yolo_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 <memory>
#include <string>
#include <vector>
 
#include "modules/perception/camera_detection_multi_stage/detector/yolo/proto/model_param.pb.h"
 
#include "modules/perception/camera_detection_multi_stage/detector/yolo/postprocess.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 YoloObstacleDetector : public BaseObstacleDetector {
 public:
  YoloObstacleDetector() = default;
  virtual ~YoloObstacleDetector() {
    if (stream_ != nullptr) {
      cudaStreamDestroy(stream_);
    }
  }
  bool Init(const ObstacleDetectorInitOptions &options =
                ObstacleDetectorInitOptions()) override;
  bool Detect(onboard::CameraFrame *frame) override;
  std::string Name() const override { return "YoloObstacleDetector"; }
 
 protected:
  void LoadInputShape(const yolo::ModelParam &model_param);
  void LoadParam(const yolo::ModelParam &model_param);
  void InitYoloBlob();
 
 private:
  ObstacleDetectorInitOptions options_;
  yolo::ModelParam model_param_;
 
  std::vector<base::ObjectSubType> types_;
  std::vector<float> expands_;
  std::vector<float> anchors_;
 
  NMSParam nms_;
  MinDims min_dims_;
  cudaStream_t stream_;
  int height_ = 0;
  int width_ = 0;
  int offset_y_ = 0;
  int gpu_id_ = 0;
  int obj_k_ = kMaxObjSize;
 
  int ori_cycle_ = 1;
  float confidence_threshold_ = 0.f;
  float light_vis_conf_threshold_ = 0.f;
  float light_swt_conf_threshold_ = 0.f;
 
  YoloBlobs yolo_blobs_;
 
  std::shared_ptr<base::Blob<bool>> overlapped_ = nullptr;
  std::shared_ptr<base::Blob<int>> idx_sm_ = nullptr;
 
  bool with_box3d_ = false;
  bool with_frbox_ = false;
  bool with_lights_ = false;
  bool with_ratios_ = false;
  bool with_area_id_ = false;
  float border_ratio_ = 0.f;
};
 
}  // namespace camera
}  // namespace perception
}  // namespace apollo