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feat: add traffic_light_detector launch
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> fix: tier4 perception launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> fix: add multi tlr detector launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> fix: tier4 launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> fix: tl detector launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> fix: data director Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> fix: precision int8 Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> chore: revert to fp16 Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> feat: remove occlusion and add car ped classification merger Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> fix: launch for multi camera Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> chore: pre-commit Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> fix: update matching score Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> feat: add max_iou_threshold Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> feat: add occlusion unknown classifier Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
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-4
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4 files changed

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‎launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml

+3-2
Original file line numberDiff line numberDiff line change
@@ -34,6 +34,7 @@
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<arg name="all_camera_namespaces" value="$(var all_camera_namespaces)"/>
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<arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
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</include>
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<!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light_detector.launch.xml"/> -->
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<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light_node_container.launch.py">
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<arg name="all_camera_namespaces" value="$(var all_camera_namespaces)"/>
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<arg name="enable_image_decompressor" value="$(var enable_image_decompressor)"/>
@@ -47,12 +48,12 @@
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</group>
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<!-- traffic_light_occlusion_predictor on each camera -->
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<group>
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<!-- <group>
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<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light_occlusion_predictor.launch.py">
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<arg name="all_camera_namespaces" value="$(var all_camera_namespaces)"/>
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<arg name="input/cloud" value="$(var input/cloud)"/>
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</include>
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</group>
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</group> -->
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<!-- traffic_light_multi_camera_fusion -->
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<group>

‎launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_detector.launch.xml

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@@ -0,0 +1,70 @@
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<?xml version="1.0"?>
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<launch>
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<group>
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<!-- add namespace -->
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<arg name="namespace" default="camera6"/>
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<arg name="input/image" default="/sensing/camera/$(var namespace)/image_raw"/>
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<arg name="yolox_detected_traffic/rois" default="/perception/traffic_light_recognition/$(var namespace)/detection/yolox/rois"/>
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<arg
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name="model_name"
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default="tlr_car_ped_yolox_s_960_960_batch_1"
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description="options `yolox-sPlus-T4-960x960-pseudo-finetune` if only detection is needed, `yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls` if sematic segmentation is also needed"
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/>
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<arg name="use_decompress" default="true" description="use image decompress"/>
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<arg name="build_only" default="false" description="exit after trt engine is built"/>
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<arg name="param_file" default="$(find-pkg-share autoware_image_transport_decompressor)/config/image_transport_decompressor.param.yaml"/>
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<node pkg="autoware_image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor_$(var namespace)_node" if="$(var use_decompress)">
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<remap from="~/input/compressed_image" to="$(var input/image)/compressed"/>
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<remap from="~/output/raw_image" to="$(var input/image)"/>
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<param from="$(var param_file)"/>
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</node>
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<node pkg="autoware_tensorrt_yolox" exec="autoware_tensorrt_yolox_node_exe" name="traffic_light_yolox_$(var namespace)" output="screen">
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<remap from="~/in/image" to="$(var input/image)"/>
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<remap from="~/out/objects" to="$(var yolox_detected_traffic/rois)"/>
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<param name="build_only" value="$(var build_only)"/>
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<param name="is_roi_overlap_segment" value="false"/>
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<param name="overlap_roi_score_threshold" value="0.3"/>
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<param name="is_publish_color_mask" value="false"/>
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<param name="roi_overlay_segment_label.UNKNOWN" value="false"/>
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<param name="roi_overlay_segment_label.CAR" value="false"/>
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<param name="roi_overlay_segment_label.TRUCK" value="false"/>
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<param name="roi_overlay_segment_label.BUS" value="false"/>
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<param name="roi_overlay_segment_label.MOTORCYCLE" value="false"/>
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<param name="roi_overlay_segment_label.BICYCLE" value="false"/>
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<param name="roi_overlay_segment_label.PEDESTRIAN" value="false"/>
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<param name="roi_overlay_segment_label.ANIMAL" value="false"/>
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<param name="model_path" value="/opt/autoware/mlmodels/traffic_light_detector/$(var model_name).onnx"/>
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<param name="label_path" value="/opt/autoware/mlmodels/traffic_light_detector/label.txt"/>
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<param name="color_map_path" value=""/>
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<param name="score_threshold" value="0.35"/>
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<param name="nms_threshold" value="0.7"/>
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<param name="precision" value="fp16"/>
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<param name="calibration_algorithm" value="Entropy"/>
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<param name="dla_core_id" value="-1"/>
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<param name="quantize_first_layer" value="false"/>
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<param name="quantize_last_layer" value="false"/>
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<param name="profile_per_layer" value="false"/>
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<param name="clip_value" value="6.0"/>
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<param name="preprocess_on_gpu" value="true"/>
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<param name="gpu_id" value="0"/>
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<param name="calibration_image_list_path" value=""/>
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</node>
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<arg name="input/detected_rois" default="input/detected_rois"/>
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<arg name="input/rough_rois" default="/perception/traffic_light_recognition/$(var namespace)/detection/rough/rois"/>
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<arg name="output/traffic_light_rois" default="/perception/traffic_light_recognition/$(var namespace)/detection/rois"/>
57+
<arg name="input/expect_rois" default="/perception/traffic_light_recognition/$(var namespace)/detection/expect/rois"/>
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<arg name="input/camera_info" default="/sensing/camera/$(var namespace)/camera_info"/>
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<!-- Node -->
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<node pkg="autoware_traffic_light_selector" exec="traffic_light_selector_node" name="autoware_traffic_light_selector_$(var namespace)" output="screen">
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<remap from="input/detected_rois" to="$(var yolox_detected_traffic/rois)"/>
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<remap from="input/rough_rois" to="$(var input/rough_rois)"/>
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<remap from="input/expect_rois" to="$(var input/expect_rois)"/>
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<remap from="output/traffic_light_rois" to="$(var output/traffic_light_rois)"/>
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<remap from="input/camera_info" to="$(var input/camera_info)"/>
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<param name="max_iou_threshold" value="0.0"/>
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<param name="debug" value="true"/>
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</node>
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</group>
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</launch>

‎launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_map_based_detector.launch.py

+28
Original file line numberDiff line numberDiff line change
@@ -56,6 +56,27 @@ def create_traffic_light_map_based_detector(namespace, context):
5656
return group
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5858

59+
def create_traffic_light_detector(namespace, context):
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package = FindPackageShare("tier4_perception_launch")
61+
include = PathJoinSubstitution(
62+
[package, "launch/traffic_light_recognition/traffic_light_detector.launch.xml"]
63+
)
64+
arguments = {
65+
"namespace": namespace,
66+
"use_decompress": "true",
67+
}.items()
68+
69+
group = GroupAction(
70+
[
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PushRosNamespace(namespace),
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PushRosNamespace("detection"),
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IncludeLaunchDescription(include, launch_arguments=arguments),
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]
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)
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return group
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5980
def launch_setup(context, *args, **kwargs):
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# Load all camera namespaces
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all_camera_namespaces = LaunchConfiguration("all_camera_namespaces").perform(context)
@@ -76,6 +97,13 @@ def launch_setup(context, *args, **kwargs):
7697
create_traffic_light_map_based_detector(namespace, context)
7798
for namespace in all_camera_namespaces
7899
]
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_ = [
102+
traffic_light_recognition_containers.append(
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create_traffic_light_detector(namespace, context)
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)
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for namespace in all_camera_namespaces
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]
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return traffic_light_recognition_containers
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‎launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py

+20-2
Original file line numberDiff line numberDiff line change
@@ -122,6 +122,24 @@ def create_parameter_dict(*args):
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{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
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],
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),
125+
ComposableNode(
126+
package="autoware_traffic_light_signals_merger",
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plugin="autoware::traffic_light::TrafficLightSignalsMergerNode",
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name="traffic_light_signals_merger",
129+
namespace="classification",
130+
remappings=[
131+
("input/car_signals", "classified/car/traffic_signals"),
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("input/pedestrian_signals", "classified/pedestrian/traffic_signals"),
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(
134+
"input/expect_rois",
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f"/perception/traffic_light_recognition/{namespace}/detection/expect/rois",
136+
),
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("output/traffic_light_signals", "traffic_signals"),
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],
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extra_arguments=[
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{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
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],
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),
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ComposableNode(
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package="autoware_traffic_light_visualization",
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plugin="autoware::traffic_light::TrafficLightRoiVisualizerNode",
@@ -197,8 +215,8 @@ def create_parameter_dict(*args):
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198216
return [
199217
GroupAction([PushRosNamespace(namespace), container]),
200-
decompressor_loader,
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fine_detector_loader,
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# decompressor_loader,
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# traffic_light_selector_loader,
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]
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