apollo::perception::camera::YoloObstacleDetector类 参考

#include <yolo_obstacle_detector.h>

类 apollo::perception::camera::YoloObstacleDetector 继承关系图:

apollo::perception::camera::YoloObstacleDetector 的协作图:

Public 成员函数
	YoloObstacleDetector ()=default
virtual	~YoloObstacleDetector ()
bool	Init (const ObstacleDetectorInitOptions &options=ObstacleDetectorInitOptions()) override
	Load obstacle detector configs
bool	Detect (onboard::CameraFrame *frame) override
	Get obstacles detection result, detector main part
std::string	Name () const override
	ObstacleDetector name
Public 成员函数 继承自 apollo::perception::camera::BaseObstacleDetector
	BaseObstacleDetector ()=default
virtual	~BaseObstacleDetector ()=default
virtual bool	Detect (CameraFrame *frame)=0
	Interface for obstacle detector main part
virtual bool	InitNetwork (const common::ModelInfo &model_info, const std::string &model_root)
	Interface for network initialization
	BaseObstacleDetector ()=default
virtual	~BaseObstacleDetector ()=default
virtual bool	Detect (CameraFrame *frame)=0
	Interface for obstacle detector main part
virtual bool	InitNetwork (const common::ModelInfo &model_info, const std::string &model_root)
	Interface for network initialization
	BaseObstacleDetector ()=default
virtual	~BaseObstacleDetector ()=default
virtual bool	InitNetwork (const common::ModelInfo &model_info, const std::string &model_root)
	Interface for network initialization

Protected 成员函数
void	LoadInputShape (const yolo::ModelParam &model_param)
void	LoadParam (const yolo::ModelParam &model_param)
void	InitYoloBlob ()
Protected 成员函数 继承自 apollo::perception::camera::BaseObstacleDetector
	DISALLOW_COPY_AND_ASSIGN (BaseObstacleDetector)
	DISALLOW_COPY_AND_ASSIGN (BaseObstacleDetector)
	DISALLOW_COPY_AND_ASSIGN (BaseObstacleDetector)

额外继承的成员函数
Protected 属性 继承自 apollo::perception::camera::BaseObstacleDetector
int	gpu_id_ = 0
std::shared_ptr< inference::Inference >	net_

详细描述

在文件 yolo_obstacle_detector.h 第 32 行定义.

构造及析构函数说明

YoloObstacleDetector()

apollo::perception::camera::YoloObstacleDetector::YoloObstacleDetector ( )

default

~YoloObstacleDetector()

virtual apollo::perception::camera::YoloObstacleDetector::~YoloObstacleDetector ( )

inlinevirtual

在文件 yolo_obstacle_detector.h 第 35 行定义.

                                  {
    if (stream_ != nullptr) {
      cudaStreamDestroy(stream_);
    }
  }

成员函数说明

Detect()

bool apollo::perception::camera::YoloObstacleDetector::Detect ( onboard::CameraFrame *  frame )

overridevirtual

Get obstacles detection result, detector main part

参数

frame

camera frame

返回

true

false

实现了 apollo::perception::camera::BaseObstacleDetector.

在文件 yolo_obstacle_detector.cc 第 196 行定义.

                                                           {
  if (frame == nullptr) {
    return false;
  }
 
  if (cudaSetDevice(gpu_id_) != cudaSuccess) {
    AERROR << "Failed to set device to " << gpu_id_;
    return false;
  }
 
  auto model_inputs = model_param_.info().inputs();
  auto input_blob = net_->get_blob(model_inputs[0].name());
 
  DataProvider::ImageOptions image_options;
  image_options.target_color = base::Color::BGR;
  image_options.crop_roi = base::RectI(0, offset_y_, options_.image_width,
                                       options_.image_height - offset_y_);
  image_options.do_crop = true;
  base::Image8U image;
  frame->data_provider->GetImage(image_options, &image);
 
  inference::ResizeGPU(image, input_blob, frame->data_provider->src_width(), 0);
  PERF_BLOCK("camera_2d_detector_infer")
  net_->Infer();
  PERF_BLOCK_END
 
  PERF_BLOCK("camera_2d_detector_get_obj")
  get_objects_cpu(yolo_blobs_, stream_, types_, nms_, model_param_,
                  light_vis_conf_threshold_, light_swt_conf_threshold_,
                  overlapped_.get(), idx_sm_.get(), &frame->detected_objects);
  PERF_BLOCK_END
 
  filter_bbox(min_dims_, &frame->detected_objects);
 
  recover_bbox(frame->data_provider->src_width(),
               frame->data_provider->src_height() - offset_y_, offset_y_,
               &frame->detected_objects);
 
  // appearance features for tracking
  frame->feature_blob = yolo_blobs_.feat_blob;
 
  // post processing
  int left_boundary =
      static_cast<int>(border_ratio_ * static_cast<float>(image.cols()));
  int right_boundary = static_cast<int>((1.0f - border_ratio_) *
                                        static_cast<float>(image.cols()));
  for (auto &obj : frame->detected_objects) {
    // recover alpha
    obj->camera_supplement.alpha /= ori_cycle_;
    // get area_id from visible_ratios
    if (model_param_.num_areas() == 0) {
      obj->camera_supplement.area_id =
          get_area_id(obj->camera_supplement.visible_ratios);
    }
    // clear cut off ratios
    auto &box = obj->camera_supplement.box;
    if (box.xmin >= left_boundary) {
      obj->camera_supplement.cut_off_ratios[2] = 0;
    }
    if (box.xmax <= right_boundary) {
      obj->camera_supplement.cut_off_ratios[3] = 0;
    }
  }
 
  return true;
}

Init()

bool apollo::perception::camera::YoloObstacleDetector::Init ( const ObstacleDetectorInitOptions &  options = ObstacleDetectorInitOptions() )

overridevirtual

Load obstacle detector configs

参数

options

the option object of obstacle

返回

true

false

实现了 apollo::perception::camera::BaseObstacleDetector.

在文件 yolo_obstacle_detector.cc 第 150 行定义.

                                                                          {
  options_ = options;
 
  gpu_id_ = options.gpu_id;
  BASE_GPU_CHECK(cudaSetDevice(gpu_id_));
  BASE_GPU_CHECK(cudaStreamCreate(&stream_));
 
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
  if (!cyber::common::GetProtoFromFile(config_file, &model_param_)) {
    AERROR << "Read proto_config failed! " << config_file;
    return false;
  }
 
  const auto &model_info = model_param_.info();
  std::string model_path = GetModelPath(model_info.name());
  std::string anchors_file =
      GetModelFile(model_path, model_info.anchors_file().file());
  std::string types_file =
      GetModelFile(model_path, model_info.types_file().file());
  std::string expand_file =
      GetModelFile(model_path, model_info.expand_file().file());
  LoadInputShape(model_param_);
  LoadParam(model_param_);
  min_dims_.min_2d_height /= static_cast<float>(height_);
 
  if (!LoadAnchors(anchors_file, &anchors_)) {
    return false;
  }
  if (!LoadTypes(types_file, &types_)) {
    return false;
  }
  if (!LoadExpand(expand_file, &expands_)) {
    return false;
  }
  ACHECK(expands_.size() == types_.size());
 
  if (!InitNetwork(model_param_.info(), model_path)) {
    AERROR << "Init network failed!";
    return false;
  }
 
  InitYoloBlob();
  return true;
}

InitYoloBlob()

void apollo::perception::camera::YoloObstacleDetector::InitYoloBlob ( )

protected

在文件 yolo_obstacle_detector.cc 第 74 行定义.

                                        {
  auto obj_blob_scale1 = net_->get_blob("obj_pred");
  auto obj_blob_scale2 = net_->get_blob("det2_obj_blob");
  auto obj_blob_scale3 = net_->get_blob("det3_obj_blob");
  int output_height_scale1 = obj_blob_scale1->shape(1);
  int output_width_scale1 = obj_blob_scale1->shape(2);
  int obj_size = output_height_scale1 * output_width_scale1 *
                 static_cast<int>(anchors_.size()) / anchorSizeFactor;
  // todo(daohu527): why just obj_blob_scale2 != nullptr
  if (obj_blob_scale2) {
    int output_height_scale2 = obj_blob_scale2->shape(1);
    int output_width_scale2 = obj_blob_scale2->shape(2);
    int output_height_scale3 = obj_blob_scale3->shape(1);
    int output_width_scale3 = obj_blob_scale3->shape(2);
    obj_size = (output_height_scale1 * output_width_scale1 +
                output_height_scale2 * output_width_scale2 +
                output_height_scale3 * output_width_scale3) *
               static_cast<int>(anchors_.size()) / anchorSizeFactor / numScales;
  }
 
  yolo_blobs_.res_box_blob.reset(
      new base::Blob<float>(1, 1, obj_size, kBoxBlockSize));
  yolo_blobs_.res_cls_blob.reset(new base::Blob<float>(
      1, 1, static_cast<int>(types_.size() + 1), obj_size));
  yolo_blobs_.res_cls_blob->cpu_data();
  overlapped_.reset(
      new base::Blob<bool>(std::vector<int>{obj_k_, obj_k_}, true));
  overlapped_->cpu_data();
  overlapped_->gpu_data();
  idx_sm_.reset(new base::Blob<int>(std::vector<int>{obj_k_}, true));
  yolo_blobs_.anchor_blob.reset(
      new base::Blob<float>(1, 1, static_cast<int>(anchors_.size() / 2), 2));
  yolo_blobs_.expand_blob.reset(
      new base::Blob<float>(1, 1, 1, static_cast<int>(expands_.size())));
  auto expand_cpu_data = yolo_blobs_.expand_blob->mutable_cpu_data();
  memcpy(expand_cpu_data, expands_.data(), expands_.size() * sizeof(float));
  auto anchor_cpu_data = yolo_blobs_.anchor_blob->mutable_cpu_data();
  memcpy(anchor_cpu_data, anchors_.data(), anchors_.size() * sizeof(float));
  yolo_blobs_.anchor_blob->gpu_data();
 
  yolo_blobs_.det1_loc_blob = net_->get_blob("loc_pred");
  yolo_blobs_.det1_obj_blob = net_->get_blob("obj_pred");
  yolo_blobs_.det1_cls_blob = net_->get_blob("cls_pred");
  yolo_blobs_.det1_ori_conf_blob = net_->get_blob("detect1_ori_conf_pred");
  yolo_blobs_.det1_ori_blob = net_->get_blob("ori_pred");
  yolo_blobs_.det1_dim_blob = net_->get_blob("dim_pred");
  yolo_blobs_.det2_loc_blob = net_->get_blob("detect2_loc_pred");
  yolo_blobs_.det2_obj_blob = net_->get_blob("detect2_obj_pred");
  yolo_blobs_.det2_cls_blob = net_->get_blob("detect2_cls_pred");
  yolo_blobs_.det2_ori_conf_blob = net_->get_blob("detect2_ori_conf_pred");
  yolo_blobs_.det2_ori_blob = net_->get_blob("detect2_ori_pred");
  yolo_blobs_.det2_dim_blob = net_->get_blob("detect2_dim_pred");
  yolo_blobs_.det3_loc_blob = net_->get_blob("detect3_loc_pred");
  yolo_blobs_.det3_obj_blob = net_->get_blob("detect3_obj_pred");
  yolo_blobs_.det3_cls_blob = net_->get_blob("detect3_cls_pred");
  yolo_blobs_.det3_ori_conf_blob = net_->get_blob("detect3_ori_conf_pred");
  yolo_blobs_.det3_ori_blob = net_->get_blob("detect3_ori_pred");
  yolo_blobs_.det3_dim_blob = net_->get_blob("detect3_dim_pred");
 
  yolo_blobs_.lof_blob = net_->get_blob("lof_pred");
  yolo_blobs_.lor_blob = net_->get_blob("lor_pred");
 
  yolo_blobs_.brvis_blob = net_->get_blob("brvis_pred");
  yolo_blobs_.brswt_blob = net_->get_blob("brswt_pred");
  yolo_blobs_.ltvis_blob = net_->get_blob("ltvis_pred");
  yolo_blobs_.ltswt_blob = net_->get_blob("ltswt_pred");
  yolo_blobs_.rtvis_blob = net_->get_blob("rtvis_pred");
  yolo_blobs_.rtswt_blob = net_->get_blob("rtswt_pred");
 
  yolo_blobs_.area_id_blob = net_->get_blob("area_id_pred");
  yolo_blobs_.visible_ratio_blob = net_->get_blob("vis_pred");
  yolo_blobs_.cut_off_ratio_blob = net_->get_blob("cut_pred");
 
  yolo_blobs_.feat_blob = net_->get_blob("conv3_3");
}

LoadInputShape()

void apollo::perception::camera::YoloObstacleDetector::LoadInputShape ( const yolo::ModelParam &  model_param )

protected

在文件 yolo_obstacle_detector.cc 第 29 行定义.

                                                                           {
  float offset_ratio = model_param.offset_ratio();
  float cropped_ratio = model_param.cropped_ratio();
  int resized_width = model_param.resized_width();
  int aligned_pixel = model_param.aligned_pixel();
 
  int image_width = options_.image_width;
  int image_height = options_.image_height;
 
  offset_y_ = static_cast<int>(std::round(offset_ratio * image_height));
  float roi_ratio = cropped_ratio * image_height / image_width;
  width_ = (resized_width + aligned_pixel / 2) / aligned_pixel * aligned_pixel;
  height_ = static_cast<int>(width_ * roi_ratio + aligned_pixel / 2) /
            aligned_pixel * aligned_pixel;
 
  AINFO << "image_height=" << image_height << ", image_width=" << image_width
        << ", roi_ratio=" << roi_ratio;
  AINFO << "offset_y=" << offset_y_ << ", height=" << height_
        << ", width=" << width_;
}

LoadParam()

void apollo::perception::camera::YoloObstacleDetector::LoadParam ( const yolo::ModelParam &  model_param )

protected

在文件 yolo_obstacle_detector.cc 第 50 行定义.

                                                                      {
  confidence_threshold_ = model_param.confidence_threshold();
  light_vis_conf_threshold_ = model_param.light_vis_conf_threshold();
  light_swt_conf_threshold_ = model_param.light_swt_conf_threshold();
 
  auto min_dims = model_param.min_dims();
  min_dims_.min_2d_height = min_dims.min_2d_height();
  min_dims_.min_3d_height = min_dims.min_3d_height();
  min_dims_.min_3d_width = min_dims.min_3d_width();
  min_dims_.min_3d_length = min_dims.min_3d_length();
 
  ori_cycle_ = model_param.ori_cycle();
 
  border_ratio_ = model_param.border_ratio();
 
  // init NMS
  const auto &nms_param = model_param.nms_param();
  nms_.sigma = nms_param.sigma();
  nms_.type = nms_param.type();
  nms_.threshold = nms_param.threshold();
  nms_.inter_cls_nms_thresh = nms_param.inter_cls_nms_thresh();
  nms_.inter_cls_conf_thresh = nms_param.inter_cls_conf_thresh();
}

Name()

std::string apollo::perception::camera::YoloObstacleDetector::Name ( ) const

inlineoverridevirtual

ObstacleDetector name

返回

std::string

实现了 apollo::perception::camera::BaseObstacleDetector.

在文件 yolo_obstacle_detector.h 第 62 行定义.

{ return "YoloObstacleDetector"; }

---

该类的文档由以下文件生成:

• modules/perception/camera_detection_multi_stage/detector/yolo/yolo_obstacle_detector.h
• modules/perception/camera_detection_multi_stage/detector/yolo/yolo_obstacle_detector.cc