Perception: used log in cybertron log system

modules/perception/camera/common/util.cc

@@ -97,7 +97,7 @@ bool ResizeCPU(const base::Blob<uint8_t> &src_blob,
   int origin_height = src_blob.shape(1);
   int origin_width = src_blob.shape(2);
   if (origin_channel != dst_blob->shape(3)) {
-    LOG(ERROR) << "channel should be the same after resize.";
+    AERROR << "channel should be the same after resize.";
     return false;
   }
   float fx = static_cast<float>(origin_width) / static_cast<float>(width);

modules/perception/camera/lib/obstacle/tracker/common/BUILD

@@ -13,6 +13,7 @@ cuda_library(
     ],
     deps = [
         "@cuda",
+        "//cybertron",
         "//modules/perception/camera/common:common",
         "//modules/perception/inference/utils:inference_util_lib",
         "//modules/perception/inference/utils:inference_gemm_lib",

modules/perception/camera/lib/obstacle/tracker/common/similar.cu

@@ -14,8 +14,11 @@
 * limitations under the License.
 *****************************************************************************/
 #include "modules/perception/camera/lib/obstacle/tracker/common/similar.h"
+
 #include <cblas.h>
 #include <memory>
+
+#include "cybertron/common/log.h"
 #include "modules/perception/camera/common/util.h"
 #include "modules/perception/inference/utils/gemm.h"
 
@@ -34,7 +37,7 @@ bool GPUSimilar::Calc(CameraFrame *frame1,
   sim->Reshape({n, m});
 
   if (frame1->track_feature_blob == nullptr) {
-    LOG(ERROR) << "No feature blob";
+    AERROR << "No feature blob";
     return false;
   }
   int dim = frame1->track_feature_blob->count(1);

modules/perception/fusion/common/dst_evidence_test.cc

@@ -102,19 +102,19 @@ class DSTEvidenceTest : public ::testing::Test {
     for (size_t i = 0; i < fused_spt_gt.size(); ++i) {
       fused_uct_gt[i] = fused_pls_gt[i] - fused_spt_gt[i];
     }
-    LOG(INFO) << fused_dst_.PrintBba();
+    AINFO << fused_dst_.PrintBba();
     // double sum = std::accumulate(fused_dst__vec.begin(),
     // fused_dst__vec.end(), 0.0);
-    // LOG(INFO) << boost::format("fused dst sum: %lf") % sum;
-    LOG(INFO) << "check dst";
+    // AINFO << boost::format("fused dst sum: %lf") % sum;
+    AINFO << "check dst";
     vec_equal_(fused_dst_vec_, fused_dst_gt);
-    LOG(INFO) << "check spt";
+    AINFO << "check spt";
     vec_equal_(fused_spt_vec_, fused_spt_gt);
-    LOG(INFO) << "check pls";
+    AINFO << "check pls";
     vec_equal_(fused_pls_vec_, fused_pls_gt);
-    LOG(INFO) << "check uct";
+    AINFO << "check uct";
     vec_equal_(fused_uct_vec_, fused_uct_gt);
-    LOG(INFO) << "check prob";
+    AINFO << "check prob";
     vec_equal_(fused_prob_vec_, fused_prob_gt);
   }
   void add_dst_test2() {
@@ -136,16 +136,16 @@ class DSTEvidenceTest : public ::testing::Test {
     for (size_t i = 0; i < fused_spt_gt.size(); ++i) {
       fused_uct_gt[i] = fused_pls_gt[i] - fused_spt_gt[i];
     }
-    LOG(INFO) << fused_dst_.PrintBba();
-    LOG(INFO) << "check dst";
+    AINFO << fused_dst_.PrintBba();
+    AINFO << "check dst";
     vec_equal_(fused_dst_vec_, fused_dst_gt);
-    LOG(INFO) << "check spt";
+    AINFO << "check spt";
     vec_equal_(fused_spt_vec_, fused_spt_gt);
-    LOG(INFO) << "check pls";
+    AINFO << "check pls";
     vec_equal_(fused_pls_vec_, fused_pls_gt);
-    LOG(INFO) << "check uct";
+    AINFO << "check uct";
     vec_equal_(fused_uct_vec_, fused_uct_gt);
-    LOG(INFO) << "check prob";
+    AINFO << "check prob";
     vec_equal_(fused_prob_vec_, fused_prob_gt);
   }
   void multipy_dst_test() {
@@ -157,7 +157,7 @@ class DSTEvidenceTest : public ::testing::Test {
     dst.SetBbaVec(dst_data);
     Dst res("test");
     res = dst * 0.8;
-    LOG(INFO) << res.PrintBba();
+    AINFO << res.PrintBba();
     vec_equal_(res.GetBbaVec(), gt);
   }
 

modules/perception/inference/tensorrt/rt_utils.cc

@@ -31,7 +31,7 @@ bool ReadProtoFromTextFile(const std::string &filename,
                            google::protobuf::Message *proto) {
   int fd = open(filename.c_str(), O_RDONLY);
   if (fd < 0) {
-    LOG(INFO) << "cannot open file " << filename;
+    AERROR << "cannot open file " << filename;
     return false;
   }
   google::protobuf::io::FileInputStream raw_input(fd);
@@ -46,7 +46,7 @@ bool ReadProtoFromBinaryFile(const std::string &filename,
                              google::protobuf::Message *proto) {
   int fd = open(filename.c_str(), O_RDONLY);
   if (fd < 0) {
-    LOG(INFO) << "cannot open file " << filename;
+    AERROR << "cannot open file " << filename;
     return false;
   }
   google::protobuf::io::FileInputStream raw_input(fd);

modules/perception/inference/test/inference_util_test.cc

@@ -26,7 +26,6 @@
 #include "modules/perception/inference/utils/gemm.h"
 #include "modules/perception/inference/utils/resize.h"
 #include "modules/perception/inference/utils/util.h"
-#include "modules/perception/perception_base/base/log.h"
 
 namespace apollo {
 namespace perception {
@@ -126,7 +125,6 @@ void CudaUtilFun(int gpu_count, int thread_id) {
     EXPECT_TRUE(inference::CudaUtil::set_device_id(i));
   }
   handlers[thread_id] = inference::CudaUtil::get_handler();
-  LOG_INFO << "Thread " << thread_id << " exit";
 }
 
 TEST(UtilTest, CudaUtilTest) {

modules/perception/inference/tools/lane_sample.cc

@@ -63,7 +63,7 @@ int main(int argc, char **argv) {
   apollo::perception::inference::load_data<std::string>(FLAGS_names_file,
                                                         &outputs);
   for (auto name : outputs) {
-    LOG(INFO) << name;
+    ADEBUG << name;
   }
 
   if (FLAGS_int8) {
@@ -94,7 +94,7 @@ int main(int argc, char **argv) {
   for (auto image_file : image_lists) {
     cv::Mat img =
         cv::imread(FLAGS_image_root + image_file + FLAGS_image_ext, CV_8UC1);
-    LOG(INFO) << img.channels();
+    ADEBUG << img.channels();
     cv::Rect roi(0, offset_y, img.cols, img.rows - offset_y);
     cv::Mat img_roi = img(roi);
     img_roi.copyTo(img);

modules/perception/inference/utils/resize.cu

@@ -18,6 +18,7 @@
 
 #include <algorithm>
 
+#include "cybertron/common/log.h"
 #include "modules/perception/inference/utils/util.h"
 #include "modules/perception/inference/utils/cuda_util.h"
 
@@ -169,7 +170,7 @@ bool ResizeGPU(const base::Image8U &src,
   int origin_width = src.cols();
 
   if (origin_channel != dst->shape(3)) {
-    LOG(ERROR) << "channel should be the same after resize.";
+    AERROR << "channel should be the same after resize.";
     return false;
   }
   float fx = static_cast<float>(origin_width) / static_cast<float>(width);
@@ -213,7 +214,7 @@ bool ResizeGPU(const apollo::perception::base::Blob<uint8_t> &src_gpu,
   // SRC: 1 H W C
   // DST: 1 H W C
   if (origin_channel != channel) {
-    LOG(ERROR) << "channel should be the same after resize.";
+    AERROR << "channel should be the same after resize.";
     return false;
   }
 
@@ -259,7 +260,7 @@ bool ResizeGPU(const base::Image8U &src,
   // SRC: 1 H W C
   // DST: 1 H W C
   if (origin_channel != channel) {
-    LOG(ERROR) << "channel should be the same after resize.";
+    AERROR << "channel should be the same after resize.";
     return false;
   }