refactor(perception-traffic-light-classifier): rework parameters

perception/traffic_light_classifier/schema/traffic_light_classifier.json

@@ -0,0 +1,154 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for traffic_light_classifier",
+  "type": "object",
+  "definitions": {
+    "traffic_light_classifier": {
+      "type": "object",
+      "properties": {
+        "classifier_label_path": {
+          "type": "string",
+          "default": "labels.txt",
+          "description": "path to the model file."
+        },
+        "classifier_model_path": {
+          "type": "string",
+          "default": "model.onnx",
+          "description": "path to the label file."
+        },
+        "classifier_precision": {
+          "type": "string",
+          "default": "fp16",
+          "description": "TensorRT precision, `fp16` or `int8."
+        },
+        "classifier_mean": {
+          "type": "number",
+          "default": 123.675,
+          "description": "3-channel input image mean."
+        },
+        "classifier_std": {
+          "type": "number",
+          "default": 58.395,
+          "description": "3-channel input image std."
+        },
+        "apply_softmax": {
+          "type": "boolean",
+          "description": "whether or not apply softmax."
+        },
+        "green_min_h": {
+          "type": "number",
+          "default": 10,
+          "description": "the minimum hue of green color."
+        },
+        "green_min_s": {
+          "type": "number",
+          "default": 100,
+          "description": "the minimum saturation of green color."
+        },
+        "green_min_v": {
+          "type": "number",
+          "default": 150,
+          "description": "the minimum value (brightness) of green color."
+        },
+        "green_max_h": {
+          "type": "number",
+          "default": 120,
+          "description": "the maximum hue of green color."
+        },
+        "green_max_s": {
+          "type": "number",
+          "default": 200,
+          "description": "the maximum saturation of green color."
+        },
+        "green_max_v": {
+          "type": "number",
+          "default": 255,
+          "description": "the maximum value (brightness) of green color."
+        },
+        "yellow_min_h": {
+          "type": "number",
+          "default": 0,
+          "description": "the minimum hue of yellow color."
+        },
+        "yellow_min_s": {
+          "type": "number",
+          "default": 80,
+          "description": "the minimum saturation of yellow color."
+        },
+        "yellow_min_v": {
+          "type": "number",
+          "default": 150,
+          "description": "the minimum value (brightness) of yellow color."
+        },
+        "yellow_max_h": {
+          "type": "number",
+          "default": 50,
+          "description": "the maximum hue of yellow color."
+        },
+        "yellow_max_s": {
+          "type": "number",
+          "default": 200,
+          "description": "the maximum saturation of yellow color."
+        },
+        "yellow_max_v": {
+          "type": "number",
+          "default": 255,
+          "description": "the maximum value (brightness) of yellow color."
+        },
+        "red_min_h": {
+          "type": "number",
+          "default": 160,
+          "description": "the minimum hue of red color."
+        },
+        "red_min_s": {
+          "type": "number",
+          "default": 100,
+          "description": "the minimum saturation of red color."
+        },
+        "red_min_v": {
+          "type": "number",
+          "default": 150,
+          "description": "the minimum value (brightness) of red color."
+        },
+        "red_max_h": {
+          "type": "number",
+          "default": 180,
+          "description": "the maximum hue of red color."
+        },
+        "red_max_s": {
+          "type": "number",
+          "default": 255,
+          "description": "the maximum saturation of red color."
+        },
+        "red_max_v": {
+          "type": "number",
+          "default": 255,
+          "description": "the maximum value (brightness) of red color."
+        }
+      },
+      "required": [
+        "warn_rate",
+        "window_size",
+        "timeout",
+        "error_rate",
+        "update_rate",
+        "topic",
+        "transient_local",
+        "best_effort",
+        "diag_name"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/traffic_light_classifier"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

perception/traffic_light_classifier/src/cnn_classifier.cpp

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

perception/traffic_light_classifier/src/color_classifier.cpp

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