Refactor naming + Fix small errors

src/main.cpp

@@ -75,14 +75,9 @@ int main(int argc, char *argv[]) {
         }
 
         // Set simulation
-        main_window->setInputSource(InputFromSimulation);
+        main_window->setInputSource(kInputFromSimulation);
         main_window->setSimulation((Simulation*)simulation);
 
-    } else if (input_source == "camera") {
-
-        // cout << "Input from camera has not been supported yet." << endl;
-        // exit(1);
-
     }
 
     main_window->startVideoGrabber();

src/perception/camera_model/birdview_model.cpp

@@ -39,7 +39,7 @@ cv::Mat BirdViewModel::transformImage(const cv::Mat &img) {
         four_image_points.to_vector(img_width, img_height);
 
     cv::warpPerspective(img, dst, birdview_transform_matrix,
-                        cv::Size(birdview_img_width, birdview_img_height));
+                        cv::Size(kBirdviewImgWidth, kBirdviewImgHeight));
     return dst;
 }
 
@@ -72,11 +72,11 @@ cv::Mat BirdViewModel::getDangerZone(const cv::Size img_size, float danger_dista
 
     std::lock_guard<std::mutex> guard(mtx);
     int tl_y = car_y_in_pixel - danger_distance / height_pixel_to_meter_ratio;
-    int tl_x = birdview_img_width / 2 - car_width_in_pixel / 2;
+    int tl_x = kBirdviewImgWidth / 2 - car_width_in_pixel / 2;
     int br_x = tl_x + car_width_in_pixel;
     int br_y = car_y_in_pixel - 1;
 
-    cv::Mat danger_mask(cv::Size(birdview_img_width, birdview_img_height), CV_8UC1, cv::Scalar(0));
+    cv::Mat danger_mask(cv::Size(kBirdviewImgWidth, kBirdviewImgHeight), CV_8UC1, cv::Scalar(0));
     cv::rectangle(danger_mask, cv::Rect(tl_x, tl_y, br_x-tl_x, br_y-tl_y), 
         cv::Scalar(255), -1);
 

src/perception/camera_model/birdview_model.h

@@ -8,8 +8,8 @@
 
 class BirdViewModel {
 
-    int birdview_img_width = 1000;
-    int birdview_img_height = 10000;
+    static constexpr int kBirdviewImgWidth = 1000;
+    static constexpr int kBirdviewImgHeight = 10000;
     FourPoints four_points =
         FourPoints(cv::Point2f(250, 8000), cv::Point2f(750, 8000),
                    cv::Point2f(750, 8500), cv::Point2f(250, 8500));

src/perception/camera_model/camera_model.h

@@ -46,4 +46,4 @@ class CameraModel {
     bool isCalibrated();
 };
 
-#endif
+#endif // CAMERA_MODEL_H

src/perception/camera_model/four_points.h

@@ -28,4 +28,4 @@ class FourPoints {
     }
 };
 
-#endif  // UTILS_H
+#endif  // FOUR_POINTS_H

src/perception/lane_detection/lane_detector.h

@@ -7,7 +7,7 @@
 #include <string>
 #include <vector>
 
-#include "lane_line.h"
+#include "perception/lane_detection/lane_line.h"
 #include "perception/common/uff_models/unet/unet.h"
 #include "utils/timer.h"
 

src/perception/object_detection/CMakeLists.txt

@@ -18,17 +18,18 @@ list(APPEND CUDA_NVCC_FLAGS "-D_FORCE_INLINES -Xcompiler -fPIC")
 # Build sign classifier
 add_subdirectory(./traffic_sign_classification)
 
-include_directories(${CUDA_INCLUDE_DIRS}
-                    ${TENSORRT_INCLUDE_DIR}
-                    ${OpenCV_INCLUDE_DIRS}
-                    ../common/utils/include
-                    ../common/onnx_models/include
-                    ../common/onnx_models/onnx-tensorrt
-                    ../common/uff_models/common/include
-                    ../common/uff_models/classification_net
-                    ../configs/
-                    ./traffic_sign_classification
-                    )
+include_directories(
+        ".."
+        ${CUDA_INCLUDE_DIRS}
+        ${TENSORRT_INCLUDE_DIR}
+        ${OpenCV_INCLUDE_DIRS}
+        "../common/utils/include"
+        "../common/onnx_models/include"
+        "../common/onnx_models/onnx-tensorrt"
+        "../common/uff_models/common/include"
+        "../common/uff_models/classification_net"
+        "../configs/"
+)
 
 file(GLOB CPP_SRC ../common/onnx_models/*.cpp *.cpp)
 file(GLOB CU_SRC ../common/onnx_models/*.cu)

src/perception/object_detection/object_detector.h

@@ -5,7 +5,7 @@
 #include <memory>
 #include <string>
 
-#include "../common/onnx_models/include/ctdetNet.h"
+#include "perception/common/onnx_models/include/ctdetNet.h"
 #include "traffic_object.h"
 #include "traffic_sign_classification/sign_classifier.h"
 

src/perception/object_detection/traffic_object.h

@@ -18,4 +18,4 @@ class TrafficObject {
     bbox(detection.bbox), classId(detection.classId), prob(detection.prob), traffic_sign_type(traffic_sign_type) {}
 };
 
-#endif
+#endif // TRAFFIC_OBJECT_H

src/sensors/can_reader.h

@@ -41,8 +41,7 @@ class CANReader {
     struct timeval tv, timeout_config = {0, 0};
     struct stat dirstat;
     fd_set rdfs;
-    char
-        ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
+    char ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
     int running = 1;
     int nbytes, maxdlen;
     int ret;

src/sensors/car_gps_reader.cpp

@@ -12,19 +12,19 @@ CarGPSReader::CarGPSReader() {
 
 int CarGPSReader::printError() {
     switch (signal_status) {
-        case SIGNAL_NORMAL:
+        case kSignalNormal:
             cout << "Socket: No error" << endl;
             break;
-        case SIGNAL_NOT_CONNECTED:
+        case kSignalNotConnected:
             cout << "Socket: Not connected" << endl;
             break;
-        case SIGNAL_SOCKET_CREATION_ERROR:
+        case kSignalsocketCreationError:
             cout << "Socket: Socket creation error" << endl;
             break;
-        case SIGNAL_INVALID_ADDRESS:
+        case kSignalInvalidAddress:
             cout << "Socket: Invalid address/ Address not supported" << endl;
             break;
-        case SIGNAL_CONNECTION_FAILED:
+        case kSignalConnectionFailed:
             cout << "Socket: Connection failed" << endl;
             break;
     }
@@ -35,7 +35,7 @@ int CarGPSReader::printError() {
 // Return 0: success
 // Return 1: fail
 int CarGPSReader::updateProps() {
-    if (getSignalStatus() == SIGNAL_NOT_CONNECTED) {
+    if (getSignalStatus() == kSignalNotConnected) {
         init_socket_conn();
     }
 
@@ -58,7 +58,7 @@ int CarGPSReader::updateProps() {
     nmea_parser->readBuffer((uint8_t *)buffer, sizeof(buffer));
 
     std::lock_guard<std::mutex> lk(car_prop_mutex);
-    signal_status = SIGNAL_NORMAL;
+    signal_status = kSignalNormal;
     longitude = gps->fix.longitude;
     latitude = gps->fix.latitude;
     car_speed = gps->fix.speed;
@@ -98,9 +98,9 @@ int CarGPSReader::init_socket_conn() {
     }
 
     if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
-        setSignalStatus(SIGNAL_SOCKET_CREATION_ERROR);
+        setSignalStatus(kSignalsocketCreationError);
         // cerr << "\n Socket creation error \n" << endl;
-        return SIGNAL_SOCKET_CREATION_ERROR;
+        return kSignalsocketCreationError;
     }
 
     struct timeval tv;
@@ -113,13 +113,13 @@ int CarGPSReader::init_socket_conn() {
 
     // Convert IPv4 and IPv6 addresses from text to binary form
     if (inet_pton(AF_INET, socket_server.c_str(), &serv_addr.sin_addr) <= 0) {
-        setSignalStatus(SIGNAL_INVALID_ADDRESS);
+        setSignalStatus(kSignalInvalidAddress);
         // cerr << "\nInvalid address/ Address not supported \n" << endl;
         return -1;
     }
 
     if (connect(sock, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) < 0) {
-        setSignalStatus(SIGNAL_CONNECTION_FAILED);
+        setSignalStatus(kSignalConnectionFailed);
         // cerr << "\nConnection Failed \n" << endl;
         return -1;
     }

src/sensors/car_gps_reader.h

@@ -17,11 +17,11 @@ using namespace std;
 
 
 enum SignalStatus {
-    SIGNAL_NORMAL = 0,
-    SIGNAL_NOT_CONNECTED = 1,
-    SIGNAL_SOCKET_CREATION_ERROR = -1,
-    SIGNAL_INVALID_ADDRESS = -2,
-    SIGNAL_CONNECTION_FAILED = -3
+    kSignalNormal = 0,
+    kSignalNotConnected = 1,
+    kSignalsocketCreationError = -1,
+    kSignalInvalidAddress = -2,
+    kSignalConnectionFailed = -3
 };
 
 class CarGPSReader {
@@ -47,7 +47,7 @@ class CarGPSReader {
     // -1: Socket creation error
     // -2: Invalid address/ Address not supported
     // -3: Connection failed
-    int signal_status = SIGNAL_NOT_CONNECTED;
+    int signal_status = kSignalNotConnected;
 
 
     std::mutex car_prop_mutex;

src/ui/input_source.h

@@ -1,6 +1,6 @@
 #ifndef MAIN_H
 #define MAIN_H
 
-enum InputSource {InputFromSimulation, InputFromWebcam};
+enum InputSource {kInputFromSimulation, kInputFromWebcam};
 
 #endif

src/ui/traffic_sign_images.h

@@ -5,8 +5,8 @@
 #include <opencv2/opencv.hpp>
 
 struct TrafficSignImage {
-    const int IMG_WIDTH = 48;
-    const int IMG_HEIGHT = 48;
+    static constexpr int kImgWidth = 48;
+    static constexpr int kImgHeight = 48;
     int speed;
     cv::Mat image;
     TrafficSignImage(int speed, std::string img_path, std::string default_img_path): speed(speed) {
@@ -16,7 +16,7 @@ struct TrafficSignImage {
         if (image.empty()) {
             image = cv::imread(default_img_path);
         }
-        cv::resize(image, image, cv::Size(IMG_WIDTH, IMG_HEIGHT));
+        cv::resize(image, image, cv::Size(kImgWidth, kImgHeight));
     }
 };
 

src/utils/common.cpp

@@ -32,7 +32,7 @@ error_t _dupenv_s(char **pValue, size_t *len, const char *pPath) {
 }
 #endif  // _WIN32
 
-void setLabel(cv::Mat &im, const std::string label, const cv::Point &origin) {
+void setLabel(cv::Mat &im, const std::string& label, const cv::Point &origin) {
     int fontface = cv::FONT_HERSHEY_SIMPLEX;
     double scale = 0.5;
     int thickness = 1;

src/utils/common.h

@@ -9,7 +9,7 @@
 
 namespace ml_cam {
 
-    void setLabel(cv::Mat& im, const std::string label, const cv::Point & origin);
+    void setLabel(cv::Mat& im, const std::string& label, const cv::Point & origin);
     std::string getHomePath();
 
     QImage Mat2QImage(cv::Mat const& src);