fix: refactor

Signed-off-by: badai-nguyen <[email protected]>
autowarefoundation · Jan 23, 2025 · abe46bb · abe46bb
1 parent d5cfb5e
commit abe46bb
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Showing 10 changed files with 199 additions and 101 deletions.
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -95,7 +95,8 @@
 
   <!-- Traffic light recognition parameters -->
   <arg name="use_traffic_light_recognition" default="false"/>
-  <arg name="traffic_light_recognition/enable_fine_detection" default="true"/>
+  <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/fusion_only" default="false"/>
   <arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>
   <arg
@@ -296,7 +297,9 @@
     <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="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
+        <arg name="use_ml_detector" value="$(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 data_path)"/>
         <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)"/>

diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="enable_image_decompressor" default="true" description="enable image decompressor"/>
-  <arg name="enable_fine_detection" default="true" description="enable fine position adjustment of traffic light"/>
+  <arg name="use_ml_detector" default="true" description="enable fine position adjustment of traffic light"/>
+  <arg name="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="fusion_only" default="false" description="launch only occlusion_predictor and multi_camera_fusion"/>
   <arg name="input/cloud" default="/sensing/lidar/top/pointcloud_raw_ex" description="point cloud for occlusion prediction"/>
   <arg name="judged/traffic_signals" default="/perception/traffic_light_recognition/judged/traffic_signals"/>
@@ -13,6 +14,8 @@
   <arg name="all_camera_namespaces" default="[camera6, camera7]"/>
 
   <!-- ML parameters -->
+  <arg name="whole_image_detector_model_path" default="/home/autoware/autoware_data"/>
+  <arg name="whole_image_detector_model_name" default="tlr_car_ped_yolox_s_960_960_batch_1.onnx"/>
   <arg name="fine_detector_param_path" default="$(find-pkg-share autoware_traffic_light_fine_detector)/config/traffic_light_fine_detector.param.yaml"/>
   <arg name="car_classifier_param_path" default="$(find-pkg-share autoware_traffic_light_classifier)/config/car_traffic_light_classifier.param.yaml"/>
   <arg name="pedestrian_classifier_param_path" default="$(find-pkg-share autoware_traffic_light_classifier)/config/pedestrian_traffic_light_classifier.param.yaml"/>
@@ -32,20 +35,37 @@
     </include>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light_map_based_detector.launch.py">
       <arg name="all_camera_namespaces" value="$(var all_camera_namespaces)"/>
-      <arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
+      <arg name="use_ml_detector" value="$(var use_ml_detector)"/>
     </include>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light_node_container.launch.py">
       <arg name="all_camera_namespaces" value="$(var all_camera_namespaces)"/>
       <arg name="enable_image_decompressor" value="$(var enable_image_decompressor)"/>
-      <arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
+      <arg name="ml_detection_model_type" value="$(var ml_detection_model_type)"/>
+      <arg name="use_ml_detector" value="$(var use_ml_detector)"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
+      <arg name="whole_image_detector_model_path" value="$(var whole_image_detector_model_path)"/>
+      <arg name="whole_image_detector_model_name" value="$(var whole_image_detector_model_name)"/>
       <arg name="fine_detector_param_path" value="$(var fine_detector_param_path)"/>
       <arg name="car_classifier_param_path" value="$(var car_classifier_param_path)"/>
       <arg name="pedestrian_classifier_param_path" value="$(var pedestrian_classifier_param_path)"/>
     </include>
   </group>
 
+  <group if="$(eval &quot;'$(var ml_detection_model_type)'=='whole_image_detection_model'&quot;)">
+    <include file="$(find-pkg-share autoware_traffic_light_signals_merger)/launch/traffic_light_signals_merger.launch.xml">
+      <arg name="all_camera_namespaces" value="$(var all_camera_namespaces)"/>
+    </include>
+  </group>
+
+  <!-- traffic_light_occlusion_predictor on each camera -->
+  <group if="$(eval &quot;'$(var ml_detection_model_type)'=='fine_detection_model'&quot;)">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light_occlusion_predictor.launch.py">
+      <arg name="all_camera_namespaces" value="$(var all_camera_namespaces)"/>
+      <arg name="input/cloud" value="$(var input/cloud)"/>
+    </include>
+  </group>
+
   <!-- traffic_light_multi_camera_fusion -->
   <group>
     <node pkg="autoware_traffic_light_multi_camera_fusion" exec="traffic_light_multi_camera_fusion_node" name="traffic_light_multi_camera_fusion" output="screen">

diff --git a/...ier4_perception_launch/launch/traffic_light_recognition/traffic_light_detector.launch.xml b/...ier4_perception_launch/launch/traffic_light_recognition/traffic_light_detector.launch.xml
diff --git a/...eption_launch/launch/traffic_light_recognition/traffic_light_map_based_detector.launch.py b/...eption_launch/launch/traffic_light_recognition/traffic_light_map_based_detector.launch.py
@@ -32,7 +32,7 @@ def create_traffic_light_map_based_detector(namespace, context):
 
     output_rois = (
         "rough/rois"
-        if IfCondition(LaunchConfiguration("enable_fine_detection")).evaluate(context)
+        if IfCondition(LaunchConfiguration("use_ml_detector")).evaluate(context)
         else f"/perception/traffic_light_recognition/{namespace}/detection/rois"
     )
 
@@ -56,27 +56,6 @@ def create_traffic_light_map_based_detector(namespace, context):
     return group
 
 
-def create_traffic_light_detector(namespace, context):
-    package = FindPackageShare("tier4_perception_launch")
-    include = PathJoinSubstitution(
-        [package, "launch/traffic_light_recognition/traffic_light_detector.launch.xml"]
-    )
-    arguments = {
-        "namespace": namespace,
-        "use_decompress": "true",
-    }.items()
-
-    group = GroupAction(
-        [
-            PushRosNamespace(namespace),
-            PushRosNamespace("detection"),
-            IncludeLaunchDescription(include, launch_arguments=arguments),
-        ]
-    )
-
-    return group
-
-
 def launch_setup(context, *args, **kwargs):
     # Load all camera namespaces
     all_camera_namespaces = LaunchConfiguration("all_camera_namespaces").perform(context)
@@ -97,13 +76,6 @@ def launch_setup(context, *args, **kwargs):
         create_traffic_light_map_based_detector(namespace, context)
         for namespace in all_camera_namespaces
     ]
-
-    _ = [
-        traffic_light_recognition_containers.append(
-            create_traffic_light_detector(namespace, context)
-        )
-        for namespace in all_camera_namespaces
-    ]
     return traffic_light_recognition_containers
 
 
@@ -118,9 +90,9 @@ def add_launch_arg(name: str, default_value=None, description=None):
 
     add_launch_arg("all_camera_namespaces", "[camera6, camera7]")
     add_launch_arg(
-        "enable_fine_detection",
+        "use_ml_detector",
         "True",
-        "If True, output_topic will be for fine detector, otherwise for classifier",
+        "If True, output_topic will be for ml detector, otherwise for classifier",
     )
 
     return launch.LaunchDescription(