perception: remove dummy fusion

modules/perception/obstacle/fusion/dummy/BUILD

-load("//tools:cpplint.bzl", "cpplint")
-
-package(default_visibility = ["//visibility:public"])
-
-cc_library(
-    name = "perception_obstacle_fusion_dummy",
-    srcs = [
-        "dummy_algorithms.cc",
-    ],
-    hdrs = [
-        "dummy_algorithms.h",
-    ],
-    deps = [
-        "//modules/common:log",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
-        "//modules/perception/obstacle/fusion/interface:perception_obstacle_fusion_interface",
-        "@eigen//:eigen",
-        "@pcl//:pcl",
-    ],
-)
-
-cpplint()

modules/perception/obstacle/fusion/dummy/dummy_algorithms.cc

-/******************************************************************************
- * Copyright 2017 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.
- *****************************************************************************/
-#include "modules/perception/obstacle/fusion/dummy/dummy_algorithms.h"
-
-namespace apollo {
-namespace perception {
-
-bool DummyFusion::Fuse(const std::vector<SensorObjects> &multi_sensor_objects,
-                    std::vector<ObjectPtr> *fused_objects) {
-  return result_detect_;
-}
-
-}  // namespace perception
-}  // namespace apollo

modules/perception/obstacle/fusion/dummy/dummy_algorithms.h

-/******************************************************************************
- * Copyright 2017 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.
- *****************************************************************************/
-#ifndef MODULES_PERCEPTION_OBSTACLE_FUSION_DUMMY_DUMMY_ALGORITHMS_H_
-#define MODULES_PERCEPTION_OBSTACLE_FUSION_DUMMY_DUMMY_ALGORITHMS_H_
-
-#include <string>
-#include <vector>
-
-#include "modules/perception/obstacle/fusion/interface/base_fusion.h"
-
-namespace apollo {
-namespace perception {
-
-class DummyFusion : public BaseFusion {
- public:
-  DummyFusion() : BaseFusion() {}
-  ~DummyFusion() = default;
-
-  bool Init() override {
-    return result_init_;
-  }
-
-  bool Fuse(const std::vector<SensorObjects> &multi_sensor_objects,
-                    std::vector<ObjectPtr> *fused_objects) override;
-
-  std::string name() const override {
-    return "DummyFusion";
-  }
-
- private:
-  // for unit test
-  bool result_init_ = true;
-  bool result_detect_ = true;
-
-  DISALLOW_COPY_AND_ASSIGN(DummyFusion);
-};
-
-REGISTER_FUSION(DummyFusion);
-}  // namespace perception
-}  // namespace apollo
-
-#endif  // MODULES_PERCEPTION_OBSTACLE_FUSION_DUMMY_DUMMY_ALGORITHMS_H_

modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser/util.cc

@@ -68,6 +68,20 @@ void NormalizeRow(Matrixd* prob) {
   }
 }
 
+void PrintProbability(const std::vector<float>& prob, const std::string& name) {
+  std::cout << name << ": ";
+  float max_prob = -DBL_MAX;
+  std::size_t max_id = 0;
+  for (std::size_t i = 0; i < prob.size(); ++i) {
+    std::cout << std::setprecision(3) << prob[i] << " ";
+    if (prob[i] > max_prob) {
+      max_prob = prob[i];
+      max_id = i;
+    }
+  }
+  std::cout << " max_type: " << max_id << std::endl;
+}
+
 bool LoadSingleMatrix(std::ifstream& fin, Matrixd* matrix) {
   for (std::size_t row = 0; row < VALID_OBJECT_TYPE; ++row) {
     for (std::size_t col = 0; col < VALID_OBJECT_TYPE; ++col) {

modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser/util.h

@@ -77,6 +77,13 @@ void Normalize(Vectord* prob);
  */
 void NormalizeRow(Matrixd* prob);
 
+/**
+ * @brief Print probability
+ * @param prob Probability to be printed
+ * @param name Name of probability to be printed
+*/
+void PrintProbability(const std::vector<float>& prob, const std::string& name);
+
 /**
  * @brief Load a matrix from input file stream
  * @param fin The input file stream

modules/perception/obstacle/onboard/BUILD

@@ -44,7 +44,6 @@ cc_library(
         "//modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser:perception_obstacle_lidar_type_fuser_sequence_type_fuser",
         "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer:perception_obstacle_lidar_opengl_visualizer",
         "//modules/perception/obstacle/radar/dummy:perception_obstacle_radar_dummy",
-        "//modules/perception/obstacle/fusion/dummy:perception_obstacle_fusion_dummy",
         "@eigen//:eigen",
         "@gtest//:gtest",
         "@ros//:ros_common",

modules/perception/obstacle/onboard/obstacle_perception.cc

@@ -23,7 +23,6 @@
 #include "modules/perception/lib/base/timer.h"
 #include "modules/perception/obstacle/radar/dummy/dummy_algorithms.h"
 #include "modules/perception/obstacle/radar/modest/modest_radar_detector.h"
-#include "modules/perception/obstacle/fusion/dummy/dummy_algorithms.h"
 #include "modules/perception/obstacle/fusion/probabilistic_fusion/probabilistic_fusion.h"
 
 DEFINE_string(obstacle_show_type, "fused",
@@ -105,7 +104,6 @@ bool ObstaclePerception::Init() {
 
 void ObstaclePerception::RegistAllAlgorithm() {
   RegisterFactoryDummyRadarDetector();
-  RegisterFactoryDummyFusion();
 
   RegisterFactoryModestRadarDetector();
   RegisterFactoryProbabilisticFusion();

modules/perception/tool/offline_visualizer_tool/conf/offline_sequential_obstacle_perception_test.flag

@@ -22,7 +22,7 @@
 
 # the fusion method for onboard
 # type: string
-# candidate: DummyFusion, ProbabilisticFusion
+# candidate: only ProbabilisticFusion
 --onboard_fusion=ProbabilisticFusion
 
 # enable visualization