classify.h

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/******************************************************************************
 * 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 <map>
#include <memory>
#include <string>
#include <vector>
 
#include "modules/perception/common/base/blob.h"
#include "modules/perception/common/base/image_8u.h"
#include "modules/perception/common/base/traffic_light.h"
#include "modules/perception/common/inference/inference.h"
#include "modules/perception/traffic_light_recognition/interface/base_traffic_light_recognitor.h"
#include "modules/perception/traffic_light_recognition/recognition/caffe_recognizer/proto/model_param.pb.h"
 
namespace apollo {
namespace perception {
namespace trafficlight {
 
class ClassifyBySimple {
 public:
  ClassifyBySimple() = default;
  ~ClassifyBySimple() = default;
  void Init(const ClassifyParam& model_config, const int gpu_id);
  void Perform(const camera::TrafficLightFrame* frame,
               std::vector<base::TrafficLightPtr>* lights);
 
 private:
  void Prob2Color(const float* out_put_data, float threshold,
                  base::TrafficLightPtr light);
 
  std::shared_ptr<inference::Inference> rt_net_ = nullptr;
  camera::DataProvider::ImageOptions data_provider_image_option_;
  std::shared_ptr<base::Image8U> image_ = nullptr;
  std::shared_ptr<base::Blob<float>> mean_buffer_;
  std::shared_ptr<base::Blob<float>> mean_;
  std::vector<std::string> net_inputs_;
  std::vector<std::string> net_outputs_;
  int resize_width_;
  int resize_height_;
  float unknown_threshold_;
  float scale_;
  int gpu_id_ = 0;
};
 
}  // namespace trafficlight
}  // namespace perception
}  // namespace apollo