recognition.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 <memory>
#include <string>
#include <vector>
 
#include "cyber/common/macros.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/classify.h"
#include "modules/perception/traffic_light_recognition/recognition/caffe_recognizer/proto/model_param.pb.h"
 
namespace apollo {
namespace perception {
namespace trafficlight {
 
class TrafficLightRecognition final : public BaseTrafficLightRecognitor {
public:
    TrafficLightRecognition() = default;
    ~TrafficLightRecognition() = default;
    bool Init(const TrafficLightRecognitorInitOptions& options) override;
 
    bool Detect(camera::TrafficLightFrame* frame) override;
 
private:
    std::shared_ptr<ClassifyBySimple> classify_vertical_;
    std::shared_ptr<ClassifyBySimple> classify_quadrate_;
    std::shared_ptr<ClassifyBySimple> classify_horizontal_;
 
    TrafficLightRecognitionConfig recognize_param_;
    std::string recognition_root_dir;
 
    DISALLOW_COPY_AND_ASSIGN(TrafficLightRecognition);
};
 
}  // namespace trafficlight
}  // namespace perception
}  // namespace apollo