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feat(traffic_light_classifier): update classifier model (autowarefoun…
…dation#2820) * feat: update traffic light classifier Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * remove unused file Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * remove unused header Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * add variable to apply softmax Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * update visualization Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * apply pre-commit Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * add debug term Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * change default parameter Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix debug node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * change default node name Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * change default Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> --------- Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
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perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp
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| // Copyright 2023 Tier IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
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| #include <rclcpp/rclcpp.hpp> | ||
|
|
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| #if ENABLE_GPU | ||
| #include <traffic_light_classifier/cnn_classifier.hpp> | ||
| #endif | ||
|
|
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| #include <traffic_light_classifier/color_classifier.hpp> | ||
| #include <traffic_light_classifier/nodelet.hpp> | ||
|
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| #include <memory> | ||
| #include <string> | ||
|
|
||
| namespace | ||
| { | ||
| std::string toString(const uint8_t state) | ||
| { | ||
| if (state == autoware_auto_perception_msgs::msg::TrafficLight::RED) { | ||
| return "red"; | ||
| } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::AMBER) { | ||
| return "yellow"; | ||
| } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::GREEN) { | ||
| return "green"; | ||
| } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::WHITE) { | ||
| return "white"; | ||
| } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::CIRCLE) { | ||
| return "circle"; | ||
| } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::LEFT_ARROW) { | ||
| return "left"; | ||
| } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::RIGHT_ARROW) { | ||
| return "right"; | ||
| } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::UP_ARROW) { | ||
| return "straight"; | ||
| } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::DOWN_ARROW) { | ||
| return "down"; | ||
| } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::DOWN_LEFT_ARROW) { | ||
| return "down_left"; | ||
| } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::DOWN_RIGHT_ARROW) { | ||
| return "down_right"; | ||
| } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::CROSS) { | ||
| return "cross"; | ||
| } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::UNKNOWN) { | ||
| return "unknown"; | ||
| } else { | ||
| return ""; | ||
| } | ||
| } | ||
| } // namespace | ||
|
|
||
| namespace traffic_light | ||
| { | ||
| class SingleImageDebugInferenceNode : public rclcpp::Node | ||
| { | ||
| public: | ||
| explicit SingleImageDebugInferenceNode(const rclcpp::NodeOptions & node_options) | ||
| : Node("single_image_debug_inference", node_options) | ||
| { | ||
| const auto image_path = declare_parameter("image_path", ""); | ||
|
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| int classifier_type = this->declare_parameter( | ||
| "classifier_type", | ||
| static_cast<int>(TrafficLightClassifierNodelet::ClassifierType::HSVFilter)); | ||
| if (classifier_type == TrafficLightClassifierNodelet::ClassifierType::HSVFilter) { | ||
| classifier_ptr_ = std::make_unique<ColorClassifier>(this); | ||
| } else if (classifier_type == TrafficLightClassifierNodelet::ClassifierType::CNN) { | ||
| #if ENABLE_GPU | ||
| classifier_ptr_ = std::make_unique<CNNClassifier>(this); | ||
| #else | ||
| RCLCPP_ERROR(get_logger(), "please install CUDA, CUDNN and TensorRT to use cnn classifier"); | ||
| #endif | ||
| } | ||
|
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| image_ = cv::imread(image_path); | ||
| if (image_.empty()) { | ||
| RCLCPP_ERROR(get_logger(), "image is empty"); | ||
| return; | ||
| } | ||
| cv::namedWindow("inference image", cv::WINDOW_NORMAL); | ||
| cv::setMouseCallback("inference image", SingleImageDebugInferenceNode::onMouse, this); | ||
|
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| cv::imshow("inference image", image_); | ||
|
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| // loop until q character is pressed | ||
| while (cv::waitKey(0) != 113) { | ||
| } | ||
| cv::destroyAllWindows(); | ||
| rclcpp::shutdown(); | ||
| } | ||
|
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| private: | ||
| static void onMouse(int event, int x, int y, int flags, void * param) | ||
| { | ||
| SingleImageDebugInferenceNode * node = static_cast<SingleImageDebugInferenceNode *>(param); | ||
| if (node) { | ||
| node->inferWithCrop(event, x, y, flags); | ||
| } | ||
| } | ||
|
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| void inferWithCrop(int action, int x, int y, [[maybe_unused]] int flags) | ||
| { | ||
| if (action == cv::EVENT_LBUTTONDOWN) { | ||
| top_left_corner_ = cv::Point(x, y); | ||
| } else if (action == cv::EVENT_LBUTTONUP) { | ||
| bottom_right_corner_ = cv::Point(x, y); | ||
| cv::Mat tmp = image_.clone(); | ||
| cv::Mat crop = image_(cv::Rect{top_left_corner_, bottom_right_corner_}).clone(); | ||
| if (crop.empty()) { | ||
| RCLCPP_ERROR(get_logger(), "crop image is empty"); | ||
| return; | ||
| } | ||
| cv::cvtColor(crop, crop, cv::COLOR_BGR2RGB); | ||
| autoware_auto_perception_msgs::msg::TrafficSignal traffic_signal; | ||
| if (!classifier_ptr_->getTrafficSignal(crop, traffic_signal)) { | ||
| RCLCPP_ERROR(get_logger(), "failed to classify image"); | ||
| return; | ||
| } | ||
| cv::Scalar color; | ||
| cv::Scalar text_color; | ||
| for (const auto & light : traffic_signal.lights) { | ||
| auto color_str = toString(light.color); | ||
| auto shape_str = toString(light.shape); | ||
| auto confidence_str = std::to_string(light.confidence); | ||
| if (shape_str == "circle") { | ||
| if (color_str == "red") { | ||
| color = cv::Scalar(0, 0, 255); | ||
| } else if (color_str == "green") { | ||
| color = cv::Scalar(0, 255, 0); | ||
| } else if (color_str == "yellow") { | ||
| color = cv::Scalar(0, 255, 255); | ||
| } else if (color_str == "white") { | ||
| color = cv::Scalar(0, 0, 0); | ||
| } else { | ||
| color = cv::Scalar(255, 255, 255); | ||
| } | ||
| } | ||
| RCLCPP_INFO_STREAM(get_logger(), color_str << " " << shape_str << " " << confidence_str); | ||
| } | ||
| cv::rectangle(tmp, top_left_corner_, bottom_right_corner_, color, 2, 8); | ||
| cv::imshow("inference image", tmp); | ||
| } | ||
| } | ||
|
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| cv::Point top_left_corner_; | ||
| cv::Point bottom_right_corner_; | ||
| cv::Mat image_; | ||
| std::unique_ptr<ClassifierInterface> classifier_ptr_; | ||
| }; | ||
| } // namespace traffic_light | ||
|
|
||
| #include "rclcpp_components/register_node_macro.hpp" | ||
| RCLCPP_COMPONENTS_REGISTER_NODE(traffic_light::SingleImageDebugInferenceNode) |
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