From e36df2d5a2f49be6fb8509b1953d6db39ebdfe23 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= Date: Thu, 12 Dec 2024 12:14:24 +0300 Subject: [PATCH] refactor: msg type MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Barış Zeren --- perception/autoware_tensorrt_rtmdet/README.md | 17 +++++++++-------- .../tensorrt_rtmdet/tensorrt_rtmdet_node.hpp | 4 ++-- perception/autoware_tensorrt_rtmdet/package.xml | 2 +- .../src/tensorrt_rtmdet_node.cpp | 4 ++-- 4 files changed, 14 insertions(+), 13 deletions(-) diff --git a/perception/autoware_tensorrt_rtmdet/README.md b/perception/autoware_tensorrt_rtmdet/README.md index 6315d8310c17b..7087584459238 100644 --- a/perception/autoware_tensorrt_rtmdet/README.md +++ b/perception/autoware_tensorrt_rtmdet/README.md @@ -12,17 +12,17 @@ bicycles, etc. in a scene. This package provides a ROS 2 interface for RTMDet us ### Input | Name | Type | Description | -| ---------- | ------------------- | --------------- | +|------------|---------------------|-----------------| | `in/image` | `sensor_msgs/Image` | The input image | ### Output -| Name | Type | Description | -| ----------------- | -------------------------------------------------- | ------------------------------------------------------------------- | -| `out/objects` | `tier4_perception_msgs/DetectedObjectsWithFeature` | The detected objects with 2D bounding boxes and scores | -| `out/mask` | `autoware_perception_msgs/SegmentationMask` | The instance segmentation mask | -| `out/color_mask` | `sensor_msgs/Image` | The colorized image of instance segmentation mask for visualization | -| `out/debug_image` | `sensor_msgs/Image` | The image with 2D bounding boxes for visualization | +| Name | Type | Description | +|-------------------|------------------------------------------------------|---------------------------------------------------------------------| +| `out/objects` | `tier4_perception_msgs/DetectedObjectsWithFeature` | The detected objects with 2D bounding boxes and scores | +| `out/mask` | `autoware_internal_perception_msgs/SegmentationMask` | The instance segmentation mask | +| `out/color_mask` | `sensor_msgs/Image` | The colorized image of instance segmentation mask for visualization | +| `out/debug_image` | `sensor_msgs/Image` | The image with 2D bounding boxes for visualization | ## Parameters @@ -36,7 +36,8 @@ A sample model is provided in `autoware_data` folder by ansible script on env pr model, you follow instructions from the [link](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/artifacts) to download the model. -The shared model was trained by open-mmlab using the COCO dataset. For more details, see [link](https://github.com/open-mmlab/mmdetection/tree/3.x/configs/rtmdet#instance-segmentation). +The shared model was trained by open-mmlab using the COCO dataset. For more details, +see [link](https://github.com/open-mmlab/mmdetection/tree/3.x/configs/rtmdet#instance-segmentation). ### Package acceptable model generation diff --git a/perception/autoware_tensorrt_rtmdet/include/autoware/tensorrt_rtmdet/tensorrt_rtmdet_node.hpp b/perception/autoware_tensorrt_rtmdet/include/autoware/tensorrt_rtmdet/tensorrt_rtmdet_node.hpp index 02cbbfb7ab6dc..01ed65091ddd7 100644 --- a/perception/autoware_tensorrt_rtmdet/include/autoware/tensorrt_rtmdet/tensorrt_rtmdet_node.hpp +++ b/perception/autoware_tensorrt_rtmdet/include/autoware/tensorrt_rtmdet/tensorrt_rtmdet_node.hpp @@ -23,7 +23,7 @@ #include #include -#include "autoware_perception_msgs/msg/segmentation_mask.hpp" +#include "autoware_internal_perception_msgs/msg/segmentation_mask.hpp" #include "tier4_perception_msgs/msg/detected_objects_with_feature.hpp" #include @@ -108,7 +108,7 @@ class TrtRTMDetNode : public rclcpp::Node rclcpp::TimerBase::SharedPtr timer_; rclcpp::Publisher::SharedPtr objects_pub_; - rclcpp::Publisher::SharedPtr mask_pub_; + rclcpp::Publisher::SharedPtr mask_pub_; image_transport::Publisher color_mask_pub_; image_transport::Publisher debug_image_pub_; diff --git a/perception/autoware_tensorrt_rtmdet/package.xml b/perception/autoware_tensorrt_rtmdet/package.xml index ec4d2325a3fe7..885e561d47506 100644 --- a/perception/autoware_tensorrt_rtmdet/package.xml +++ b/perception/autoware_tensorrt_rtmdet/package.xml @@ -17,7 +17,7 @@ tensorrt_cmake_module autoware_cuda_utils - autoware_internal_msgs + autoware_internal_perception_msgs autoware_object_recognition_utils autoware_perception_msgs autoware_tensorrt_common diff --git a/perception/autoware_tensorrt_rtmdet/src/tensorrt_rtmdet_node.cpp b/perception/autoware_tensorrt_rtmdet/src/tensorrt_rtmdet_node.cpp index 79ed98405bcfb..5310545eec3f0 100644 --- a/perception/autoware_tensorrt_rtmdet/src/tensorrt_rtmdet_node.cpp +++ b/perception/autoware_tensorrt_rtmdet/src/tensorrt_rtmdet_node.cpp @@ -86,7 +86,7 @@ TrtRTMDetNode::TrtRTMDetNode(const rclcpp::NodeOptions & node_options) objects_pub_ = this->create_publisher( "~/out/objects", 1); mask_pub_ = - this->create_publisher("~/out/mask", 1); + this->create_publisher("~/out/mask", 1); color_mask_pub_ = image_transport::create_publisher(this, "~/out/color_mask"); debug_image_pub_ = image_transport::create_publisher(this, "~/out/debug_image"); @@ -163,7 +163,7 @@ void TrtRTMDetNode::on_image(const sensor_msgs::msg::Image::ConstSharedPtr msg) object_classification.probability = 1.0; classification.push_back(object_classification); } - autoware_perception_msgs::msg::SegmentationMask mask_msg; + autoware_internal_perception_msgs::msg::SegmentationMask mask_msg; mask_msg.classification = classification; mask_msg.image = *mask_image; mask_msg.header = msg->header;