refactor: update logging format along with project-zetton/zetton-common@

586004d
project-zetton · Oct 26, 2021 · 2b7534d · 2b7534d
1 parent 5f939f9
commit 2b7534d
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Showing 13 changed files with 61 additions and 58 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -28,6 +28,7 @@ find_package(catkin REQUIRED COMPONENTS
     sensor_msgs
     message_generation
     zetton_common
+    zetton_stream
     )
 catkin_python_setup()
 catkin_package(

diff --git a/example/ros_mot_tracker.cc b/example/ros_mot_tracker.cc
@@ -16,7 +16,7 @@
 #include "zetton_inference/tracker/sort_tracker.h"
 
 void signalHandler(int sig) {
-  ROS_WARN("Trying to exit!");
+  AWARN_F("Trying to exit!");
   ros::shutdown();
 }
 
@@ -28,7 +28,7 @@ class RosMotTracker {
     try {
       cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
     } catch (cv_bridge::Exception& e) {
-      ROS_ERROR("cv_bridge exception: %s", e.what());
+      AERROR_F("cv_bridge exception: {}", e.what());
       return;
     }
 
@@ -40,15 +40,15 @@ class RosMotTracker {
     tracker_.Track(cv_ptr->image, ros::Time::now(), detections);
 
     // print detections and tracks
-    ROS_INFO("Detections:");
+    AINFO_F("Detections:");
     for (auto& detection : detections) {
-      ROS_INFO_STREAM(detection);
+      AINFO << detection;
       detection.Draw(cv_ptr->image);
     }
-    ROS_INFO("Trackings:");
+    AINFO_F("Trackings:");
     for (auto& track : tracker_.tracks()) {
       // if (track.tracking_fail_count <= 3) {
-      ROS_INFO_STREAM(track);
+      AINFO << track;
       track.Draw(cv_ptr->image);
       // }
     }
@@ -57,7 +57,7 @@ class RosMotTracker {
     image_pub_.publish(
         cv_bridge::CvImage(std_msgs::Header(), "bgr8", cv_ptr->image)
             .toImageMsg());
-    ROS_INFO("---");
+    AINFO_F("---");
   }
 
   ros::NodeHandle* nh_;
@@ -74,7 +74,8 @@ class RosMotTracker {
   RosMotTracker(ros::NodeHandle* nh) : nh_(nh), it_(*nh_) {
     // load params
     // hardcoded or using GPARAM
-    // std::string image_topic_sub = "/uvds_communication/image_streaming/mavic_0";
+    // std::string image_topic_sub =
+    // "/uvds_communication/image_streaming/mavic_0";
     std::string image_topic_sub = "/camera/image";
 
     // subscribe to input video feed

diff --git a/example/ros_yolo_object_detector.cc b/example/ros_yolo_object_detector.cc
@@ -11,7 +11,7 @@
 #include "zetton_inference/detector/yolo_object_detector.h"
 
 void signalHandler(int sig) {
-  ROS_WARN("Trying to exit!");
+  AWARN_F("Trying to exit!");
   ros::shutdown();
 }
 
@@ -23,7 +23,7 @@ class RosYoloObjectDetector {
     try {
       cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
     } catch (cv_bridge::Exception& e) {
-      ROS_ERROR("cv_bridge exception: %s", e.what());
+      AERROR_F("cv_bridge exception: {}", e.what());
       return;
     }
 
@@ -33,7 +33,7 @@ class RosYoloObjectDetector {
 
     // print results
     for (const auto& result : results) {
-      ROS_INFO_STREAM(result);
+      AINFO << result;
     }
   }
 

diff --git a/example/rtsp_yolo_object_detector.cc b/example/rtsp_yolo_object_detector.cc
@@ -8,8 +8,8 @@
 #include "opencv2/opencv.hpp"
 #include "ros/package.h"
 #include "ros/ros.h"
-#include "zetton_common/stream/cv_gst_stream_source.h"
 #include "zetton_inference/detector/yolo_object_detector.h"
+#include "zetton_stream/stream/cv_gst_stream_source.h"
 
 #define SHOW_GUI false
 
@@ -35,7 +35,7 @@ class RtspYoloObjectDetector {
   std::string url_;
 
   std::shared_ptr<zetton::inference::YoloObjectDetector> detector_;
-  std::shared_ptr<zetton::common::CvGstStreamSource> streamer_;
+  std::shared_ptr<zetton::stream::CvGstStreamSource> streamer_;
 
   std::atomic<bool> stop_flag_{false};
   std::shared_ptr<std::thread> thread_;
@@ -68,11 +68,11 @@ bool RtspYoloObjectDetector::Open() {
   detector_ = std::make_shared<zetton::inference::YoloObjectDetector>();
   detector_->Init(config_);
   // init streamer
-  zetton::common::StreamOptions options;
+  zetton::stream::StreamOptions options;
   options.resource = url_;
-  options.codec = zetton::common::StreamCodec::CODEC_H264;
-  options.platform = zetton::common::StreamPlatformType::PLATFORM_CPU;
-  streamer_ = std::make_shared<zetton::common::CvGstStreamSource>();
+  options.codec = zetton::stream::StreamCodec::CODEC_H264;
+  options.platform = zetton::stream::StreamPlatformType::PLATFORM_CPU;
+  streamer_ = std::make_shared<zetton::stream::CvGstStreamSource>();
   streamer_->Init(options);
 
   thread_ = std::make_shared<std::thread>([&]() { Process(); });
@@ -135,7 +135,7 @@ int main(int argc, char** argv) {
   detector.SetHeightLimitation(50, 1920);
 
   // start
-  ROS_INFO("Starting detection");
+  AINFO_F("Starting detection");
   while (detector.IsOpened()) {
     cv::Mat frame;
     zetton::inference::ObjectDetectionResults results;
@@ -144,7 +144,7 @@ int main(int argc, char** argv) {
       detector.Capture(frame, results);
       // print results
       for (const auto& result : results) {
-        ROS_INFO_STREAM(result);
+        AINFO << result;
       }
       // show results in GUI
       if (SHOW_GUI) {
@@ -154,7 +154,7 @@ int main(int argc, char** argv) {
         cv::imshow("Results", frame);
         char key = cv::waitKey(10);
         if (key == 27) {
-          ROS_INFO("Stopping detection");
+          AINFO_F("Stopping detection");
           break;
         }
       }

diff --git a/include/zetton_inference/tracker/mot/association_type.h b/include/zetton_inference/tracker/mot/association_type.h
@@ -2,6 +2,8 @@
 
 #include <ros/ros.h>
 
+#include "zetton_common/util/log.h"
+
 namespace zetton {
 namespace inference {
 namespace tracker {
@@ -50,10 +52,11 @@ class AssociationVector {
   }
 
   void report() {
-    ROS_INFO("Data Association Report:");
-    for (auto ass : ass_vector)
-      ROS_INFO_STREAM("id: " << ass.id << " | score: " << ass.score);
-    ROS_INFO(" ");
+    AINFO_F("Data Association Report:");
+    for (auto ass : ass_vector) {
+      AINFO_F("id: {} | score: {}", ass.id, ass.score);
+    }
+    AINFO_F(" ");
   }
 
   std::vector<AssociationType> ass_vector;

diff --git a/include/zetton_inference/tracker/mot/util.h b/include/zetton_inference/tracker/mot/util.h
@@ -7,6 +7,8 @@
 #include <Eigen/Dense>
 #include <string>
 
+#include "zetton_common/util/log.h"
+
 namespace zetton {
 namespace inference {
 namespace tracker {
@@ -50,8 +52,7 @@ inline std::vector<Eigen::VectorXf> feature_vector_to_eigen(
 }
 
 inline void print_bbox(cv::Rect2d bbox) {
-  ROS_INFO_STREAM("Bbox Info: " << bbox.x << ", " << bbox.y << ", "
-                                << bbox.width << ", " << bbox.height);
+  AINFO_F("Bbox Info: {},{},{},{}", bbox.x, bbox.y, bbox.width, bbox.height);
 }
 
 inline double cal_bbox_overlap_ratio(cv::Rect2d track_bbox,

diff --git a/include/zetton_inference/tracker/mot_tracker.h b/include/zetton_inference/tracker/mot_tracker.h
@@ -2,6 +2,7 @@
 
 #include <std_msgs/UInt16MultiArray.h>
 
+#include "zetton_common/util/log.h"
 #include "zetton_inference/interface/base_object_detector.h"
 #include "zetton_inference/interface/base_object_tracker.h"
 #include "zetton_inference/tracker/mot/association_type.h"

diff --git a/include/zetton_inference/tracker/sort_tracker.h b/include/zetton_inference/tracker/sort_tracker.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include "ros/ros.h"
 #include "zetton_inference/interface/base_object_detector.h"
 #include "zetton_inference/interface/base_object_tracker.h"
 #include "zetton_inference/tracker/sort/hungarian.h"

diff --git a/package.xml b/package.xml
@@ -15,6 +15,7 @@
     <build_depend>sensor_msgs</build_depend>
     <build_depend>message_generation</build_depend>
     <build_depend>zetton_common</build_depend>
+    <build_depend>zetton_stream</build_depend>
     <exec_depend>roscpp</exec_depend>
     <exec_depend>rospy</exec_depend>
     <exec_depend>roslib</exec_depend>
@@ -24,4 +25,5 @@
     <exec_depend>message_generation</exec_depend>
     <exec_depend>message_runtime</exec_depend>
     <exec_depend>zetton_common</exec_depend>
+    <exec_depend>zetton_stream</exec_depend>
 </package>
diff --git a/src/zetton_inference/detector/yolo_object_detector.cc b/src/zetton_inference/detector/yolo_object_detector.cc
@@ -23,7 +23,7 @@ bool YoloObjectDetector::Init(const std::string& param_uri,
   } else if (net_type == "YOLOV4_TINY") {
     config_.net_type = yolo_trt::ModelType::YOLOV4_TINY;
   } else {
-    ROS_ERROR_STREAM("Unsupported net type: " << net_type);
+    AERROR_F("Unsupported net type: {}", net_type);
     return false;
   }
   auto precision = static_cast<std::string>(params["inference_precision"]);
@@ -37,7 +37,7 @@ bool YoloObjectDetector::Init(const std::string& param_uri,
         package_path +
         static_cast<std::string>(params["calibration_image_list_file_txt"]);
   } else {
-    ROS_ERROR_STREAM("Unsupported inference precision: " << precision);
+    AERROR_F("Unsupported inference precision: {}", precision);
     return false;
   }
 

diff --git a/src/zetton_inference/tracker/mot/local_object.cc b/src/zetton_inference/tracker/mot/local_object.cc
@@ -41,7 +41,7 @@ void LocalObject::track_bbox_by_optical_flow(const ros::Time &time_now) {
     tracking_fail_count = 0;
   } else {
     tracking_fail_count++;
-    ROS_INFO_STREAM("Object " << id << " tracking failure detected!");
+    AINFO_F("Object {} tracking failure detected!", id);
   }
 
   // update the bbox last updated time