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feat(autoware_traffic_light_classifier): add traffic light classifier…
… schema, README and car and ped launcher (#10048) * feat(autoware_traffic_light_classifier):Add traffic light classifier schema and README * add individual launcher Signed-off-by: MasatoSaeki <[email protected]> * style(pre-commit): autofix * fix description Signed-off-by: MasatoSaeki <[email protected]> * fix README and source code Signed-off-by: MasatoSaeki <[email protected]> * separate schema in README Signed-off-by: MasatoSaeki <[email protected]> * fix README Signed-off-by: MasatoSaeki <[email protected]> * fix launcher Signed-off-by: MasatoSaeki <[email protected]> * style(pre-commit): autofix * fix typo Signed-off-by: MasatoSaeki <[email protected]> --------- Signed-off-by: MasatoSaeki <[email protected]> Co-authored-by: MasatoSaeki <[email protected]> Co-authored-by: Masato Saeki <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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23 changes: 23 additions & 0 deletions
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...n/autoware_traffic_light_classifier/launch/pedestrian_traffic_light_classifier.launch.xml
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|---|---|---|
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| <launch> | ||
| <arg name="input/image" default="~/image_raw"/> | ||
| <arg name="input/rois" default="~/rois"/> | ||
| <arg name="output/traffic_signals" default="classified/traffic_signals"/> | ||
| <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/> | ||
| <arg | ||
| name="traffic_light_classifier_param_path" | ||
| default="$(find-pkg-share autoware_traffic_light_classifier)/config/pedestrian_traffic_light_classifier.param.yaml" | ||
| description="classifier param path" | ||
| /> | ||
| <arg name="traffic_light_classifier_model_path" default="$(var data_path)/traffic_light_classifier" description="path to pedestrian onnx model and label"/> | ||
| <arg name="pedestrian_traffic_light_classifier_label_name" default="lamp_labels_ped.txt" description="pedestrian label name"/> | ||
| <arg name="pedestrian_traffic_light_classifier_model_name" default="ped_traffic_light_classifier_mobilenetv2_batch_6" description="pedestrian onnx model name"/> | ||
| <arg name="build_only" default="false" description="exit after trt engine is built"/> | ||
|
|
||
| <node pkg="autoware_traffic_light_classifier" exec="traffic_light_classifier_node" name="traffic_light_classifier" output="screen"> | ||
| <remap from="~/input/image" to="$(var input/image)"/> | ||
| <remap from="~/input/rois" to="$(var input/rois)"/> | ||
| <remap from="~/output/traffic_signals" to="$(var output/traffic_signals)"/> | ||
| <param from="$(var traffic_light_classifier_param_path)" allow_substs="true"/> | ||
| <param name="build_only" value="$(var build_only)"/> | ||
| </node> | ||
| </launch> |
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perception/autoware_traffic_light_classifier/schema/car_traffic_light_classifier.schema.json
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|---|---|---|
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| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "autoware_traffic_light_classifier parameter", | ||
| "type": "object", | ||
| "definitions": { | ||
| "car_traffic_light_classifier": { | ||
| "type": "object", | ||
| "properties": { | ||
| "approximate_sync": { | ||
| "type": "boolean", | ||
| "description": "Enable or disable approximate synchronization.", | ||
| "default": false | ||
| }, | ||
| "classifier_label_path": { | ||
| "type": "string", | ||
| "description": "Path to the label file for the traffic light classifier.", | ||
| "default": "$(var traffic_light_classifier_model_path)/$(var car_traffic_light_classifier_label_name)" | ||
| }, | ||
| "classifier_model_path": { | ||
| "type": "string", | ||
| "description": "Path to the ONNX model file for the traffic light classifier.", | ||
| "default": "$(var traffic_light_classifier_model_path)/$(var car_traffic_light_classifier_model_name).onnx" | ||
| }, | ||
| "classifier_precision": { | ||
| "type": "string", | ||
| "description": "Precision used for traffic light classifier inference. Valid values: [fp32, fp16, int8].", | ||
| "default": "fp16" | ||
| }, | ||
| "classifier_mean": { | ||
| "type": "array", | ||
| "description": "Mean values used for input normalization [R, G, B].", | ||
| "items": { | ||
| "type": "number" | ||
| }, | ||
| "default": [123.675, 116.28, 103.53] | ||
| }, | ||
| "classifier_std": { | ||
| "type": "array", | ||
| "description": "Standard deviation values used for input normalization [R, G, B].", | ||
| "items": { | ||
| "type": "number" | ||
| }, | ||
| "default": [58.395, 57.12, 57.375] | ||
| }, | ||
| "backlight_threshold": { | ||
| "type": "number", | ||
| "description": "If the intensity get grater than this overwrite with UNKNOWN in corresponding RoI. Note that, if the value is much higher, the node only overwrites in the harsher backlight situations. Therefore, If you wouldn't like to use this feature set this value to `1.0`. The value can be `[0.0, 1.0]`. The confidence of overwritten signal is set to `0.0`.", | ||
| "default": 0.85 | ||
| }, | ||
| "classifier_type": { | ||
| "type": "integer", | ||
| "description": "Type of classifier used. {0: hsv_filter, 1: cnn}.", | ||
| "default": 1 | ||
| }, | ||
| "classify_traffic_light_type": { | ||
| "type": "integer", | ||
| "description": "Type of traffic light to classify. {0: car, 1: pedestrian}.", | ||
| "default": 0 | ||
| } | ||
| }, | ||
| "required": [ | ||
| "approximate_sync", | ||
| "classifier_label_path", | ||
| "classifier_model_path", | ||
| "classifier_precision", | ||
| "classifier_mean", | ||
| "classifier_std", | ||
| "backlight_threshold", | ||
| "classifier_type", | ||
| "classify_traffic_light_type" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/car_traffic_light_classifier" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
89 changes: 89 additions & 0 deletions
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.../autoware_traffic_light_classifier/schema/pedestrian_traffic_light_classifier.schema.json
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|---|---|---|
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| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "autoware_traffic_light_classifier parameter", | ||
| "type": "object", | ||
| "definitions": { | ||
| "pedestrian_traffic_light_classifier": { | ||
| "type": "object", | ||
| "properties": { | ||
| "approximate_sync": { | ||
| "type": "boolean", | ||
| "description": "Enable or disable approximate synchronization.", | ||
| "default": false | ||
| }, | ||
| "classifier_label_path": { | ||
| "type": "string", | ||
| "description": "Path to the label file for the traffic light classifier.", | ||
| "default": "$(var traffic_light_classifier_model_path)/$(var pedestrian_traffic_light_classifier_label_name)" | ||
| }, | ||
| "classifier_model_path": { | ||
| "type": "string", | ||
| "description": "Path to the ONNX model file for the traffic light classifier.", | ||
| "default": "$(var traffic_light_classifier_model_path)/$(var pedestrian_traffic_light_classifier_model_name).onnx" | ||
| }, | ||
| "classifier_precision": { | ||
| "type": "string", | ||
| "description": "Precision used for traffic light classifier inference. Valid values: [fp32, fp16, int8].", | ||
| "default": "fp16" | ||
| }, | ||
| "classifier_mean": { | ||
| "type": "array", | ||
| "description": "Mean values used for input normalization [R, G, B].", | ||
| "items": { | ||
| "type": "number" | ||
| }, | ||
| "default": [123.675, 116.28, 103.53] | ||
| }, | ||
| "classifier_std": { | ||
| "type": "array", | ||
| "description": "Standard deviation values used for input normalization [R, G, B].", | ||
| "items": { | ||
| "type": "number" | ||
| }, | ||
| "default": [58.395, 57.12, 57.375] | ||
| }, | ||
| "backlight_threshold": { | ||
| "type": "number", | ||
| "description": "If the intensity get grater than this overwrite with UNKNOWN in corresponding RoI. Note that, if the value is much higher, the node only overwrites in the harsher backlight situations. Therefore, If you wouldn't like to use this feature set this value to `1.0`. The value can be `[0.0, 1.0]`. The confidence of overwritten signal is set to `0.0`.", | ||
| "default": 0.85 | ||
| }, | ||
| "classifier_type": { | ||
| "type": "integer", | ||
| "description": "Type of classifier used. {0: hsv_filter, 1: cnn}.", | ||
| "default": 1 | ||
| }, | ||
| "classify_traffic_light_type": { | ||
| "type": "integer", | ||
| "description": "Type of traffic light to classify. {0: car, 1: pedestrian}.", | ||
| "default": 1 | ||
| } | ||
| }, | ||
| "required": [ | ||
| "approximate_sync", | ||
| "classifier_label_path", | ||
| "classifier_model_path", | ||
| "classifier_precision", | ||
| "classifier_mean", | ||
| "classifier_std", | ||
| "backlight_threshold", | ||
| "classifier_type", | ||
| "classify_traffic_light_type" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/pedestrian_traffic_light_classifier" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
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