chore(traffic_light_fine_detector_and_classifier): rework parameters

launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml

@@ -24,12 +24,9 @@
   <let name="all_camera_namespaces" value="[$(var namespace1)]" if="$(eval &quot; '$(var image_number)' == '1' &quot;)"/>
   <let name="all_camera_namespaces" value="[$(var namespace1), $(var namespace2)]" if="$(eval &quot; '$(var image_number)' >= '2' &quot;)"/>
 
-  <arg name="fine_detector_label_path" default="$(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_label_name)"/>
-  <arg name="fine_detector_model_path" default="$(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_model_name).onnx"/>
-  <arg name="car_classifier_label_path" default="$(var traffic_light_classifier_model_path)/$(var car_traffic_light_classifier_label_name)"/>
-  <arg name="pedestrian_classifier_label_path" default="$(var traffic_light_classifier_model_path)/$(var pedestrian_traffic_light_classifier_label_name)"/>
-  <arg name="car_classifier_model_path" default="$(var traffic_light_classifier_model_path)/$(var car_traffic_light_classifier_model_name).onnx"/>
-  <arg name="pedestrian_classifier_model_path" default="$(var traffic_light_classifier_model_path)/$(var pedestrian_traffic_light_classifier_model_name).onnx"/>
+  <arg name="fine_detector_param_path" default="$(find-pkg-share traffic_light_fine_detector)/config/traffic_light_fine_detector.param.yaml"/>
+  <arg name="car_classifier_param_path" default="$(find-pkg-share traffic_light_classifier)/config/car_traffic_light_classifier.param.yaml"/>
+  <arg name="pedestrian_classifier_param_path" default="$(find-pkg-share traffic_light_classifier)/config/pedestrian_traffic_light_classifier.param.yaml"/>
 
   <!-- namespace1 camera TLR pipeline -->
   <group>
@@ -62,12 +59,9 @@
         <arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
         <arg name="use_intra_process" value="true"/>
         <arg name="use_multithread" value="true"/>
-        <arg name="fine_detector_label_path" value="$(var fine_detector_label_path)"/>
-        <arg name="fine_detector_model_path" value="$(var fine_detector_model_path)"/>
-        <arg name="car_classifier_label_path" value="$(var car_classifier_label_path)"/>
-        <arg name="pedestrian_classifier_label_path" value="$(var pedestrian_classifier_label_path)"/>
-        <arg name="car_classifier_model_path" value="$(var car_classifier_model_path)"/>
-        <arg name="pedestrian_classifier_model_path" value="$(var pedestrian_classifier_model_path)"/>
+        <arg name="fine_detector_param_path" value="$(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)"/>
         <arg name="output/rois" value="$(var output/rois1)"/>
         <arg name="output/traffic_signals" value="$(var output/traffic_signals1)"/>
         <arg name="output/car/traffic_signals" value="$(var output/car/traffic_signals1)"/>
@@ -119,12 +113,9 @@
         <arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
         <arg name="use_intra_process" value="true"/>
         <arg name="use_multithread" value="true"/>
-        <arg name="fine_detector_label_path" value="$(var fine_detector_label_path)"/>
-        <arg name="fine_detector_model_path" value="$(var fine_detector_model_path)"/>
-        <arg name="car_classifier_label_path" value="$(var car_classifier_label_path)"/>
-        <arg name="pedestrian_classifier_label_path" value="$(var pedestrian_classifier_label_path)"/>
-        <arg name="car_classifier_model_path" value="$(var car_classifier_model_path)"/>
-        <arg name="pedestrian_classifier_model_path" value="$(var pedestrian_classifier_model_path)"/>
+        <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="$(var pedestrian_classifier_param_path)"/>
         <arg name="output/rois" value="$(var output/rois2)"/>
         <arg name="output/traffic_signals" value="$(var output/traffic_signals2)"/>
         <arg name="output/car/traffic_signals" value="$(var output/car/traffic_signals2)"/>

launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py

@@ -17,234 +17,200 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
+from launch.actions import OpaqueFunction
 from launch.actions import SetLaunchConfiguration
 from launch.conditions import IfCondition
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
+from launch_ros.parameter_descriptions import ParameterFile
 
 
-def generate_launch_description():
-    launch_arguments = []
-
-    def add_launch_arg(name: str, default_value=None, description=None):
-        # a default_value of None is equivalent to not passing that kwarg at all
-        launch_arguments.append(
-            DeclareLaunchArgument(name, default_value=default_value, description=description)
-        )
-
-    fine_detector_share_dir = get_package_share_directory("traffic_light_fine_detector")
-    classifier_share_dir = get_package_share_directory("traffic_light_classifier")
-    add_launch_arg("enable_image_decompressor", "True")
-    add_launch_arg("enable_fine_detection", "True")
-    add_launch_arg("input/image", "/sensing/camera/traffic_light/image_raw")
-    add_launch_arg("output/rois", "/perception/traffic_light_recognition/rois")
-    add_launch_arg(
-        "output/traffic_signals",
-        "/perception/traffic_light_recognition/traffic_signals",
-    )
-    add_launch_arg(
-        "output/car/traffic_signals", "/perception/traffic_light_recognition/car/traffic_signals"
-    )
-    add_launch_arg(
-        "output/pedestrian/traffic_signals",
-        "/perception/traffic_light_recognition/pedestrian/traffic_signals",
-    )
-
-    # traffic_light_fine_detector
-    add_launch_arg(
-        "fine_detector_model_path",
-        os.path.join(fine_detector_share_dir, "data", "tlr_yolox_s.onnx"),
-    )
-    add_launch_arg(
-        "fine_detector_label_path",
-        os.path.join(fine_detector_share_dir, "data", "tlr_labels.txt"),
-    )
-    add_launch_arg("fine_detector_precision", "fp16")
-    add_launch_arg("fine_detector_score_thresh", "0.3")
-    add_launch_arg("fine_detector_nms_thresh", "0.65")
-
-    add_launch_arg("approximate_sync", "False")
-
-    # traffic_light_classifier
-    add_launch_arg("classifier_type", "1")
-    add_launch_arg(
-        "car_classifier_model_path",
-        os.path.join(classifier_share_dir, "data", "traffic_light_classifier_efficientNet_b1.onnx"),
-    )
-    add_launch_arg(
-        "pedestrian_classifier_model_path",
-        os.path.join(
-            classifier_share_dir, "data", "pedestrian_traffic_light_classifier_efficientNet_b1.onnx"
-        ),
-    )
-    add_launch_arg(
-        "car_classifier_label_path", os.path.join(classifier_share_dir, "data", "lamp_labels.txt")
-    )
-    add_launch_arg(
-        "pedestrian_classifier_label_path",
-        os.path.join(classifier_share_dir, "data", "lamp_labels_ped.txt"),
-    )
-    add_launch_arg("classifier_precision", "fp16")
-    add_launch_arg("classifier_mean", "[123.675, 116.28, 103.53]")
-    add_launch_arg("classifier_std", "[58.395, 57.12, 57.375]")
-    add_launch_arg("backlight_threshold", "0.85")
-
-    add_launch_arg("use_intra_process", "False")
-    add_launch_arg("use_multithread", "False")
-
+def launch_setup(context, *args, **kwargs):
     def create_parameter_dict(*args):
         result = {}
         for x in args:
             result[x] = LaunchConfiguration(x)
         return result
 
+    fine_detector_model_param = ParameterFile(
+        param_file=LaunchConfiguration("fine_detector_param_path").perform(context),
+        allow_substs=True,
+    )
+    car_traffic_light_classifier_model_param = ParameterFile(
+        param_file=LaunchConfiguration("car_classifier_param_path").perform(context),
+        allow_substs=True,
+    )
+    pedestrian_traffic_light_classifier_model_param = ParameterFile(
+        param_file=LaunchConfiguration("pedestrian_classifier_param_path").perform(context),
+        allow_substs=True,
+    )
+
     container = ComposableNodeContainer(
         name="traffic_light_node_container",
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=[
             ComposableNode(
                 package="traffic_light_classifier",
                 plugin="traffic_light::TrafficLightClassifierNodelet",
                 name="car_traffic_light_classifier",
                 namespace="classification",
-                parameters=[
-                    {
-                        "approximate_sync": LaunchConfiguration("approximate_sync"),
-                        "classifier_type": LaunchConfiguration("classifier_type"),
-                        "classify_traffic_light_type": 0,
-                        "classifier_model_path": LaunchConfiguration("car_classifier_model_path"),
-                        "classifier_label_path": LaunchConfiguration("car_classifier_label_path"),
-                        "classifier_precision": LaunchConfiguration("classifier_precision"),
-                        "classifier_mean": LaunchConfiguration("classifier_mean"),
-                        "classifier_std": LaunchConfiguration("classifier_std"),
-                        "backlight_threshold": LaunchConfiguration("backlight_threshold"),
-                    }
-                ],
+                parameters=[car_traffic_light_classifier_model_param],
                 remappings=[
                     ("~/input/image", LaunchConfiguration("input/image")),
                     ("~/input/rois", LaunchConfiguration("output/rois")),
                     ("~/output/traffic_signals", "classified/car/traffic_signals"),
                 ],
                 extra_arguments=[
                     {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
                 ],
             ),
             ComposableNode(
                 package="traffic_light_classifier",
                 plugin="traffic_light::TrafficLightClassifierNodelet",
                 name="pedestrian_traffic_light_classifier",
                 namespace="classification",
-                parameters=[
-                    {
-                        "approximate_sync": LaunchConfiguration("approximate_sync"),
-                        "classifier_type": LaunchConfiguration("classifier_type"),
-                        "classify_traffic_light_type": 1,
-                        "classifier_model_path": LaunchConfiguration(
-                            "pedestrian_classifier_model_path"
-                        ),
-                        "classifier_label_path": LaunchConfiguration(
-                            "pedestrian_classifier_label_path"
-                        ),
-                        "classifier_precision": LaunchConfiguration("classifier_precision"),
-                        "classifier_mean": LaunchConfiguration("classifier_mean"),
-                        "classifier_std": LaunchConfiguration("classifier_std"),
-                        "backlight_threshold": LaunchConfiguration("backlight_threshold"),
-                    }
-                ],
+                parameters=[pedestrian_traffic_light_classifier_model_param],
                 remappings=[
                     ("~/input/image", LaunchConfiguration("input/image")),
                     ("~/input/rois", LaunchConfiguration("output/rois")),
                     ("~/output/traffic_signals", "classified/pedestrian/traffic_signals"),
                 ],
                 extra_arguments=[
                     {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
                 ],
             ),
             ComposableNode(
                 package="traffic_light_visualization",
                 plugin="traffic_light::TrafficLightRoiVisualizerNodelet",
                 name="traffic_light_roi_visualizer",
                 parameters=[create_parameter_dict("enable_fine_detection")],
                 remappings=[
                     ("~/input/image", LaunchConfiguration("input/image")),
                     ("~/input/rois", LaunchConfiguration("output/rois")),
                     ("~/input/rough/rois", "detection/rough/rois"),
                     (
                         "~/input/traffic_signals",
                         LaunchConfiguration("output/traffic_signals"),
                     ),
                     ("~/output/image", "debug/rois"),
                     ("~/output/image/compressed", "debug/rois/compressed"),
                     ("~/output/image/compressedDepth", "debug/rois/compressedDepth"),
                     ("~/output/image/theora", "debug/rois/theora"),
                 ],
                 extra_arguments=[
                     {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
                 ],
             ),
         ],
         output="both",
     )
 
     decompressor_loader = LoadComposableNodes(
         composable_node_descriptions=[
             ComposableNode(
                 package="image_transport_decompressor",
                 plugin="image_preprocessor::ImageTransportDecompressor",
                 name="traffic_light_image_decompressor",
                 parameters=[{"encoding": "rgb8"}],
                 remappings=[
                     (
                         "~/input/compressed_image",
                         [LaunchConfiguration("input/image"), "/compressed"],
                     ),
                     ("~/output/raw_image", LaunchConfiguration("input/image")),
                 ],
                 extra_arguments=[
                     {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
                 ],
             ),
         ],
         target_container=container,
         condition=IfCondition(LaunchConfiguration("enable_image_decompressor")),
     )
 
-    fine_detector_param = create_parameter_dict(
-        "fine_detector_model_path",
-        "fine_detector_label_path",
-        "fine_detector_precision",
-        "fine_detector_score_thresh",
-        "fine_detector_nms_thresh",
-    )
-
     fine_detector_loader = LoadComposableNodes(
         composable_node_descriptions=[
             ComposableNode(
                 package="traffic_light_fine_detector",
                 plugin="traffic_light::TrafficLightFineDetectorNodelet",
                 name="traffic_light_fine_detector",
                 namespace="detection",
-                parameters=[fine_detector_param],
+                parameters=[fine_detector_model_param],
                 remappings=[
                     ("~/input/image", LaunchConfiguration("input/image")),
                     ("~/input/rois", "rough/rois"),
                     ("~/expect/rois", "expect/rois"),
                     ("~/output/rois", LaunchConfiguration("output/rois")),
                 ],
                 extra_arguments=[
                     {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
                 ],
             ),
         ],
         target_container=container,
         condition=IfCondition(LaunchConfiguration("enable_fine_detection")),
     )
 
+    return [container, decompressor_loader, fine_detector_loader]
+
+
+def generate_launch_description():
+    launch_arguments = []
+
+    def add_launch_arg(name: str, default_value=None, description=None):
+        # a default_value of None is equivalent to not passing that kwarg at all
+        launch_arguments.append(
+            DeclareLaunchArgument(name, default_value=default_value, description=description)
+        )
+
+    fine_detector_share_dir = get_package_share_directory("traffic_light_fine_detector")
+    classifier_share_dir = get_package_share_directory("traffic_light_classifier")
+    add_launch_arg("enable_image_decompressor", "True")
+    add_launch_arg("enable_fine_detection", "True")
+    add_launch_arg("input/image", "/sensing/camera/traffic_light/image_raw")
+    add_launch_arg("output/rois", "/perception/traffic_light_recognition/rois")
+    add_launch_arg(
+        "output/traffic_signals",
+        "/perception/traffic_light_recognition/traffic_signals",
+    )
+    add_launch_arg(
+        "output/car/traffic_signals", "/perception/traffic_light_recognition/car/traffic_signals"
+    )
+    add_launch_arg(
+        "output/pedestrian/traffic_signals",
+        "/perception/traffic_light_recognition/pedestrian/traffic_signals",
+    )
+
+    # traffic_light_fine_detector
+    add_launch_arg(
+        "fine_detector_param_path",
+        os.path.join(fine_detector_share_dir, "config", "traffic_light_fine_detector.param.yaml"),
+    )
+
+    # traffic_light_classifier
+    add_launch_arg(
+        "car_classifier_param_path",
+        os.path.join(
+            classifier_share_dir, "config", "car_traffic_light_classifier_efficientNet.param.yaml"
+        ),
+    )
+    add_launch_arg(
+        "pedestrian_classifier_param_path",
+        os.path.join(
+            classifier_share_dir,
+            "config",
+            "pedestrian_traffic_light_classifier_efficientNet.param.yaml",
+        ),
+    )
+
+    add_launch_arg("use_intra_process", "False")
+    add_launch_arg("use_multithread", "False")
+
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
         "component_container",
@@ -262,8 +228,6 @@
             *launch_arguments,
             set_container_executable,
             set_container_mt_executable,
-            container,
-            decompressor_loader,
-            fine_detector_loader,
+            OpaqueFunction(function=launch_setup),
         ]
     )

perception/traffic_light_classifier/CMakeLists.txt

@@ -123,6 +123,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
 
   ament_auto_package(INSTALL_TO_SHARE
     launch
+    config
   )
 
 else()
@@ -147,6 +148,7 @@ else()
 
   ament_auto_package(INSTALL_TO_SHARE
     launch
+    config
   )
 
 endif()

perception/traffic_light_classifier/config/car_traffic_light_classifier.param.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    approximate_sync: false
+    classifier_label_path: "$(var traffic_light_classifier_model_path)/$(var car_traffic_light_classifier_label_name)"
+    classifier_model_path: "$(var traffic_light_classifier_model_path)/$(var car_traffic_light_classifier_model_name).onnx"
+    classifier_precision: fp16
+    classifier_mean: [123.675, 116.28, 103.53]
+    classifier_std: [58.395, 57.12, 57.375]
+    backlight_threshold: 0.85
+    classifier_type: 1 #classifier_type {hsv_filter: 0, cnn: 1}
+    classify_traffic_light_type: 0 #classify_traffic_light_type {car: 0, pedestrian:1}

perception/traffic_light_classifier/config/pedestrian_traffic_light_classifier.param.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    approximate_sync: false
+    classifier_label_path: "$(var traffic_light_classifier_model_path)/$(var pedestrian_traffic_light_classifier_label_name)"
+    classifier_model_path: "$(var traffic_light_classifier_model_path)/$(var pedestrian_traffic_light_classifier_model_name).onnx"
+    classifier_precision: fp16
+    classifier_mean: [123.675, 116.28, 103.53]
+    classifier_std: [58.395, 57.12, 57.375]
+    backlight_threshold: 0.85
+    classifier_type: 1 #classifier_type {hsv_filter: 0, cnn: 1}
+    classify_traffic_light_type: 1 #classify_traffic_light_type {car: 0, pedestrian:1}

perception/traffic_light_classifier/launch/traffic_light_classifier.launch.xml

@@ -2,32 +2,14 @@
   <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="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
-  <arg name="classifier_label_path" default="$(var data_path)/traffic_light_classifier/lamp_labels.txt" description="classifier label path"/>
-  <arg name="classifier_model_path" default="$(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx" description="classifier onnx model path"/>
-  <arg name="classifier_precision" default="fp16"/>
-
-  <arg name="use_gpu" default="true"/>
-  <!-- classifier_type {hsv_filter: 0, cnn: 1} -->
-  <arg name="classifier_type" default="1" if="$(var use_gpu)"/>
-  <arg name="classifier_type" default="0" unless="$(var use_gpu)"/>
-  <!-- classify_traffic_light_type {car: 0, pedestrian:1} -->
-  <arg name="classify_traffic_light_type" default="0"/>
-
-  <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
-  <arg name="backlight_threshold" default="0.85" description="overwrite signals if the RoI image intensity is greater than this value"/>
+  <arg name="traffic_light_classifier_param_path" default="$(find-pkg-share traffic_light_classifier)/config/traffic_light_classifier.param.yaml" description="classifier param path"/>
+  <arg name="build_only" default="false" description="exit after trt engine is built"/>
 
   <node pkg="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="$(var output/traffic_signals)"/>
-    <param name="approximate_sync" value="false"/>
-    <param name="classifier_type" value="$(var classifier_type)"/>
-    <param name="classify_traffic_light_type" value="$(var classify_traffic_light_type)"/>
-    <param name="classifier_label_path" value="$(var classifier_label_path)"/>
-    <param name="classifier_model_path" value="$(var classifier_model_path)"/>
-    <param name="classifier_precision" value="$(var classifier_precision)"/>
+    <param from="$(var traffic_light_classifier_param_path)" allow_substs="true"/>
     <param name="build_only" value="$(var build_only)"/>
-    <param name="backlight_threshold" value="$(var backlight_threshold)"/>
   </node>
 </launch>

perception/traffic_light_fine_detector/CMakeLists.txt

@@ -101,12 +101,14 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
 
   ament_auto_package(INSTALL_TO_SHARE
     launch
+    config
   )
 
 else()
   message(STATUS "TrafficLightFineDetector won't be built, CUDA and/or TensorRT were not found.")
   # to avoid launch file missing without a gpu
   ament_auto_package(INSTALL_TO_SHARE
     launch
+    config
   )
 endif()

perception/traffic_light_fine_detector/config/traffic_light_fine_detector.param.yaml

@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    fine_detector_label_path: "$(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_label_name)"
+    fine_detector_model_path: "$(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_model_name).onnx"
+    fine_detector_precision: fp16
+    fine_detector_score_thresh: 0.3
+    fine_detector_nms_thresh: 0.65