Perception: removed yolo_camera_detector.config

modules/perception/common/perception_gflags.cc

@@ -149,3 +149,8 @@ DEFINE_string(cc_lane_post_processor_config_file,
 DEFINE_string(probabilistic_fusion_config_file,
               "modules/perception/model/probabilistic_fusion_config.pb.txt",
               "The config file of probabilistic_fusion.");
+DEFINE_string(yolo_config_filename, "config.pt", "Yolo config filename.");
+DEFINE_string(
+    yolo_camera_detector_config,
+    "modules/perception/model/camera/yolo_camera_detector_config.pb.txt",
+    "Yolo camera detector config filename.");

modules/perception/common/perception_gflags.h

@@ -114,5 +114,7 @@ DECLARE_double(pbf_distance_speed_cos_diff);
 
 DECLARE_string(cc_lane_post_processor_config_file);
 DECLARE_string(probabilistic_fusion_config_file);
+DECLARE_string(yolo_config_filename);
+DECLARE_string(yolo_camera_detector_config);
 
 #endif  // MODULES_PERCEPTION_COMMON_PERCEPTION_GFLAGS_H_

modules/perception/conf/config_manager.config

@@ -10,5 +10,4 @@ model_config_path: "model/traffic_light/rectifier.config"
 model_config_path: "model/traffic_light/reviser.config"
 model_config_path: "model/traffic_light/preprocessor.config"
 model_config_path: "model/traffic_light/subnodes.config"
-model_config_path: "model/camera/yolo_camera_detector.config"
 model_config_path: "model/camera/geometry_camera_converter.config"

modules/perception/model/camera/yolo_camera_detector.config

-model_configs {
-    name: "YoloCameraDetector"
-    version: "1.0.0"
-
-    string_params {
-        name: "yolo_root"
-        value: "/apollo/modules/perception/model/yolo_camera_detector"
-    }
-}

modules/perception/model/camera/yolo_camera_detector_config.pb.txt

+name: "YoloCameraDetector"
+version: "1.0.0"
+yolo_root: "/apollo/modules/perception/model/yolo_camera_detector"

modules/perception/obstacle/camera/detector/yolo_camera_detector/BUILD

@@ -34,6 +34,7 @@ cc_library(
         "//modules/perception/obstacle/camera/detector/yolo_camera_detector/proto:yolo_camera_proto",
         "//modules/perception/obstacle/camera/dummy",
         "//modules/perception/obstacle/camera/interface",
+        "//modules/perception/proto:yolo_camera_detector_config_lib_proto",
         "@caffe//:lib",
         "@eigen",
     ],

modules/perception/obstacle/camera/detector/yolo_camera_detector/yolo_camera_detector.cc

@@ -27,32 +27,19 @@
 #include "modules/perception/obstacle/camera/common/util.h"
 #include "modules/perception/obstacle/camera/detector/yolo_camera_detector/util.h"
 
-DEFINE_string(yolo_config_filename, "config.pt", "Yolo config filename.");
-
 namespace apollo {
 namespace perception {
 
 using std::string;
 using std::vector;
 using std::unordered_map;
+using apollo::common::util::GetProtoFromFile;
 
 bool YoloCameraDetector::Init(const CameraDetectorInitOptions &options) {
-  ConfigManager *config_manager = ConfigManager::instance();
-  string model_name = this->Name();
-  const ModelConfig *model_config = config_manager->GetModelConfig(model_name);
-  if (model_config == nullptr) {
-    AERROR << "not found model: " << model_name;
-    return false;
-  }
-  string work_root = config_manager->WorkRoot();
-
-  string yolo_root;
-  if (!model_config->GetValue("yolo_root", &yolo_root)) {
-    AERROR << "yolo_root not found.";
-    return false;
-  }
-  yolo_root = apollo::common::util::GetAbsolutePath(work_root, yolo_root);
+  // load yolo camera detector config file to proto
+  CHECK(GetProtoFromFile(FLAGS_yolo_camera_detector_config, &config_));
 
+  const string &yolo_root = config_.yolo_root();
   const string yolo_config = apollo::common::util::GetAbsolutePath(
       yolo_root, FLAGS_yolo_config_filename);
 

modules/perception/obstacle/camera/detector/yolo_camera_detector/yolo_camera_detector.h

@@ -25,6 +25,7 @@
 #include "caffe/caffe.hpp"
 
 #include "modules/perception/obstacle/camera/detector/yolo_camera_detector/proto/yolo.pb.h"
+#include "modules/perception/proto/yolo_camera_detector_config.pb.h"
 
 #include "modules/perception/cuda_util/network.h"
 #include "modules/perception/cuda_util/region_output.h"
@@ -115,6 +116,8 @@ class YoloCameraDetector : public BaseCameraDetector {
   obstacle::yolo::YoloParam yolo_param_;
   int image_height_ = 0;
   int image_width_ = 0;
+
+  yolo_camera_detector_config::ModelConfigs config_;
 };
 
 REGISTER_CAMERA_DETECTOR(YoloCameraDetector);

modules/perception/proto/BUILD

@@ -48,3 +48,17 @@ proto_library(
         "probabilistic_fusion_config.proto",
     ],
 )
+
+cc_proto_library(
+    name = "yolo_camera_detector_config_lib_proto",
+    deps = [
+        ":yolo_camera_detector_config_lib",
+    ],
+)
+
+proto_library(
+    name = "yolo_camera_detector_config_lib",
+    srcs = [
+        "yolo_camera_detector_config.proto",
+    ],
+)

modules/perception/proto/yolo_camera_detector_config.proto

+syntax = "proto2";
+
+package apollo.perception.yolo_camera_detector_config;
+
+message ModelConfigs {
+  optional string name = 1 [ default = "YoloCameraDetector" ];
+  optional string version = 2 [ default = "1.0.0" ];
+  optional string yolo_root = 3 [ default = "/apollo/modules/perception/model/yolo_camera_detector" ];
+}