0;
i < static_cast<int>(detect_laneline_point_set[line_idx].size()); i++) {
for (size_t i = 0;
i < detect_laneline_point_set[line_idx].size(); ++i) {
int point_x =
detect_laneline_point_set[line_idx][i].x;
int point_y =
......@@ -77,8 +77,7 @@ void show_all_infer_point_set(const cv::Mat& image,
int draw_size = 2;
cv::Mat draw_mat = image.clone();
for (int i = 0;
i < static_cast<int>(infer_point_set.size()); i++) {
for (size_t i = 0; i < infer_point_set.size(); ++i) {
int point_x = infer_point_set[i].x;
int point_y = infer_point_set[i].y;
cv::circle(draw_mat,
......@@ -101,7 +100,7 @@ void show_lane_lines(const cv::Mat& image,
cv::Scalar color = cv::Scalar(0, 255, 0);
int draw_size = 2;
cv::Mat draw_mat = image.clone();
for (int i = 0; i < static_cast<int>(lane_marks.size()); i++) {
for (size_t i = 0; i < lane_marks.size(); ++i) {
base::LaneLinePositionType pos_type = lane_marks[i].pos_type;
if (pos_type == base::LaneLinePositionType::EGO_LEFT ||
pos_type == base::LaneLinePositionType::EGO_RIGHT) {
......@@ -119,7 +118,7 @@ void show_lane_lines(const cv::Mat& image,
float fd = lane_marks[i].curve_image_coord.d;
float y0 = lane_marks[i].curve_image_coord.x_start;
float y1 = lane_marks[i].curve_image_coord.x_end;
for (int j = static_cast<int>(y0); j <= static_cast<int>(y1); j++) {
for (int j = static_cast<int>(y0); j <= static_cast<int>(y1); ++j) {
int x = fa * pow(j, 3) + fb * pow(j, 2) + fc * j + fd;
cv::circle(draw_mat, cv::Point(x, j), draw_size, color);
}
......@@ -169,7 +168,7 @@ void show_lane_ccs(const std::vector<unsigned char>& lane_map,
const std::string& save_path) {
cv::Mat lane_map_draw =
cv::Mat::zeros(lane_map_height, lane_map_width, CV_8UC1);
for (int y = 0; y < lane_map_height; y++) {
for (int y = 0; y < lane_map_height; ++y) {
for (int x = 0; x < lane_map_width; x++) {
lane_map_draw.at<unsigned char>(y, x) = 255 -
lane_map[y * lane_map_width + x] * 255;
......@@ -179,11 +178,11 @@ void show_lane_ccs(const std::vector<unsigned char>& lane_map,
cv::cvtColor(lane_map_draw, lane_draw, 8);
cv::Scalar color;
std::string msg = "";
for (int i = 0; i < static_cast<int>(lane_ccs.size()); i++) {
for (size_t i = 0; i < lane_ccs.size(); ++i) {
std::vector<base::Point2DI> pixels = lane_ccs[i].GetPixels();
base::BBox2DI bbox1 = lane_ccs[i].GetBBox();
int find_index = -1;
for (int j = 0; j < static_cast<int>(select_lane_ccs.size()); j++) {
for (size_t j = 0; j < select_lane_ccs.size(); ++j) {
base::BBox2DI bbox2 = select_lane_ccs[j].GetBBox();
if (bbox1.xmin == bbox2.xmin &&
bbox1.xmax == bbox2.xmax &&
......@@ -202,7 +201,7 @@ void show_lane_ccs(const std::vector<unsigned char>& lane_map,
} else {
color = cv::Scalar(0, 0, 0);
}
for (int j = 0; j < static_cast<int>(pixels.size()); j++) {
for (size_t j = 0; j < pixels.size(); ++j) {
int x = pixels[j].x;
int y = pixels[j].y;
cv::circle(lane_draw, cv::Point(x, y), 1, color);
......@@ -221,7 +220,7 @@ void output_laneline_to_json(const std::vector<base::LaneLine> &lane_objects,
AINFO << "lane line num: " << lane_line_size;
std::string msg = "lane line info: ";
fprintf(file_save, "[\n");
for (int j = 0; j < lane_line_size; j++) {
for (int j = 0; j < lane_line_size; ++j) {
const base::LaneLineCubicCurve& curve_camera
= lane_objects[j].curve_camera_coord;
const base::LaneLineCubicCurve& curve_img
......@@ -244,8 +243,8 @@ void output_laneline_to_json(const std::vector<base::LaneLine> &lane_objects,
// camera_image_point_set
fprintf(file_save, "\"camera_point_set\":\n");
fprintf(file_save, "[");
for (int k = 0; k < static_cast<int>(camera_point_set.size()); k++) {
if (k < static_cast<int>(camera_point_set.size()) - 1) {
for (size_t k = 0; k < camera_point_set.size(); ++k) {
if (k < camera_point_set.size() - 1) {
fprintf(file_save, "{\"x\":%.4f,\"y\":%.4f,\"z\":%.4f},",
camera_point_set[k].x, camera_point_set[k].y,
camera_point_set[k].z);
......@@ -268,8 +267,8 @@ void output_laneline_to_json(const std::vector<base::LaneLine> &lane_objects,
// curve_image_point_set
fprintf(file_save, "\"image_point_set\":\n");
fprintf(file_save, "[");
for (int k = 0; k < static_cast<int>(image_point_set.size()); k++) {
if (k < static_cast<int>(image_point_set.size()) - 1) {
for (size_t k = 0; k < image_point_set.size(); ++k) {
if (k < image_point_set.size() - 1) {
fprintf(file_save, "{\"x\":%.4f,\"y\":%.4f},",
image_point_set[k].x, image_point_set[k].y);
} else {
......@@ -296,7 +295,7 @@ void output_laneline_to_txt(const std::vector<base::LaneLine> &lane_objects,
int lane_line_size = lane_objects.size();
AINFO << "lane line num: " << lane_line_size;
fprintf(file_save, "lane_line_num=%d\n", lane_line_size);
for (int j = 0; j < lane_line_size; j++) {
for (int j = 0; j < lane_line_size; ++j) {
base::LaneLineCubicCurve curve_camera = lane_objects[j].curve_camera_coord;
base::LaneLineCubicCurve curve_img = lane_objects[j].curve_image_coord;
fprintf(file_save, "type=%d\n", lane_objects[j].type);
......@@ -317,13 +316,13 @@ void output_laneline_to_txt(const std::vector<base::LaneLine> &lane_objects,
std::vector<base::Point3DF> curve_camera_point_set
= lane_objects[j].curve_camera_point_set;
fprintf(file_save, "curve_image_point_set:\n");
for (int k = 0; k < static_cast<int>(curve_image_point_set.size()); k++) {
for (size_t k = 0; k < curve_image_point_set.size(); ++k) {
fprintf(file_save, "[%f %f] ", curve_image_point_set[k].x,
curve_image_point_set[k].y);
}
fprintf(file_save, "\n");
fprintf(file_save, "curve_camera_point_set:\n");
for (int k = 0; k < static_cast<int>(curve_camera_point_set.size()); k++) {
for (size_t k = 0; k < curve_camera_point_set.size(); ++k) {
fprintf(file_save, "[%f %f %f] ", curve_camera_point_set[k].x,
curve_camera_point_set[k].y, curve_camera_point_set[k].z);
}
......@@ -340,8 +339,7 @@ void show_detect_point_set(const cv::Mat& image,
int draw_size = 2;
cv::Mat draw_mat = image.clone();
for (int i = 0;
i < static_cast<int>(img_laneline_point_set.size()); i++) {
for (size_t i = 0; i < img_laneline_point_set.size(); ++i) {
const base::Point2DF& point = img_laneline_point_set[i];
cv::circle(draw_mat,
cv::Point(point.x, point.y),
......@@ -359,8 +357,7 @@ void show_neighbor_point_set(const cv::Mat& image,
int draw_size = 2;
cv::Mat draw_mat = image.clone();
for (int i = 0;
i < static_cast<int>(img_laneline_point_set.size()); i++) {
for (size_t i = 0; i < img_laneline_point_set.size(); ++i) {
const base::Point2DF& point = img_laneline_point_set[i];
cv::circle(draw_mat,
cv::Point(point.x, point.y),
......@@ -392,8 +389,7 @@ void show_detect_point_set(const cv::Mat& image,
int draw_size = 2;
cv::Mat draw_mat = image.clone();
for (int i = 0;
i < static_cast<int>(img_laneline_point_set.size()); i++) {
for (size_t i = 0; i < img_laneline_point_set.size(); ++i) {
const base::Point2DF& point = img_laneline_point_set[i];
std::string label = cv::format("%.2f", point_score_vec[i]);
cv::putText(draw_mat, label, cv::Point(point.x, point.y),
......
modules/perception/camera/tools/obstacle_detection/BUILD
浏览文件 @ 8047dffb
......@@ -14,8 +14,8 @@ cc_binary(
],
deps = [
"@gtest",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/base:base",
"//modules/perception/camera/lib/interface:interface",
"//modules/perception/common/io:io_util",
]
)
......
modules/perception/camera/tools/offline/BUILD
浏览文件 @ 8047dffb
......@@ -56,8 +56,8 @@ cc_binary(
"//modules/perception/base:base",
"//modules/perception/camera/app:obstacle_camera_perception",
"//modules/perception/camera/common:common",
"//modules/perception/lib/utils:utils",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/utils:utils",
]
)
......
modules/perception/camera/tools/offline/offline_obstacle_pipeline.cc
浏览文件 @ 8047dffb
......@@ -99,7 +99,7 @@ int work() {
std::vector<DataProvider> data_providers(camera_names.size());
for (int i = 0; i < static_cast<int>(camera_names.size()); i++) {
for (size_t i = 0; i < camera_names.size(); ++i) {
data_options.sensor_name = camera_names[i];
CHECK(data_providers[i].Init(data_options));
name_provider_map.insert(std::pair<std::string, DataProvider *>(
......@@ -134,7 +134,7 @@ int work() {
// pitch_angle and project_matrix
std::map<std::string, float> name_camera_ground_height_map;
std::map<std::string, float> name_camera_pitch_angle_diff_map;
for (int i = 0; i < static_cast<int>(camera_names.size()); i++) {
for (size_t i = 0; i < camera_names.size(); ++i) {
Eigen::Affine3d c2g;
if (!transform_server.QueryTransform(camera_names[i], "ground", &c2g)) {
AINFO << "Failed to query transform from " << camera_names[i]
......
modules/perception/camera/tools/offline/visualizer.cc
浏览文件 @ 8047dffb
......@@ -49,7 +49,7 @@ bool Visualizer::Init(const std::vector<std::string> &camera_names,
wide_pixel_ = 800;
m2pixel_ = 6;
for (int i = 0; i < static_cast<int>(camera_names.size()); ++i) {
for (size_t i = 0; i < camera_names.size(); ++i) {
camera_image_[camera_names[i]] =
cv::Mat(small_h_, small_w_, CV_8UC3, cv::Scalar(0, 0, 0));
}
......
modules/perception/lib/io/BUILD
浏览文件 @ 8047dffb
......@@ -35,15 +35,4 @@ cc_test(
],
)
cc_library(
name = "protobuf_util",
hdrs = [
"protobuf_util.h",
],
deps = [
"//cybertron",
],
)
cpplint()
modules/perception/lib/io/protobuf_util.h 已删除 100644 → 0
浏览文件 @ 4c76cc6c
/******************************************************************************
* 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 <fcntl.h>
#include <string>
#include "google/protobuf/io/zero_copy_stream_impl.h"
#include "google/protobuf/text_format.h"
#include "cybertron/common/log.h"
namespace apollo {
namespace perception {
namespace lib {
// @brief load protobuf(TXT) data from file.
template <typename T>
bool ParseProtobufFromFile(const std::string &file_name, T *pb) {
int fd = open(file_name.c_str(), O_RDONLY);
if (fd < 0) {
AERROR << "ProtobufParser load file failed. file: " << file_name;
return false;
}
google::protobuf::io::FileInputStream fs(fd);
if (!google::protobuf::TextFormat::Parse(&fs, pb)) {
AERROR << "ProtobufParser parse data failed. file:" << file_name;
close(fd);
return false;
}
close(fd);
return true;
}
} // namespace lib
} // namespace perception
} // namespace apollo
modules/perception/onboard/component/BUILD
浏览文件 @ 8047dffb
......@@ -38,6 +38,7 @@ cc_library(
"//modules/common/proto:error_code_proto",
"//modules/common/proto:geometry_proto",
"//modules/common/proto:header_proto",
"//modules/common/util:file_util",
"//modules/localization/proto:localization_proto",
"//modules/common/math:math",
"//modules/common/time:time",
......@@ -48,7 +49,6 @@ cc_library(
"//modules/perception/lib/registerer",
"//modules/perception/lib/singleton:singleton",
"//modules/perception/lib/io:file_util",
"//modules/perception/lib/io:protobuf_util",
"//modules/perception/common:perception_gflags",
"//modules/drivers/proto:sensor_proto",
"//modules/map/proto:map_proto",
......
modules/perception/onboard/component/fusion_camera_detection_component.cc
浏览文件 @ 8047dffb
......@@ -27,9 +27,9 @@
#include <iomanip>
#include "modules/common/math/math_utils.h"
#include "modules/common/util/file.h"
#include "modules/perception/lib/singleton/singleton.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
#include "modules/perception/lib/utils/time_util.h"
#include "cybertron/common/log.h"
#include "modules/perception/common/sensor_manager/sensor_manager.h"
......@@ -51,7 +51,7 @@ static int GetGpuId(
lib::FileUtil::GetAbsolutePath(options.root_dir,
options.conf_file);
config_file = lib::FileUtil::GetAbsolutePath(work_root, config_file);
if (!lib::ParseProtobufFromFile<camera::app::PerceptionParam>(
if (!apollo::common::util::GetProtoFromFile<camera::app::PerceptionParam>(
config_file,
&perception_param)) {
AERROR << "Read config failed: " << config_file;
......
modules/perception/onboard/component/trafficlights_perception_component.cc
浏览文件 @ 8047dffb
......@@ -31,10 +31,10 @@
#include "cybertron/time/time.h"
#include "modules/common/math/math_utils.h"
#include "modules/common/time/time_util.h"
#include "modules/common/util/file.h"
#include "modules/perception/camera/common/data_provider.h"
#include "modules/perception/common/sensor_manager/sensor_manager.h"
#include "modules/perception/lib/io/file_util.h"
#include "modules/perception/lib/io/protobuf_util.h"
#include "modules/perception/lib/singleton/singleton.h"
#include "modules/perception/lib/utils/perf.h"
#include "modules/perception/lib/utils/time_util.h"
......@@ -55,7 +55,7 @@ static int GetGpuId(
lib::FileUtil::GetAbsolutePath(options.root_dir,
options.conf_file);
config_file = lib::FileUtil::GetAbsolutePath(work_root, config_file);
if (!lib::ParseProtobufFromFile<camera::app::TrafficLightParam>(
if (!apollo::common::util::GetProtoFromFile<camera::app::TrafficLightParam>(
config_file,
&trafficlight_param)) {
AERROR << "Read config failed: " << config_file;
......
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