traffic_light_recognition_component.cc

浏览该文件的文档.

/******************************************************************************
 * 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.
 *****************************************************************************/
#include "modules/perception/traffic_light_recognition/traffic_light_recognition_component.h"
 
#include "cyber/time/clock.h"
#include "cyber/profiler/profiler.h"
#include "modules/perception/common/camera/common/trafficlight_frame.h"
#include "modules/perception/traffic_light_recognition/interface/base_traffic_light_recognitor.h"
#include "modules/perception/traffic_light_recognition/proto/traffic_light_recognition_component.pb.h"
 
namespace apollo {
namespace perception {
namespace trafficlight {
 
bool TrafficLightRecognComponent::Init() {
  // init component config
  if (InitConfig() != cyber::SUCC) {
    AERROR << "TrafficLightRecognComponent InitConfig failed.";
    return false;
  }
  // init algorithm plugin
  if (InitAlgorithmPlugin() != cyber::SUCC) {
    AERROR << "TrafficLightRecognComponent InitAlgorithmPlugin failed.";
    return false;
  }
  AINFO << "Successfully init traffic light recognition component.";
  return true;
}
 
bool TrafficLightRecognComponent::Proc(
    const std::shared_ptr<TrafficDetectMessage>& message) {
  PERF_FUNCTION()
  auto time_imags = std::to_string(message->timestamp_);
  AINFO << "Enter recognition component, message timestamp: " << time_imags;
 
  bool status = InternalProc(message);
  if (status) {
    writer_->Write(message);
    AINFO << "Send trafficlight recognition output message.";
  }
  return status;
}
 
int TrafficLightRecognComponent::InitConfig() {
  apollo::perception::trafficlight::RecognitionParam traffic_light_param;
  if (!GetProtoConfig(&traffic_light_param)) {
    AINFO << "load trafficlights recognition component proto param failed";
    return cyber::FAIL;
  }
 
  PluginParam plugin_param = traffic_light_param.plugin_param();
  tl_recognitor_name_ = plugin_param.name();
  config_path_ = plugin_param.config_path();
  config_file_ = plugin_param.config_file();
 
  gpu_id_ = traffic_light_param.gpu_id();
  AINFO << "tl_recognitor_name: " << tl_recognitor_name_
        << " config_path: " << config_path_ << " config_file: " << config_file_
        << " gpu_id: " << gpu_id_;
 
  writer_ = node_->CreateWriter<TrafficDetectMessage>(
      traffic_light_param.recognition_output_channel_name());
 
  return cyber::SUCC;
}
 
bool TrafficLightRecognComponent::InitAlgorithmPlugin() {
  trafficlight::BaseTrafficLightRecognitor* recognitor =
      trafficlight::BaseTrafficLightRecognitorRegisterer::GetInstanceByName(
          tl_recognitor_name_);
  CHECK_NOTNULL(recognitor);
  recognitor_.reset(recognitor);
  ACHECK(recognitor_ != nullptr);
  recognitor_init_options_.gpu_id = gpu_id_;
  recognitor_init_options_.config_path = config_path_;
  recognitor_init_options_.config_file = config_file_;
 
  if (!recognitor_->Init(recognitor_init_options_)) {
    AERROR << "Trafficlight recognitor init failed";
    return false;
  }
 
  return cyber::SUCC;
}
 
bool TrafficLightRecognComponent::InternalProc(
    const std::shared_ptr<TrafficDetectMessage const>& message) {
  PERF_BLOCK("traffic_light_recognition")
  bool status = recognitor_->Detect(message->traffic_light_frame_.get());
  PERF_BLOCK_END
 
  return true;
}
 
}  // namespace trafficlight
}  // namespace perception
}  // namespace apollo