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chore(perception): refactor perception launch #10186

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merged 31 commits into from
Mar 11, 2025
Merged

chore(perception): refactor perception launch #10186

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44cb446
fundamental change
MasatoSaeki Feb 21, 2025
6ee1537
Merge branch 'main' into chore/refactor_tlr_launch
MasatoSaeki Feb 21, 2025
948f681
style(pre-commit): autofix
pre-commit-ci[bot] Feb 21, 2025
0a8006e
fix typo
MasatoSaeki Feb 21, 2025
10f5e02
Merge branch 'main' into chore/refactor_tlr_launch
MasatoSaeki Feb 28, 2025
7588264
fix params and modify some packages
MasatoSaeki Feb 28, 2025
c96416a
pre-commit
MasatoSaeki Feb 28, 2025
99d7100
fix
MasatoSaeki Feb 28, 2025
975630d
fix spell check
MasatoSaeki Feb 28, 2025
47d566a
fix typo
MasatoSaeki Feb 28, 2025
6cbe4c4
integrate model and label path
MasatoSaeki Feb 28, 2025
49fdd51
style(pre-commit): autofix
pre-commit-ci[bot] Feb 28, 2025
13774a9
for pre-commit
MasatoSaeki Mar 1, 2025
a1c260d
run pre-commit
MasatoSaeki Mar 1, 2025
893c247
for awsim
MasatoSaeki Mar 1, 2025
f9ca354
for simulatior
MasatoSaeki Mar 1, 2025
349e886
style(pre-commit): autofix
pre-commit-ci[bot] Mar 1, 2025
abd9d8c
fix grammer in launcher
MasatoSaeki Mar 1, 2025
4dd1c2f
add schema for yolox_tlr
MasatoSaeki Mar 2, 2025
1a339a6
style(pre-commit): autofix
pre-commit-ci[bot] Mar 2, 2025
6ffcb7a
fix file name
MasatoSaeki Mar 2, 2025
c93143a
fix
MasatoSaeki Mar 2, 2025
3478fd6
rename
MasatoSaeki Mar 2, 2025
9723032
modify arg name to
MasatoSaeki Mar 3, 2025
5d39c67
fix typo
MasatoSaeki Mar 3, 2025
38d2310
change param name
MasatoSaeki Mar 3, 2025
9a35ee9
style(pre-commit): autofix
pre-commit-ci[bot] Mar 3, 2025
fe82c64
Merge branch 'main' into chore/refactor_tlr_launch
Shin-kyoto Mar 3, 2025
d7f3f54
Merge branch 'main' into chore/refactor_tlr_launch
knzo25 Mar 4, 2025
815c5ce
Merge branch 'main' into chore/refactor_tlr_launch
MasatoSaeki Mar 10, 2025
fa35e9e
chore
MasatoSaeki Mar 10, 2025
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86 changes: 48 additions & 38 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,9 +34,18 @@
<arg name="occupancy_grid_map_param_path"/>
<arg name="occupancy_grid_map_updater"/>
<arg name="occupancy_grid_map_updater_param_path"/>
<arg name="traffic_light_arbiter_param_path"/>
<arg name="traffic_light_multi_camera_fusion_param_path"/>
<arg name="lidar_detection_model"/>
<arg name="each_traffic_light_map_based_detector_param_path"/>
<arg name="traffic_light_fine_detector_param_path"/>
<arg name="yolox_traffic_light_detector_param_path"/>
<arg name="car_traffic_light_classifier_param_path"/>
<arg name="pedestrian_traffic_light_classifier_param_path"/>
<arg name="traffic_light_roi_visualizer_param_path"/>
<arg name="traffic_light_selector_param_path"/>
<arg name="traffic_light_occlusion_predictor_param_path"/>
<arg name="traffic_light_multi_camera_fusion_param_path"/>
<arg name="traffic_light_arbiter_param_path"/>
<arg name="crosswalk_traffic_light_estimator_param_path"/>

<!-- ML model parameters -->
<arg name="lidar_detection_model_type" default="$(eval &quot;'$(var lidar_detection_model)'.split('/')[0]&quot;)"/>
Expand Down Expand Up @@ -98,31 +107,22 @@
<arg name="use_obstacle_segmentation_single_frame_filter" description="use single frame filter at the ground segmentation"/>
<arg name="use_obstacle_segmentation_time_series_filter" description="use time series filter at the ground segmentation"/>

<!-- Traffic light recognition parameters -->
<arg name="use_traffic_light_recognition" default="false"/>
<arg name="traffic_light_recognition/use_ml_detector" default="false" description="where ml model is used for TL detection"/>
<arg name="traffic_light_recognition/ml_detection_model_type" default="fine_detection_model" description="select ml model for TL detection: fine_detection_model or whole_image_detection_model"/>
<arg name="traffic_light_recognition/whole_image_detector_model_path" default="$(var data_path)/tensorrt_yolox"/>
<arg name="traffic_light_recognition/whole_image_detector_model_name" default="yolox_s_car_ped_tl_detector_960_960_batch_1.onnx"/>
<arg name="traffic_light_recognition/fusion_only" default="false"/>
<arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>
<arg
name="traffic_light_fine_detector_model_path"
default="$(var data_path)/traffic_light_fine_detector"
description="options: `tlr_yolox_s_batch_**`. The batch number must be either one of 1, 4, 6"
/>
<arg name="traffic_light_fine_detector_model_name" default="tlr_car_ped_yolox_s_batch_6" description="options: `tlr_car_ped_yolox_s_batch_**`. The batch number must be either one of 1, 4, 6"/>
<arg name="traffic_light_classifier_model_path" default="$(var data_path)/traffic_light_classifier" description="classifier onnx model path"/>
<arg
name="car_traffic_light_classifier_model_name"
default="traffic_light_classifier_mobilenetv2_batch_6"
description="options: `traffic_light_classifier_mobilenetv2_batch_*` or `traffic_light_classifier_efficientNet_b1_batch_*`. The batch number must be either one of 1, 4, 6"
/>
<arg
name="pedestrian_traffic_light_classifier_model_name"
default="ped_traffic_light_classifier_mobilenetv2_batch_6"
description="options: `ped_traffic_light_classifier_mobilenetv2_batch_*` or `ped_traffic_light_classifier_efficientNet_b1_batch_*`. The batch number must be either one of 1, 4, 6"
/>
<!-- traffic light recognition options to switch launch function/module -->
<arg name="use_traffic_light_recognition"/>
<arg name="traffic_light_recognition/fusion_only"/>
<arg name="traffic_light_recognition/camera_namespaces"/>
<arg name="traffic_light_recognition/use_high_accuracy_detection"/>
<arg name="traffic_light_recognition/high_accuracy_detection_type"/>

<!-- traffic light recognition parameters -->
<arg name="traffic_light_recognition/whole_image_detection/model_path"/>
<arg name="traffic_light_recognition/whole_image_detection/label_path"/>
<arg name="traffic_light_recognition/fine_detection/model_path"/>
<arg name="traffic_light_recognition/fine_detection/label_path"/>
<arg name="traffic_light_recognition/classification/car/model_path"/>
<arg name="traffic_light_recognition/classification/car/label_path"/>
<arg name="traffic_light_recognition/classification/pedestrian/model_path"/>
<arg name="traffic_light_recognition/classification/pedestrian/label_path"/>

<!-- Whether to use detection by tracker -->
<arg name="use_detection_by_tracker" default="true"/>
Expand Down Expand Up @@ -310,19 +310,29 @@
<group if="$(var use_traffic_light_recognition)">
<push-ros-namespace namespace="traffic_light_recognition"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml">
<arg name="use_ml_detector" value="$(var traffic_light_recognition/use_ml_detector)"/>
<arg name="ml_detection_model_type" value="$(var traffic_light_recognition/ml_detection_model_type)"/>
<arg name="whole_image_detector_model_path" value="$(var traffic_light_recognition/whole_image_detector_model_path)"/>
<arg name="whole_image_detector_model_name" value="$(var traffic_light_recognition/whole_image_detector_model_name)"/>
<arg name="fusion_only" value="$(var traffic_light_recognition/fusion_only)"/>
<arg name="all_camera_namespaces" value="$(var all_traffic_light_camera)"/>
<arg name="traffic_light_arbiter_param_path" value="$(var traffic_light_arbiter_param_path)"/>
<arg name="camera_namespaces" value="$(var traffic_light_recognition/camera_namespaces)"/>
<arg name="use_high_accuracy_detection" value="$(var traffic_light_recognition/use_high_accuracy_detection)"/>
<arg name="high_accuracy_detection_type" value="$(var traffic_light_recognition/high_accuracy_detection_type)"/>
<arg name="each_traffic_light_map_based_detector_param_path" value="$(var each_traffic_light_map_based_detector_param_path)"/>
<arg name="traffic_light_fine_detector_param_path" value="$(var traffic_light_fine_detector_param_path)"/>
<arg name="yolox_traffic_light_detector_param_path" value="$(var yolox_traffic_light_detector_param_path)"/>
<arg name="car_traffic_light_classifier_param_path" value="$(var car_traffic_light_classifier_param_path)"/>
<arg name="pedestrian_traffic_light_classifier_param_path" value="$(var pedestrian_traffic_light_classifier_param_path)"/>
<arg name="traffic_light_roi_visualizer_param_path" value="$(var traffic_light_roi_visualizer_param_path)"/>
<arg name="traffic_light_selector_param_path" value="$(var traffic_light_selector_param_path)"/>
<arg name="traffic_light_occlusion_predictor_param_path" value="$(var traffic_light_occlusion_predictor_param_path)"/>
<arg name="traffic_light_multi_camera_fusion_param_path" value="$(var traffic_light_multi_camera_fusion_param_path)"/>
<arg name="traffic_light_fine_detector_model_path" value="$(var traffic_light_fine_detector_model_path)"/>
<arg name="traffic_light_fine_detector_model_name" value="$(var traffic_light_fine_detector_model_name)"/>
<arg name="traffic_light_classifier_model_path" value="$(var traffic_light_classifier_model_path)"/>
<arg name="car_traffic_light_classifier_model_name" value="$(var car_traffic_light_classifier_model_name)"/>
<arg name="pedestrian_traffic_light_classifier_model_name" value="$(var pedestrian_traffic_light_classifier_model_name)"/>
<arg name="traffic_light_arbiter_param_path" value="$(var traffic_light_arbiter_param_path)"/>
<arg name="crosswalk_traffic_light_estimator_param_path" value="$(var crosswalk_traffic_light_estimator_param_path)"/>
<arg name="whole_image_detection/model_path" value="$(var traffic_light_recognition/whole_image_detection/model_path)"/>
<arg name="whole_image_detection/label_path" value="$(var traffic_light_recognition/whole_image_detection/label_path)"/>
<arg name="fine_detection/model_path" value="$(var traffic_light_recognition/fine_detection/model_path)"/>
<arg name="fine_detection/label_path" value="$(var traffic_light_recognition/fine_detection/label_path)"/>
<arg name="classification/car/model_path" value="$(var traffic_light_recognition/classification/car/model_path)"/>
<arg name="classification/car/label_path" value="$(var traffic_light_recognition/classification/car/label_path)"/>
<arg name="classification/pedestrian/model_path" value="$(var traffic_light_recognition/classification/pedestrian/model_path)"/>
<arg name="classification/pedestrian/label_path" value="$(var traffic_light_recognition/classification/pedestrian/label_path)"/>
</include>
</group>
</group>
Expand Down
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