perception: replace AFATAL with AERROR. AFATAL will crash the perception process. (#3461)

modules/perception/obstacle/camera/detector/yolo_camera_detector/yolo_camera_detector.cc

@@ -209,7 +209,7 @@ bool YoloCameraDetector::init_cnn(const string &yolo_root) {
       cnnadapter_.reset(new CNNCaffe);
       break;
     default:
-      AFATAL << "unknown model type.";
+      AERROR << "unknown model type.";
       return false;
   }
 
@@ -472,7 +472,7 @@ bool YoloCameraDetector::get_objects_cpu(
     int label = it->first;
     if (conf_scores.find(label) == conf_scores.end()) {
       // Something bad happened if there are no predictions for current label.
-      AFATAL << "Could not find confidence predictions for " << label;
+      AERROR << "Could not find confidence predictions for " << label;
       continue;
     }
 

modules/perception/obstacle/camera/lane_post_process/cc_lane_post_processor/cc_lane_post_processor.cc

@@ -61,7 +61,7 @@ bool CCLanePostProcessor::Init() {
     AINFO << "using image space to generate lane instances ...";
     options_.space_type = SpaceType::IMAGE;
   } else {
-    AFATAL << "invalid space type" << space_type;
+    AERROR << "invalid space type" << space_type;
     return false;
   }
   options_.frame.space_type = options_.space_type;
@@ -256,7 +256,7 @@ bool CCLanePostProcessor::Init() {
       return false;
     }
   } else {
-    AFATAL << "invalid marker association method.";
+    AERROR << "invalid marker association method.";
     return false;
   }
 
@@ -310,7 +310,7 @@ bool CCLanePostProcessor::Init() {
   } else if (options_.space_type == SpaceType::IMAGE) {
     is_x_longitude_ = false;
   } else {
-    AFATAL << "invalid space type" << space_type;
+    AERROR << "invalid space type" << space_type;
     return false;
   }
 

modules/perception/obstacle/camera/lane_post_process/cc_lane_post_processor/group.h

@@ -134,7 +134,7 @@ inline int Group::ComputeOrientation(const std::vector<Marker>& markers,
       break;
     }
 
-    default: { AFATAL << "unknown marker shape type."; }
+    default: { AERROR << "unknown marker shape type."; }
   }
   start_angle = std::atan2(start_orie(1), start_orie(0));
   RectAngle(&start_angle);
@@ -178,7 +178,7 @@ inline int Group::ComputeOrientation(const std::vector<Marker>& markers,
       break;
     }
 
-    default: { AFATAL << "unknown marker shape type."; }
+    default: { AERROR << "unknown marker shape type."; }
   }
   end_angle = std::atan2(end_orie(1), end_orie(0));
   RectAngle(&end_angle);

modules/perception/obstacle/camera/lane_post_process/cc_lane_post_processor/lane_frame.cc

@@ -83,7 +83,7 @@ ScalarType LaneFrame::ComputeMarkerPairDistance(const Marker& ref,
       displacement = tar.start_pos - ref.pos;
       break;
     }
-    default: { AFATAL << "unknown marker shape type."; }
+    default: { AERROR << "unknown marker shape type."; }
   }
 
   ScalarType pos_dist = static_cast<ScalarType>(displacement.norm());
@@ -483,7 +483,7 @@ vector<int> LaneFrame::ComputeMarkerEdges(
         y_thresh = markers_[i].pos(0) - opts_.min_y_search_offset;
         break;
       }
-      default: { AFATAL << "Error: unknown space type " << opts_.space_type; }
+      default: { AERROR << "Error: unknown space type " << opts_.space_type; }
     }
 
     for (int j = 0; j < static_cast<int>(tot_marker_num); ++j) {
@@ -642,7 +642,7 @@ bool LaneFrame::GreedyGroupConnectAssociation() {
         y_thresh = cur_group->end_pos(0) - opts_.min_y_search_offset;
         break;
       }
-      default: { AFATAL << "unknown space type " << cur_group->space_type; }
+      default: { AERROR << "unknown space type " << cur_group->space_type; }
     }
 
     to_group_idx[k].reserve(n);
@@ -916,7 +916,7 @@ bool LaneFrame::Process(LaneInstancesPtr instances) {
       }
       break;
     }
-    default: { AFATAL << "unknown marker association method."; }
+    default: { AERROR << "unknown marker association method."; }
   }
   AINFO << "number of lane instance candidates = " << graphs_.size();
 

modules/perception/obstacle/camera/lane_post_process/common/connected_component.cc

@@ -617,7 +617,7 @@ void ConnectedComponent::SplitContour(int split_len) {
     }
 
   } else {
-    AFATAL << "unknown bounding box split type: " << bbox_.split;
+    AERROR << "unknown bounding box split type: " << bbox_.split;
   }
 }
 
@@ -635,10 +635,10 @@ void ConnectedComponent::Process(ScalarType split_siz, int split_len) {
 /** split a CC into several smaller ones **/
 vector<int> ConnectedComponent::GetSplitRanges(int siz, int len_split) {
   if (siz <= 0) {
-    AFATAL << "siz should be a positive number: " << siz;
+    AERROR << "siz should be a positive number: " << siz;
   }
   if (len_split <= 0) {
-    AFATAL << "len_split should be a positive number: " << len_split;
+    AERROR << "len_split should be a positive number: " << len_split;
   }
 
   int num_split = siz / len_split;
@@ -696,17 +696,17 @@ ConnectedComponentGenerator::ConnectedComponentGenerator(int image_width,
       roi_x_max_(roi.x + roi.width - 1),
       roi_y_max_(roi.y + roi.height - 1) {
   if (roi_x_min_ < 0) {
-    AFATAL << "x_min is less than zero: " << roi_x_min_;
+    AERROR << "x_min is less than zero: " << roi_x_min_;
   }
   if (roi_y_min_ < 0) {
-    AFATAL << "y_min is less than zero: " << roi_y_min_;
+    AERROR << "y_min is less than zero: " << roi_y_min_;
   }
   if (roi_x_max_ >= image_width_) {
-    AFATAL << "x_max is larger than image width: " << roi_x_max_ << "|"
+    AERROR << "x_max is larger than image width: " << roi_x_max_ << "|"
            << image_width_;
   }
   if (roi_y_max_ >= image_height_) {
-    AFATAL << "y_max is larger than image height: " << roi_y_max_ << "|"
+    AERROR << "y_max is larger than image height: " << roi_y_max_ << "|"
            << image_height_;
   }
   total_pix_ = static_cast<size_t>(width_) * static_cast<size_t>(height_);
@@ -723,7 +723,7 @@ ConnectedComponentGenerator::ConnectedComponentGenerator(int image_width,
 
   cudaError_t cuda_err = cudaGetLastError();
   if (cuda_err != cudaSuccess) {
-    AFATAL << "failed to initialize 'img_array' and 'label_array' with CUDA: "
+    AERROR << "failed to initialize 'img_array' and 'label_array' with CUDA: "
            << cudaGetErrorString(cuda_err);
   }