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fix(autoware_traffic_light_selector): add camera_info into message_filter #10089

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Feb 12, 2025
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fix(autoware_traffic_light_selector): add camera_info into message_filter #10089

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e9c43b4
add mutex
MasatoSaeki Feb 10, 2025
bff9d40
change message filter
MasatoSaeki Feb 11, 2025
7a9596a
style(pre-commit): autofix
pre-commit-ci[bot] Feb 11, 2025
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38 changes: 13 additions & 25 deletions perception/autoware_traffic_light_selector/src/traffic_light_selector_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,8 @@
detected_rois_sub_(this, "input/detected_rois", rclcpp::QoS{1}.get_rmw_qos_profile()),
rough_rois_sub_(this, "input/rough_rois", rclcpp::QoS{1}.get_rmw_qos_profile()),
expected_rois_sub_(this, "input/expect_rois", rclcpp::QoS{1}.get_rmw_qos_profile()),
sync_(SyncPolicy(10), detected_rois_sub_, rough_rois_sub_, expected_rois_sub_)
camera_info_sub_(this, "input/camera_info", rclcpp::SensorDataQoS().get_rmw_qos_profile()),
sync_(SyncPolicy(10), detected_rois_sub_, rough_rois_sub_, expected_rois_sub_, camera_info_sub_)

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perception/autoware_traffic_light_selector/src/traffic_light_selector_node.cpp#L36-L37 

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{
{
stop_watch_ptr_ =
Expand All @@ -48,37 +49,24 @@
using std::placeholders::_1;
using std::placeholders::_2;
using std::placeholders::_3;
sync_.registerCallback(std::bind(&TrafficLightSelectorNode::objectsCallback, this, _1, _2, _3));
using std::placeholders::_4;
sync_.registerCallback(
std::bind(&TrafficLightSelectorNode::objectsCallback, this, _1, _2, _3, _4));

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perception/autoware_traffic_light_selector/src/traffic_light_selector_node.cpp#L53-L54 

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camera_info_sub_ = create_subscription<sensor_msgs::msg::CameraInfo>(
"input/camera_info", rclcpp::SensorDataQoS(),
std::bind(&TrafficLightSelectorNode::cameraInfoCallback, this, _1));
// Publisher
pub_traffic_light_rois_ =
create_publisher<TrafficLightRoiArray>("output/traffic_rois", rclcpp::QoS{1});
}

void TrafficLightSelectorNode::cameraInfoCallback(
const sensor_msgs::msg::CameraInfo::ConstSharedPtr input_msg)
{
if (camera_info_subscribed_) {
return;
}
RCLCPP_INFO(get_logger(), "camera_info received");
image_width_ = input_msg->width;
image_height_ = input_msg->height;
camera_info_subscribed_ = true;
}

void TrafficLightSelectorNode::objectsCallback(
const DetectedObjectsWithFeature::ConstSharedPtr & detected_traffic_light_msg,
const TrafficLightRoiArray::ConstSharedPtr & rough_rois_msg,
const TrafficLightRoiArray::ConstSharedPtr & expected_rois_msg)
const TrafficLightRoiArray::ConstSharedPtr & expected_rois_msg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr & camera_info_msg)
{
stop_watch_ptr_->toc("processing_time", true);
if (!camera_info_subscribed_) {
return;
}
uint32_t image_width = camera_info_msg->width;
uint32_t image_height = camera_info_msg->height;

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std::map<int, sensor_msgs::msg::RegionOfInterest> rough_rois_map;
for (const auto & roi : rough_rois_msg->rois) {
rough_rois_map[roi.traffic_light_id] = roi.roi;
Expand All @@ -99,9 +87,9 @@
expect_rois.push_back(expected_roi.roi);
}
cv::Mat expect_roi_img =
utils::createBinaryImageFromRois(expect_rois, cv::Size(image_width_, image_height_));
utils::createBinaryImageFromRois(expect_rois, cv::Size(image_width, image_height));

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cv::Mat det_roi_img =
utils::createBinaryImageFromRois(det_rois, cv::Size(image_width_, image_height_));
utils::createBinaryImageFromRois(det_rois, cv::Size(image_width, image_height));

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// for (const auto expect_roi : expect_rois) {
for (const auto & expect_traffic_roi : expected_rois_msg->rois) {
const auto & expect_roi = expect_traffic_roi.roi;
Expand Down Expand Up @@ -135,10 +123,10 @@
// fit top lef corner of detected roi to inside of image
detected_roi_shifted.x_offset = std::clamp(
static_cast<int>(detected_roi.feature.roi.x_offset) - det_roi_shift_x, 0,
static_cast<int>(image_width_ - detected_roi.feature.roi.width));
static_cast<int>(image_width - detected_roi.feature.roi.width));

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detected_roi_shifted.y_offset = std::clamp(
static_cast<int>(detected_roi.feature.roi.y_offset) - det_roi_shift_y, 0,
static_cast<int>(image_height_ - detected_roi.feature.roi.height));
static_cast<int>(image_height - detected_roi.feature.roi.height));

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Complex Method 

TrafficLightSelectorNode::objectsCallback decreases in cyclomatic complexity from 15 to 14, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

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double iou = utils::getGenIoU(expect_roi.roi, detected_roi_shifted);
if (iou > max_iou) {
Expand Down
16 changes: 7 additions & 9 deletions perception/autoware_traffic_light_selector/src/traffic_light_selector_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,25 +57,23 @@ class TrafficLightSelectorNode : public rclcpp::Node
message_filters::Subscriber<DetectedObjectsWithFeature> detected_rois_sub_;
message_filters::Subscriber<TrafficLightRoiArray> rough_rois_sub_;
message_filters::Subscriber<TrafficLightRoiArray> expected_rois_sub_;
message_filters::Subscriber<sensor_msgs::msg::CameraInfo> camera_info_sub_;
typedef message_filters::sync_policies::ApproximateTime<
DetectedObjectsWithFeature, TrafficLightRoiArray, TrafficLightRoiArray>
DetectedObjectsWithFeature, TrafficLightRoiArray, TrafficLightRoiArray,
sensor_msgs::msg::CameraInfo>
SyncPolicy;
typedef message_filters::Synchronizer<SyncPolicy> Sync;
Sync sync_;
void objectsCallback(
const DetectedObjectsWithFeature::ConstSharedPtr & detected_rois_msg,
const TrafficLightRoiArray::ConstSharedPtr & rough_rois_msg,
const TrafficLightRoiArray::ConstSharedPtr & expect_rois_msg);
const TrafficLightRoiArray::ConstSharedPtr & expect_rois_msg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr & camera_info_msg);

void cameraInfoCallback(const sensor_msgs::msg::CameraInfo::ConstSharedPtr input_msg);
// Publisher
rclcpp::Publisher<TrafficLightRoiArray>::SharedPtr pub_traffic_light_rois_;
// Subscribe camera_info to get width and height of image
rclcpp::Subscription<sensor_msgs::msg::CameraInfo>::SharedPtr camera_info_sub_;
bool camera_info_subscribed_;
uint32_t image_width_{1280};
uint32_t image_height_{960};
double max_iou_threshold_{0.0};

double max_iou_threshold_;

std::unique_ptr<autoware::universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
std::unique_ptr<autoware::universe_utils::DebugPublisher> debug_publisher_;
Expand Down
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