yolox3d_obstacle_detector.h

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/******************************************************************************
 * Copyright 2023 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 <algorithm>
#include <map>
#include <memory>
#include <string>
#include <utility>
#include <vector>
 
#include <opencv2/imgproc.hpp>
#include <opencv2/opencv.hpp>
 
#include "modules/perception/camera_detection_multi_stage/detector/yolox3d/proto/model_param.pb.h"
 
#include "modules/perception/common/base/blob.h"
#include "modules/perception/common/inference/inference.h"
#include "modules/perception/common/interface/base_obstacle_detector.h"
#include "modules/perception/common/onboard/inner_component_messages/camera_detection_component_messages.h"
 
namespace apollo {
namespace perception {
namespace camera {
 
class Yolox3DObstacleDetector : public BaseObstacleDetector {
 public:
  Yolox3DObstacleDetector() : BaseObstacleDetector() {}
  virtual ~Yolox3DObstacleDetector() {
    if (stream_ != nullptr) {
      cudaStreamDestroy(stream_);
    }
  }
 
  bool Init(const ObstacleDetectorInitOptions &options =
                ObstacleDetectorInitOptions()) override;
 
  bool Detect(onboard::CameraFrame *frame) override;
 
  std::string Name() const override { return "Yolox3DObstacleDetector"; }
 
 protected:
  bool Preprocess(const base::Image8U *image, base::BlobPtr<float> input_blob);
 
  void LoadInputShape(const yolox3d::ModelParam &model_param);
 
  void LoadParam(const yolox3d::ModelParam &model_param);
  void Yolo3DInference(const base::Image8U *image, base::ObjectPtr obj);
  bool Init3DNetwork(const common::ModelInfo &model_info,
                     const std::string &model_path);
 
 private:
  ObstacleDetectorInitOptions options_;
  yolox3d::ModelParam model_param_;
  yolox3d::NMSParam nms_;
 
  std::shared_ptr<inference::Inference> net_3D_;
  FILE *file_;
 
  int gpu_id_ = 0;
  cudaStream_t stream_ = nullptr;
 
  // yolo input image size
  int width_ = 0;
  int height_ = 0;
  // image size of raw image
  int image_width_ = 0;
  int image_height_ = 0;
  float confidence_threshold_ = 0.f;
 
  float border_ratio_ = 0.f;
  cv::Mat img_;
};
 
}  // namespace camera
}  // namespace perception
}  // namespace apollo