feat(traffic_light_classifier): update classifier model #2820

wep21 · 2023-02-06T21:42:01Z

Description

support model trained with mmclassification
add single image debug node

Tests performed

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wep21 · 2023-02-06T21:43:57Z

new model

ros2 run traffic_light_classifier single_image_debug_inference --ros-args -p image_path:=/home/daisuke/Downloads/sample.jpg -p classifier_type:=1 -p label_file_path:=/home/daisuke/Downloads/lamp_labels.txt -p model_file_path:=/home/daisuke/Downloads/end2end.onnx -p input_name:=input -p output_name:=output

wep21 · 2023-02-06T21:45:30Z

old model

ros2 run traffic_light_classifier single_image_debug_inference --ros-args -p image_path:=/home/daisuke/Downloads/sample.jpg -p classifier_type:=1 -p label_file_path:=src/universe/autoware.universe/perception/traffic_light_classifier/data/lamp_labels.txt -p model_file_path:=src/universe/autoware.universe/perception/traffic_light_classifier/data/traffic_light_classifier_mobilenetv2.onnx -p input_name:=input_0 -p output_name:=output_0 -p apply_softmax:=true

codecov · 2023-02-06T21:51:51Z

Codecov Report

Base: 11.79% // Head: 11.79% // Increases project coverage by +0.00% 🎉

Coverage data is based on head (05227b8) compared to base (476afcb).
Patch has no changes to coverable lines.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #2820   +/-   ##
=======================================
  Coverage   11.79%   11.79%           
=======================================
  Files        1320     1320           
  Lines       92373    92366    -7     
  Branches    24794    24794           
=======================================
  Hits        10899    10899           
+ Misses      70115    70108    -7     
  Partials    11359    11359

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <ø> (?)`
total	`11.79% <ø> (+<0.01%)`	⬆️	Carriedforward from 658b434

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...nclude/traffic_light_classifier/cnn_classifier.hpp	`0.00% <ø> (ø)`
...on/traffic_light_classifier/src/cnn_classifier.cpp	`0.00% <ø> (ø)`
...tion/traffic_light_classifier/utils/trt_common.cpp	`0.00% <ø> (ø)`
...tion/traffic_light_classifier/utils/trt_common.hpp	`0.00% <ø> (ø)`
...erception/traffic_light_classifier/src/nodelet.cpp	`0.00% <0.00%> (ø)`

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perception/traffic_light_classifier/src/single_image_inference_node.cpp

yukkysaito

LGTM
please get approval from @xmfcx @kaancolak

wep21 · 2023-02-08T09:12:08Z

I added some fixes to support arrow signals.

wep21 · 2023-02-14T07:28:18Z

@xmfcx @kaancolak friendly ping

kaancolak

Hi Daisuke-san, sorry for the delay. LGTM, I just left a simple comment.

kaancolak · 2023-02-16T09:26:10Z

perception/traffic_light_classifier/src/cnn_classifier.cpp

@@ -39,10 +39,13 @@ CNNClassifier::CNNClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr)
  input_c_ = node_ptr_->declare_parameter("input_c", 3);
  input_h_ = node_ptr_->declare_parameter("input_h", 224);
  input_w_ = node_ptr_->declare_parameter("input_w", 224);
+  auto input_name = node_ptr_->declare_parameter("input_name", "input_0");
+  auto output_name = node_ptr_->declare_parameter("output_name", "output_0");
+  apply_softmax_ = node_ptr_->declare_parameter("apply_softmax", false);


Would it be helpful to also declare std and mean here? for people who use their custom-trained models

like this Pr : #2794

Yes, I think so. We can merge the PR after merging this PR.

Also, ı would like to add, really loved this single inference debug tool, really useful for users, thanks for it :)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

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>

…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>

wep21 requested review from yukkysaito and a team as code owners February 6, 2023 21:42

github-actions bot added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Feb 6, 2023

wep21 requested review from ktro2828, Mingyu1991 and miursh February 6, 2023 21:42

wep21 force-pushed the feature/update-tlr-classifier branch 2 times, most recently from a0d54e0 to ae132b4 Compare February 6, 2023 21:50

yukkysaito reviewed Feb 7, 2023

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perception/traffic_light_classifier/src/single_image_inference_node.cpp Outdated Show resolved Hide resolved

wep21 requested review from yukkysaito and xmfcx February 7, 2023 01:38

xmfcx requested a review from kaancolak February 7, 2023 08:58

wep21 force-pushed the feature/update-tlr-classifier branch from eb91252 to b748a82 Compare February 7, 2023 10:56

yukkysaito approved these changes Feb 7, 2023

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ktro2828 approved these changes Feb 8, 2023

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kaancolak reviewed Feb 16, 2023

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kaancolak approved these changes Feb 16, 2023

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wep21 added 8 commits February 16, 2023 22:28

feat: update traffic light classifier

61fa501

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

remove unused file

d1a7573

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>

remove unused header

840c0b6

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>

add variable to apply softmax

9429562

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>

update visualization

7442b73

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>

apply pre-commit

3a6d498

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>

add debug term

b1e33ad

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>

change default parameter

f1ba2a1

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

wep21 added 2 commits February 16, 2023 22:28

fix debug node

b6fbddd

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

change default node name

658b434

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

wep21 force-pushed the feature/update-tlr-classifier branch from b484e97 to 658b434 Compare February 16, 2023 13:28

change default

05227b8

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>

wep21 force-pushed the feature/update-tlr-classifier branch from 3234900 to 05227b8 Compare February 16, 2023 14:11

wep21 enabled auto-merge (squash) February 16, 2023 14:15

wep21 merged commit 0dc2247 into main Feb 16, 2023

wep21 deleted the feature/update-tlr-classifier branch February 16, 2023 14:22

tier4-autoware-public-bot bot mentioned this pull request Feb 17, 2023

chore: sync upstream tier4/autoware.universe#279

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feat(traffic_light_classifier): update classifier model #2820

feat(traffic_light_classifier): update classifier model #2820

wep21 commented Feb 6, 2023

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feat(traffic_light_classifier): update classifier model #2820

feat(traffic_light_classifier): update classifier model #2820

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wep21 commented Feb 6, 2023

Description

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