As/111 live traffic new detector (#16)

* First run at replacing region_tlr_tensorflow with new version. * Fixing order-of-operations CMake bug in TLR. * Fixing another order-of-operations issue in TLR. * Adding main function and fixing srv install. * Fixing launch file for new region_tlr_tensorflow. * Making tensorflow_tlr.py a class. * python global variable fixes in tlr * python self instance ref fixes
astuff · Jun 4, 2019 · 4dfcb8b · 4dfcb8b
1 parent 238c445
commit 4dfcb8b
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Showing 11 changed files with 737 additions and 1,178 deletions.
diff --git a/ros/src/.config/rviz/default.rviz b/ros/src/.config/rviz/default.rviz
diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt b/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt
@@ -33,6 +33,7 @@ find_package(catkin REQUIRED COMPONENTS
         vector_map
         camera_info_manager
         image_transport
+        message_generation
         )
 
 find_package(OpenCV REQUIRED)
@@ -70,6 +71,18 @@ include_directories(
         ${Eigen3_INCLUDE_DIRS}
 )
 
+catkin_python_setup()
+
+add_service_files(
+  FILES RecognizeLightState.srv
+  )
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  sensor_msgs
+  )
+
 catkin_package(
         INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS}
         CATKIN_DEPENDS
@@ -87,6 +100,7 @@ catkin_package(
         vector_map_server
         visualization_msgs
         waypoint_follower
+        message_runtime
 
         LIBRARIES libcontext
 )
@@ -213,22 +227,6 @@ target_link_libraries(roi_extractor
 add_dependencies(region_tlr
         ${catkin_EXPORTED_TARGETS})
 
-### roi_pub ###
-include_directories(
-        ${catkin_INCLUDE_DIRS}
-        ${OpenCV_INCLUDE_DIRS}
-)
-
-add_executable(roi_pub
-        nodes/roi_pub/roi_pub.cpp
-        )
-
-target_link_libraries(roi_pub
-        ${catkin_LIBRARIES}
-        ${OpenCV_LIBS}
-        libcontext
-)
-
 ### label_maker ###
 find_package(Qt5Core REQUIRED)
 find_package(Qt5Gui REQUIRED)
@@ -275,7 +273,7 @@ target_link_libraries(label_maker
         )
 
 
-install(TARGETS region_tlr feat_proj tlr_tuner roi_extractor roi_pub label_maker libcontext tl_switch
+install(TARGETS region_tlr feat_proj tlr_tuner roi_extractor label_maker libcontext tl_switch
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -390,8 +388,34 @@ if (CUDA_FOUND)
     find_package(TensorFlow QUIET)
 
     if (TENSORFLOW_FOUND)
-        catkin_python_setup()
-        catkin_install_python(PROGRAMS nodes/region_tlr_tensorflow/trafficlight_recognizer/region_tlr_tensorflow.py
+        add_executable(region_tlr_tensorflow
+                nodes/region_tlr_tensorflow/region_tlr_tensorflow.cpp
+                nodes/region_tlr_tensorflow/region_tlr_tensorflow.h
+                )
+
+        target_include_directories(region_tlr_tensorflow PRIVATE
+                ${catkin_INCLUDE_DIRS}
+                ${OpenCV_LIBRARIES}
+                )
+
+        target_link_libraries(region_tlr_tensorflow
+                ${catkin_LIBRARIES}
+                ${OpenCV_LIBRARIES}
+                libcontext
+                )
+
+        add_dependencies(region_tlr_tensorflow
+                ${catkin_EXPORTED_TARGETS}
+                ${trafficlight_recognizer_EXPORTED_TARGETS}
+                )
+
+        install(TARGETS region_tlr_tensorflow
+                ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+                LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+                RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+                )
+
+        catkin_install_python(PROGRAMS nodes/region_tlr_tensorflow/trafficlight_recognizer/tensorflow_tlr.py
             DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
     else ()
         message("'CuDNN' or 'tensorflow' is not installed. 'region_tlr_tensorflow' will not be built.")

diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/interface.yaml b/ros/src/computing/perception/detection/trafficlight_recognizer/interface.yaml
@@ -13,14 +13,11 @@
   publish: [/light_color, /sound_player, /tlr_result, /tlr_superimpose_image]
   subscribe: [/image_raw, /roi_signal]
 - name: /region_tlr_tensorflow
-  publish: [/light_color, /sound_player]
-  subscribe: [/tlr_roi_image]
+  publish: [/light_color, /sound_player, /tlr_roi_image, /tlr_result, /tlr_superimpose_image]
+  subscribe: [/image_raw, /roi_signal]
 - name: /roi_extractor
   publish: []
   subscribe: [/image_raw, /roi_signal]
-- name: /roi_pub
-  publish: [/tlr_roi_image, /tlr_result, /tlr_superimpose_image]
-  subscribe: [/image_raw, /roi_signal, /config/superimpose]
 - name: /light_color_switch
   publish: [/light_color]
   subscribe: [/camera_light_color, /ams_light_color]

diff --git a/...tion/detection/trafficlight_recognizer/launch/traffic_light_recognition_tensorflow.launch b/...tion/detection/trafficlight_recognizer/launch/traffic_light_recognition_tensorflow.launch
@@ -3,18 +3,18 @@
 
   <!-- Arguments -->
   <arg name="camera_id" default="camera"/>
-  <arg name="nn_model_path" />
+  <arg name="nn_model_path" default="$(find aw_platform)/config/model-RGB-009-0.9857.hdf5" />
   <arg name="image_transport" default="compressed" />
   <arg name="image_raw_topic" default="$(arg camera_id)/image_raw "/>
 
   <!-- ROI extractor -->
-  <node pkg="trafficlight_recognizer" type="roi_pub" name="roi_pub">
+  <node pkg="trafficlight_recognizer" type="region_tlr_tensorflow" name="region_tlr_tensorflow">
     <param name="image_transport" value="$(arg image_transport)" />
     <param name="image_raw_topic" value="$(arg image_raw_topic)" />
   </node>
 
   <!-- Classifier -->
-  <node pkg="trafficlight_recognizer" type="region_tlr_tensorflow.py" name="region_tlr_tensorflow">
+  <node pkg="trafficlight_recognizer" type="tensorflow_tlr.py" name="tensorflow_tlr">
     <param name="nn_model_path" value="$(arg nn_model_path)" />
   </node>