traffic_light_recognition_component.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 <memory>
#include <string>
#include <vector>
 
#include "cyber/component/component.h"
#include "modules/perception/common/camera/common/trafficlight_frame.h"
#include "modules/perception/common/onboard/inner_component_messages/traffic_inner_component_messages.h"
#include "modules/perception/traffic_light_recognition/interface/base_traffic_light_recognitor.h"
 
namespace apollo {
namespace perception {
namespace trafficlight {
 
using apollo::perception::onboard::TrafficDetectMessage;
 
class TrafficLightRecognComponent : public cyber::Component<TrafficDetectMessage> {
public:
    TrafficLightRecognComponent() = default;
    ~TrafficLightRecognComponent() = default;
    bool Init() override;
    bool Proc(const std::shared_ptr<TrafficDetectMessage>& message) override;
 
private:
    int InitConfig();
    bool InitAlgorithmPlugin();
    bool InternalProc(const std::shared_ptr<TrafficDetectMessage const>& message);
 
private:
    trafficlight::TrafficLightRecognitorInitOptions recognitor_init_options_;
    std::string tl_recognitor_name_;
    int gpu_id_;
    std::string config_path_;
    std::string config_file_;
 
    std::shared_ptr<trafficlight::BaseTrafficLightRecognitor> recognitor_;
    std::shared_ptr<apollo::cyber::Writer<TrafficDetectMessage>> writer_;
};
 
CYBER_REGISTER_COMPONENT(TrafficLightRecognComponent);
 
}  // namespace trafficlight
}  // namespace perception
}  // namespace apollo