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karishma1911karishma1911
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perception-traffic-light-classifier
Signed-off-by: karishma <karishma@interpl.ai>
1 parent 60b4030 commit 8f6a83d

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3 files changed

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‎perception/traffic_light_classifier/schema/traffic_light_classifier.json

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Original file line numberDiff line numberDiff line change
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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for traffic_light_classifier",
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"type": "object",
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"definitions": {
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"traffic_light_classifier": {
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"type": "object",
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"properties": {
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"classifier_label_path": {
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"type": "string",
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"default": "labels.txt",
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"description": "path to the model file."
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},
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"classifier_model_path": {
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"type": "string",
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"default": "model.onnx",
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"description": "path to the label file."
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},
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"classifier_precision": {
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"type": "string",
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"default": "fp16",
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"description": "TensorRT precision, `fp16` or `int8."
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},
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"classifier_mean": {
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"type": "number",
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"default": 123.675,
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"description": "3-channel input image mean."
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},
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"classifier_std": {
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"type": "number",
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"default": 58.395,
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"description": "3-channel input image std."
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},
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"apply_softmax": {
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"type": "boolean",
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"description": "whether or not apply softmax."
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},
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"green_min_h": {
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"type": "number",
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"default": 10,
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"description": "the minimum hue of green color."
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},
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"green_min_s": {
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"type": "number",
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"default": 100,
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"description": "the minimum saturation of green color."
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},
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"green_min_v": {
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"type": "number",
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"default": 150,
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"description": "the minimum value (brightness) of green color."
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},
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"green_max_h": {
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"type": "number",
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"default": 120,
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"description": "the maximum hue of green color."
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},
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"green_max_s": {
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"type": "number",
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"default": 200,
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"description": "the maximum saturation of green color."
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},
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"green_max_v": {
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"type": "number",
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"default": 255,
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"description": "the maximum value (brightness) of green color."
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},
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"yellow_min_h": {
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"type": "number",
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"default": 0,
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"description": "the minimum hue of yellow color."
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},
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"yellow_min_s": {
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"type": "number",
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"default": 80,
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"description": "the minimum saturation of yellow color."
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},
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"yellow_min_v": {
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"type": "number",
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"default": 150,
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"description": "the minimum value (brightness) of yellow color."
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},
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"yellow_max_h": {
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"type": "number",
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"default": 50,
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"description": "the maximum hue of yellow color."
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},
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"yellow_max_s": {
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"type": "number",
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"default": 200,
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"description": "the maximum saturation of yellow color."
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},
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"yellow_max_v": {
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"type": "number",
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"default": 255,
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"description": "the maximum value (brightness) of yellow color."
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},
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"red_min_h": {
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"type": "number",
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"default": 160,
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"description": "the minimum hue of red color."
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},
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"red_min_s": {
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"type": "number",
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"default": 100,
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"description": "the minimum saturation of red color."
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},
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"red_min_v": {
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"type": "number",
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"default": 150,
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"description": "the minimum value (brightness) of red color."
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},
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"red_max_h": {
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"type": "number",
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"default": 180,
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"description": "the maximum hue of red color."
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},
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"red_max_s": {
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"type": "number",
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"default": 255,
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"description": "the maximum saturation of red color."
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},
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"red_max_v": {
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"type": "number",
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"default": 255,
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"description": "the maximum value (brightness) of red color."
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}
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},
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"required": [
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"warn_rate",
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"window_size",
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"timeout",
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"error_rate",
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"update_rate",
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"topic",
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"transient_local",
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"best_effort",
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"diag_name"
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]
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/traffic_light_classifier"
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}
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},
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"required": ["ros__parameters"]
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}
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},
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"required": ["/**"]
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}

‎perception/traffic_light_classifier/src/cnn_classifier.cpp

+3-3
Original file line numberDiff line numberDiff line change
@@ -33,9 +33,9 @@ CNNClassifier::CNNClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr)
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std::string precision;
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std::string label_file_path;
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std::string model_file_path;
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precision = node_ptr_->declare_parameter("classifier_precision", "fp16");
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label_file_path = node_ptr_->declare_parameter("classifier_label_path", "labels.txt");
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model_file_path = node_ptr_->declare_parameter("classifier_model_path", "model.onnx");
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precision = node_ptr_->declare_parameter<std::string>("classifier_precision");
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label_file_path = node_ptr_->declare_parameter<std::string>("classifier_label_path");
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model_file_path = node_ptr_->declare_parameter<std::string>("classifier_model_path");
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// ros param does not support loading std::vector<float>
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// we have to load std::vector<double> and transfer to std::vector<float>
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auto mean_d =

‎perception/traffic_light_classifier/src/color_classifier.cpp

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Original file line numberDiff line numberDiff line change
@@ -27,24 +27,24 @@ ColorClassifier::ColorClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr)
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image_pub_ = image_transport::create_publisher(
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node_ptr_, "~/debug/image", rclcpp::QoS{1}.get_rmw_qos_profile());
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hsv_config_.green_min_h = node_ptr_->declare_parameter("green_min_h", 50);
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hsv_config_.green_min_s = node_ptr_->declare_parameter("green_min_s", 100);
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hsv_config_.green_min_v = node_ptr_->declare_parameter("green_min_v", 150);
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hsv_config_.green_max_h = node_ptr_->declare_parameter("green_max_h", 120);
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hsv_config_.green_max_s = node_ptr_->declare_parameter("green_max_s", 200);
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hsv_config_.green_max_v = node_ptr_->declare_parameter("green_max_v", 255);
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hsv_config_.yellow_min_h = node_ptr_->declare_parameter("yellow_min_h", 0);
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hsv_config_.yellow_min_s = node_ptr_->declare_parameter("yellow_min_s", 80);
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hsv_config_.yellow_min_v = node_ptr_->declare_parameter("yellow_min_v", 150);
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hsv_config_.yellow_max_h = node_ptr_->declare_parameter("yellow_max_h", 50);
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hsv_config_.yellow_max_s = node_ptr_->declare_parameter("yellow_max_s", 200);
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hsv_config_.yellow_max_v = node_ptr_->declare_parameter("yellow_max_v", 255);
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hsv_config_.red_min_h = node_ptr_->declare_parameter("red_min_h", 160);
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hsv_config_.red_min_s = node_ptr_->declare_parameter("red_min_s", 100);
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hsv_config_.red_min_v = node_ptr_->declare_parameter("red_min_v", 150);
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hsv_config_.red_max_h = node_ptr_->declare_parameter("red_max_h", 180);
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hsv_config_.red_max_s = node_ptr_->declare_parameter("red_max_s", 255);
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hsv_config_.red_max_v = node_ptr_->declare_parameter("red_max_v", 255);
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hsv_config_.green_min_h = node_ptr_->declare_parameter<int>("green_min_h");
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hsv_config_.green_min_s = node_ptr_->declare_parameter<int>("green_min_s");
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hsv_config_.green_min_v = node_ptr_->declare_parameter<int>("green_min_v");
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hsv_config_.green_max_h = node_ptr_->declare_parameter<int>("green_max_h");
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hsv_config_.green_max_s = node_ptr_->declare_parameter<int>("green_max_s");
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hsv_config_.green_max_v = node_ptr_->declare_parameter<int>("green_max_v");
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hsv_config_.yellow_min_h = node_ptr_->declare_parameter<int>("yellow_min_h");
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hsv_config_.yellow_min_s = node_ptr_->declare_parameter<int>("yellow_min_s");
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hsv_config_.yellow_min_v = node_ptr_->declare_parameter<int>("yellow_min_v");
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hsv_config_.yellow_max_h = node_ptr_->declare_parameter<int>("yellow_max_h");
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hsv_config_.yellow_max_s = node_ptr_->declare_parameter<int>("yellow_max_s");
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hsv_config_.yellow_max_v = node_ptr_->declare_parameter<int>("yellow_max_v");
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hsv_config_.red_min_h = node_ptr_->declare_parameter<int>("red_min_h");
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hsv_config_.red_min_s = node_ptr_->declare_parameter<int>("red_min_s");
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hsv_config_.red_min_v = node_ptr_->declare_parameter<int>("red_min_v");
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hsv_config_.red_max_h = node_ptr_->declare_parameter<int>("red_max_h");
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hsv_config_.red_max_s = node_ptr_->declare_parameter<int>("red_max_s");
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hsv_config_.red_max_v = node_ptr_->declare_parameter<int>("red_max_v");
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// set parameter callback
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set_param_res_ = node_ptr_->add_on_set_parameters_callback(

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