[perception] remove OpenCV dependency in CNNSegmentation (#1428)

* [perception] remove OpenCV dependency in CNNSegmentation

* [perception] modify linkstatic back to dynamic link

* [perception] delete commanded lines in CNNSegmentation

modules/perception/obstacle/lidar/segmentation/cnnseg/BUILD

@@ -25,7 +25,6 @@ cc_library(
 cc_library(
     name = "cnnseg_util",
     hdrs = ["util.h"],
-    deps = ["@opencv2//:core"],
 )
 
 cc_library(

modules/perception/obstacle/lidar/segmentation/cnnseg/cnn_segmentation.cc

@@ -128,7 +128,7 @@ bool CNNSegmentation::Segment(const pcl_util::PointCloudPtr& pc_ptr,
 
   use_full_cloud_ =
       cnnseg_param_.use_full_cloud() && (options.origin_cloud != nullptr);
-  timer_.Tic();
+  PERF_BLOCK_START();
 
   // generate raw features
   if (use_full_cloud_) {
@@ -136,34 +136,26 @@ bool CNNSegmentation::Segment(const pcl_util::PointCloudPtr& pc_ptr,
   } else {
     feature_generator_->Generate(pc_ptr);
   }
-  feat_time_ = timer_.Toc(true);
+  PERF_BLOCK_END("[CNNSeg] feature generation");
 
 // network forward process
 #ifndef CPU_ONLY
   caffe::Caffe::set_mode(caffe::Caffe::GPU);
 #endif
   caffe_net_->Forward();
-  network_time_ = timer_.Toc(true);
+  PERF_BLOCK_END("[CNNSeg] CNN forward");
 
   // clutser points and construct segments/objects
   cluster2d_->Cluster(*category_pt_blob_, *instance_pt_blob_, pc_ptr,
                       valid_indices, cnnseg_param_.objectness_thresh(),
                       cnnseg_param_.use_all_grids_for_clustering());
-  clust_time_ = timer_.Toc(true);
+  PERF_BLOCK_END("[CNNSeg] clustering");
 
   cluster2d_->Filter(*confidence_pt_blob_, *height_pt_blob_);
   cluster2d_->GetObjects(cnnseg_param_.confidence_thresh(),
                          cnnseg_param_.height_thresh(),
                          cnnseg_param_.min_pts_num(), objects);
-  post_time_ = timer_.Toc(true);
-
-  tot_time_ = feat_time_ + network_time_ + clust_time_ + post_time_;
-
-  AINFO << "Total runtime: " << tot_time_ << "ms\t"
-        << "  Feature generation: " << feat_time_ << "ms\t"
-        << "  CNN forward: " << network_time_ << "ms\t"
-        << "  Clustering: " << clust_time_ << "ms\t"
-        << "  Post-processing: " << post_time_ << "ms";
+  PERF_BLOCK_END("[CNNSeg] post-processing");
 
   return true;
 }

modules/perception/obstacle/lidar/segmentation/cnnseg/cnn_segmentation.h

@@ -24,10 +24,10 @@
 #include "caffe/caffe.hpp"
 #include "modules/common/log.h"
 #include "modules/perception/lib/pcl_util/pcl_types.h"
+#include "modules/perception/lib/base/timer.h"
 #include "modules/perception/obstacle/base/object.h"
 #include "modules/perception/obstacle/lidar/interface/base_segmentation.h"
 #include "modules/perception/obstacle/lidar/segmentation/cnnseg/proto/cnnseg.pb.h"
-#include "modules/perception/obstacle/lidar/segmentation/cnnseg/util.h"
 #include "modules/perception/obstacle/lidar/segmentation/cnnseg/feature_generator.h"
 #include "modules/perception/obstacle/lidar/segmentation/cnnseg/cluster2d.h"
 
@@ -89,12 +89,7 @@ class CNNSegmentation : public BaseSegmentation {
   std::shared_ptr<cnnseg::Cluster2D> cluster2d_;
 
   // timer
-  cnnseg::Timer timer_;
-  double feat_time_ = 0.0;
-  double network_time_ = 0.0;
-  double clust_time_ = 0.0;
-  double post_time_ = 0.0;
-  double tot_time_ = 0.0;
+  Timer timer_;
 
   DISALLOW_COPY_AND_ASSIGN(CNNSegmentation);
 };

modules/perception/obstacle/lidar/segmentation/cnnseg/cnnseg_test.cc

@@ -23,6 +23,7 @@
 #include <unordered_set>
 #include <vector>
 
+#include "opencv2/opencv.hpp"
 #include "gtest/gtest.h"
 #include "modules/common/log.h"
 #include "modules/perception/common/perception_gflags.h"

modules/perception/obstacle/lidar/segmentation/cnnseg/util.h

@@ -18,34 +18,11 @@
 #define MODULES_PERCEPTION_OBSTACLE_LIDAR_SEGMENTATION_CNNSEG_UTIL_H_
 
 #include <string>
-#include "opencv2/opencv.hpp"
 
 namespace apollo {
 namespace perception {
 namespace cnnseg {
 
-class Timer {
- public:
-  Timer() {
-    Tic();
-    scale_ = 1.0 / (static_cast<double>(cvGetTickFrequency()) * 1000.);
-  }
-  void Tic() {
-    start_ = static_cast<double>(cv::getTickCount());
-  }
-  double Toc(bool reset = false) {
-    double time = (static_cast<double>(cvGetTickCount()) - start_) * scale_;
-    if (reset) {
-      Tic();
-    }
-    return time;
-  }
-
- private:
-  double start_;
-  double scale_;
-};
-
 inline int F2I(float val, float ori, float scale) {
   return static_cast<int>(std::floor((ori - val) * scale));
 }