0.2.1 - Patch (#53)

* 🔨 Optimized visualization of Localization workflow. Updated unit testing to reflect new condensed conversion from EPDObjectLocalization to EPDObjectTracking. Signed-off-by: Bey Hao Yun <[email protected]> * 🔨 Rectified for failing CI build. Signed-off-by: Bey Hao Yun <[email protected]>
ros-industrial · Aug 5, 2022 · 0979965 · 0979965
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diff --git a/easy_perception_deployment/CHANGELOG.rst b/easy_perception_deployment/CHANGELOG.rst
@@ -35,3 +35,9 @@ Changelog for package easy_perception_deployment
 * Updated unit testing modules under test folder to reflect new infer function calls for P1OrtBase, P2OrtBase and P3OrtBase classes. 
 * Contributor(s): Bey Hao Yun
 
+0.2.1 (2022-08-06)
+-------------------
+* Abstracted instantiation of struct LocalizedObject in usecase_config.hpp. Reduced code verbosity for EPDObjectLocalization to EPDObjectTracking conversion in Localization Visualize workflow. 
+* Contributor(s): Bey Hao Yun
+
+
diff --git a/easy_perception_deployment/config/session_config.json b/easy_perception_deployment/config/session_config.json
@@ -1,6 +1,6 @@
 {
-	"path_to_label_list" : "./data/label_list/coco_classes.txt",
-	"path_to_model" : "./data/model/MaskRCNN-10.onnx",
+	"path_to_label_list" : "/home/cardboardvoice/epd_workspace/5_linting_epd_ws/src/easy_perception_deployment/easy_perception_deployment/data/label_list/imagenet_classes.txt",
+	"path_to_model" : "/home/cardboardvoice/epd_workspace/5_linting_epd_ws/src/easy_perception_deployment/easy_perception_deployment/data/model/squeezenet1.1-7.onnx",
 	"useCPU" : "CPU",
-	"visualizeFlag" : "visualize"
-}
+	"visualizeFlag" : "robot"
+}
diff --git a/easy_perception_deployment/include/epd_utils_lib/easy_perception_deployment.hpp b/easy_perception_deployment/include/epd_utils_lib/easy_perception_deployment.hpp
@@ -375,17 +375,7 @@ void EasyPerceptionDeployment::process_localize_callback(
     EPD::EPDObjectTracking converted_result(result.data_size);
     converted_result.object_ids.clear();
     for (size_t i = 0; i < result.data_size; i++) {
-      EPD::EPDObjectTracking::LocalizedObject object;
-      object.name = result.objects[i].name;
-      object.roi = result.objects[i].roi;
-      object.mask = result.objects[i].mask;
-      object.length = result.objects[i].length;
-      object.breadth = result.objects[i].breadth;
-      object.height = result.objects[i].height;
-      object.segmented_pcl = result.objects[i].segmented_pcl;
-      object.axis = result.objects[i].axis;
-
-      converted_result.objects.emplace_back(object);
+      converted_result.objects.emplace_back(result.objects[i]);
     }
 
     cv::Mat resultImg = ortAgent_.visualize(converted_result, img);

diff --git a/easy_perception_deployment/include/epd_utils_lib/epd_container.cpp b/easy_perception_deployment/include/epd_utils_lib/epd_container.cpp
@@ -338,8 +338,11 @@ cv::Mat EPDContainer::visualize(
     std::string curLabel = result.objects[i].name;
 
     cv::rectangle(
-      output_image, cv::Point(curBbox[0], curBbox[1]),
-      cv::Point(curBbox[2], curBbox[3]), curColor, 2);
+      output_image,
+      cv::Point(curBbox[0], curBbox[1]),
+      cv::Point(curBbox[2], curBbox[3]),
+      curColor,
+      2);
 
     int baseLine = 0;
     cv::Size labelSize =

diff --git a/easy_perception_deployment/include/epd_utils_lib/message_utils.hpp b/easy_perception_deployment/include/epd_utils_lib/message_utils.hpp
@@ -67,22 +67,22 @@ class EPDObjectDetection
   }
 };
 
+struct LocalizedObject
+{
+  std::string name;
+  sensor_msgs::msg::RegionOfInterest roi;
+  cv::Mat mask;
+  geometry_msgs::msg::Point centroid;
+  float length;
+  float breadth;
+  float height;
+  pcl::PointCloud<pcl::PointXYZ> segmented_pcl;
+  geometry_msgs::msg::Vector3 axis;
+};
+
 class EPDObjectLocalization
 {
 public:
-  struct LocalizedObject
-  {
-    std::string name;
-    sensor_msgs::msg::RegionOfInterest roi;
-    cv::Mat mask;
-    geometry_msgs::msg::Point centroid;
-    float length;
-    float breadth;
-    float height;
-    pcl::PointCloud<pcl::PointXYZ> segmented_pcl;
-    geometry_msgs::msg::Vector3 axis;
-  };
-
   std::vector<LocalizedObject> objects;
   /*! \brief A set size for all vectors in class.*/
   size_t data_size;
@@ -104,18 +104,6 @@ class EPDObjectLocalization
 class EPDObjectTracking
 {
 public:
-  struct LocalizedObject
-  {
-    std::string name;
-    sensor_msgs::msg::RegionOfInterest roi;
-    cv::Mat mask;
-    geometry_msgs::msg::Point centroid;
-    float length;
-    float breadth;
-    float height;
-    pcl::PointCloud<pcl::PointXYZ> segmented_pcl;
-    geometry_msgs::msg::Vector3 axis;
-  };
   std::vector<std::string> object_ids;
   std::vector<LocalizedObject> objects;
   /*! \brief A set size for all vectors in class.*/

diff --git a/easy_perception_deployment/include/ort_cpp_lib/p3_ort_base.cpp b/easy_perception_deployment/include/ort_cpp_lib/p3_ort_base.cpp
@@ -340,11 +340,11 @@ EPD::EPDObjectLocalization P3OrtBase::infer(
   cv::Mat result = inputImg.clone();
 
   assert(bboxes.size() == classIndices.size());
-  if (!allClassNames.empty()) {
-    assert(
-      allClassNames.size() >
-      *std::max_element(classIndices.begin(), classIndices.end()));
-  }
+  // if (!allClassNames.empty()) {
+  //   assert(
+  //     allClassNames.size() >
+  //     *std::max_element(classIndices.begin(), classIndices.end()));
+  // }
 
   // If there is zero bounding boxes generated, return empty EPDObjectLocalization object.
   if (bboxes.size() == 0) {
@@ -355,7 +355,6 @@ EPD::EPDObjectLocalization P3OrtBase::infer(
   EPD::EPDObjectLocalization output_obj(bboxes.size());
 
   float table_depth = this->findMedian(depthImg) * 0.001;
-
   // No. of objects will be equal to number of bboxes
   /* START of Populating EPDObjectLocalization object */
   for (size_t i = 0; i < bboxes.size(); ++i) {

diff --git a/easy_perception_deployment/test/p3u3v.cpp b/easy_perception_deployment/test/p3u3v.cpp
@@ -92,17 +92,7 @@ TEST(EPD_TestSuite, Test_P3Model_Localize_Visualize)
   EPD::EPDObjectTracking converted_result(result.data_size);
   converted_result.object_ids.clear();
   for (size_t i = 0; i < result.data_size; i++) {
-    EPD::EPDObjectTracking::LocalizedObject object;
-    object.name = result.objects[i].name;
-    object.roi = result.objects[i].roi;
-    object.mask = result.objects[i].mask;
-    object.length = result.objects[i].length;
-    object.breadth = result.objects[i].breadth;
-    object.height = result.objects[i].height;
-    object.segmented_pcl = result.objects[i].segmented_pcl;
-    object.axis = result.objects[i].axis;
-
-    converted_result.objects.emplace_back(object);
+    converted_result.objects.emplace_back(result.objects[i]);
   }
 
   cv::Mat output = ortAgent_->visualize(converted_result, colored_img);