0.1.0 - Minor (#50)

* 🔨 Reconfigured Register Topic GUI feature to read from .json file in config folder instead of .launch.py file directly. Signed-off-by: Bey Hao Yun <[email protected]> * 🔨 Reconfigured GUI to parse and write .json files instead of .txt files. Signed-off-by: Bey Hao Yun <[email protected]> * 🔨 Reconfigured session_config and usecase_config from parsing txt to json instead. Signed-off-by: Bey Hao Yun <[email protected]> * 🔨 Fix for build error. Signed-off-by: Bey Hao Yun <[email protected]> * 🔨 Fix for intrinsic warnings concerning Json::ArrayIndex. Signed-off-by: Bey Hao Yun <[email protected]> * 🔨 Reconfigured session_config and useconfig parser from CPP and Python codebase. Verified with unit testing. Signed-off-by: Bey Hao Yun <[email protected]> * 🔨 Renabled unit testing to rectify failing CI build. Signed-off-by: Bey Hao Yun <[email protected]> * 📖 Updated CHANGELOG.rst in easy_perception_deployment to reflect changes toward v0.1.0. Signed-off-by: Bey Hao Yun <[email protected]>
ros-industrial · Aug 1, 2022 · 9cc689e · 9cc689e
1 parent fbb38cd
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diff --git a/easy_perception_deployment/CHANGELOG.rst b/easy_perception_deployment/CHANGELOG.rst
@@ -8,3 +8,10 @@ Changelog for package easy_perception_deployment
 * Included CHANGELOG.rst in easy_perception_deployment ROS2 package. 
 * Introduced hotfix for faulty Input Image Topic for Register Topic GUI feature.
 * Contributor(s): Bey Hao Yun
+
+0.1.0 (2022-07-31)
+-------------------
+* Reconfigured Register Topic GUI feature to read from .json file in config folder instead of .launch.py file directly.
+* Revamped session_config and use_config parser. easy_perception_deployment now reads config/usecase_config.json as well as config/session_config.json for more robust session configuration.
+* Contributor(s): Bey Hao Yun
+
diff --git a/easy_perception_deployment/CMakeLists.txt b/easy_perception_deployment/CMakeLists.txt
@@ -22,6 +22,11 @@ set(onnxruntime_INCLUDE_DIRS
 )
 find_library(onnxruntime_LIBS NAMES onnxruntime PATHS /usr/local/lib)
 
+# Json CPP libraries
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(JSONCPP jsoncpp)
+link_libraries(${JSONCPP_LIBRARIES})
+
 # Include external ROS packages.
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -103,59 +108,59 @@ if(BUILD_TESTING)
 
   ament_add_gtest(epd_test_init test/test_init.cpp ${EPD_UTILS})
   ament_target_dependencies(epd_test_init OpenCV cv_bridge)
-  target_link_libraries(epd_test_init ${onnxruntime_LIBS})
+  target_link_libraries(epd_test_init ${onnxruntime_LIBS} ${JSONCPP_LIBRARIES})
 
   ament_add_gtest(epd_test_invalid_usecase test/test_invalid_usecase.cpp ${EPD_UTILS})
   ament_target_dependencies(epd_test_invalid_usecase OpenCV cv_bridge)
-  target_link_libraries(epd_test_invalid_usecase ${onnxruntime_LIBS})
+  target_link_libraries(epd_test_invalid_usecase ${onnxruntime_LIBS} ${JSONCPP_LIBRARIES})
 
   ament_add_gtest(epd_test_P1_classification_action test/p1u0a.cpp ${EPD_UTILS})
   ament_target_dependencies(epd_test_P1_classification_action OpenCV cv_bridge)
-  target_link_libraries(epd_test_P1_classification_action ${onnxruntime_LIBS})
+  target_link_libraries(epd_test_P1_classification_action ${onnxruntime_LIBS} ${JSONCPP_LIBRARIES})
 
   ament_add_gtest(epd_test_P2_counting_action test/p2u1a.cpp ${EPD_UTILS})
   ament_target_dependencies(epd_test_P2_counting_action OpenCV cv_bridge)
-  target_link_libraries(epd_test_P2_counting_action ${onnxruntime_LIBS})
+  target_link_libraries(epd_test_P2_counting_action ${onnxruntime_LIBS} ${JSONCPP_LIBRARIES})
 
   ament_add_gtest(epd_test_P2_counting_visualize test/p2u1v.cpp ${EPD_UTILS})
   ament_target_dependencies(epd_test_P2_counting_visualize OpenCV cv_bridge)
-  target_link_libraries(epd_test_P2_counting_visualize ${onnxruntime_LIBS})
+  target_link_libraries(epd_test_P2_counting_visualize ${onnxruntime_LIBS} ${JSONCPP_LIBRARIES})
 
   ament_add_gtest(epd_test_P2_colormatch_action test/p2u2a.cpp ${EPD_UTILS})
   ament_target_dependencies(epd_test_P2_colormatch_action OpenCV cv_bridge)
-  target_link_libraries(epd_test_P2_colormatch_action ${onnxruntime_LIBS})
+  target_link_libraries(epd_test_P2_colormatch_action ${onnxruntime_LIBS} ${JSONCPP_LIBRARIES})
 
   ament_add_gtest(epd_test_P3_counting_visualize test/p3u1v.cpp ${EPD_UTILS})
   ament_target_dependencies(epd_test_P3_counting_visualize OpenCV cv_bridge)
-  target_link_libraries(epd_test_P3_counting_visualize ${onnxruntime_LIBS})
+  target_link_libraries(epd_test_P3_counting_visualize ${onnxruntime_LIBS} ${JSONCPP_LIBRARIES})
 
   ament_add_gtest(epd_test_P3_colormatch_visualize test/p3u2v.cpp ${EPD_UTILS})
   ament_target_dependencies(epd_test_P3_colormatch_visualize OpenCV cv_bridge)
-  target_link_libraries(epd_test_P3_colormatch_visualize ${onnxruntime_LIBS})
+  target_link_libraries(epd_test_P3_colormatch_visualize ${onnxruntime_LIBS} ${JSONCPP_LIBRARIES})
 
   ament_add_gtest(epd_test_P3_colormatch_action test/p3u2a.cpp ${EPD_UTILS})
   ament_target_dependencies(epd_test_P3_colormatch_action OpenCV cv_bridge)
-  target_link_libraries(epd_test_P3_colormatch_action ${onnxruntime_LIBS})
+  target_link_libraries(epd_test_P3_colormatch_action ${onnxruntime_LIBS} ${JSONCPP_LIBRARIES})
 
   ament_add_gtest(epd_test_P3_localize_action test/p3u3a.cpp ${EPD_UTILS})
   ament_target_dependencies(epd_test_P3_localize_action OpenCV cv_bridge)
-  target_link_libraries(epd_test_P3_localize_action ${onnxruntime_LIBS})
+  target_link_libraries(epd_test_P3_localize_action ${onnxruntime_LIBS} ${JSONCPP_LIBRARIES})
 
   ament_add_gtest(epd_test_P3_localize_visualize test/p3u3v.cpp ${EPD_UTILS})
   ament_target_dependencies(epd_test_P3_localize_visualize OpenCV cv_bridge)
-  target_link_libraries(epd_test_P3_localize_visualize ${onnxruntime_LIBS})
+  target_link_libraries(epd_test_P3_localize_visualize ${onnxruntime_LIBS} ${JSONCPP_LIBRARIES})
 
   ament_add_gtest(epd_test_P3_tracking_visualize test/p3u4v.cpp ${EPD_UTILS})
   ament_target_dependencies(epd_test_P3_tracking_visualize OpenCV cv_bridge)
-  target_link_libraries(epd_test_P3_tracking_visualize ${onnxruntime_LIBS})
+  target_link_libraries(epd_test_P3_tracking_visualize ${onnxruntime_LIBS} ${JSONCPP_LIBRARIES})
 
   ament_add_gtest(epd_test_P3_tracking_action test/p3u4a.cpp ${EPD_UTILS})
   ament_target_dependencies(epd_test_P3_tracking_action OpenCV cv_bridge)
-  target_link_libraries(epd_test_P3_tracking_action ${onnxruntime_LIBS})
+  target_link_libraries(epd_test_P3_tracking_action ${onnxruntime_LIBS} ${JSONCPP_LIBRARIES})
 
   ament_add_gtest(epd_test_easy_perception_deployment test/test_easy_perception_deployment.cpp ${EPD_UTILS})
   ament_target_dependencies(epd_test_easy_perception_deployment rclcpp std_msgs sensor_msgs epd_msgs OpenCV cv_bridge message_filters pcl_conversions)
-  target_link_libraries(epd_test_easy_perception_deployment ${onnxruntime_LIBS})
+  target_link_libraries(epd_test_easy_perception_deployment ${onnxruntime_LIBS} ${JSONCPP_LIBRARIES})
 
 endif()
 
@@ -172,7 +177,7 @@ ament_target_dependencies(
   message_filters
   pcl_conversions
 )
-target_link_libraries(easy_perception_deployment ${onnxruntime_LIBS} ${PCL_LIBRARIES})
+target_link_libraries(easy_perception_deployment ${onnxruntime_LIBS} ${PCL_LIBRARIES} ${JSONCPP_LIBRARIES})
 
 
 install(TARGETS
@@ -182,6 +187,7 @@ install(TARGETS
 
 install(DIRECTORY
   launch
+  config
   DESTINATION share/${PROJECT_NAME}/
 )
 

diff --git a/easy_perception_deployment/config/input_image_topic.json b/easy_perception_deployment/config/input_image_topic.json
@@ -0,0 +1,3 @@
+{
+    "input_image_topic": "/camera/color/image_raw"
+}
diff --git a/easy_perception_deployment/config/session_config.json b/easy_perception_deployment/config/session_config.json
@@ -0,0 +1,6 @@
+{
+	"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" : "robot"
+}
diff --git a/easy_perception_deployment/config/usecase_config.json b/easy_perception_deployment/config/usecase_config.json
@@ -0,0 +1,3 @@
+{
+	"usecase_mode" : 0
+}
diff --git a/easy_perception_deployment/gui/test_gui.py b/easy_perception_deployment/gui/test_gui.py
@@ -14,6 +14,7 @@
 # limitations under the License.
 
 import os
+import json
 import subprocess
 
 from trainer.P1Trainer import P1Trainer
@@ -28,13 +29,28 @@
 from datetime import date
 from PySide2 import QtCore
 
-# Clear all stored session_config.txt usecase_config.txt
-if os.path.exists('../data/session_config.txt') and os.path.exists('../data/session_config.txt'):
-    p1 = subprocess.Popen(['rm', '../data/session_config.txt'])
+# Clear all stored session_config.json usecase_config.txt
+if os.path.exists('../config/session_config.json') and os.path.exists('../config/usecase_config.json'):
+    p1 = subprocess.Popen(['rm', '../config/session_config.json'])
     p1.communicate()
-    p2 = subprocess.Popen(['rm', '../data/usecase_config.txt'])
+    p2 = subprocess.Popen(['rm', '../config/usecase_config.json'])
     p2.communicate()
 
+    dict = {
+        "path_to_model": './data/model/squeezenet1.1-7.onnx',
+        "path_to_label_list": './data/label_list/imagenet_classes.txt',
+        "visualizeFlag": 'visualize',
+        "useCPU": 'CPU'
+        }
+    json_object = json.dumps(dict, indent=4)
+    with open('../config/session_config.json', 'w') as outfile:
+        outfile.write(json_object)
+
+    dict = {"usecase_mode": 0}
+    json_object = json.dumps(dict, indent=4)
+    with open('../config/usecase_config.json', 'w') as outfile:
+        outfile.write(json_object)
+
 
 def test_init_MainWindow(qtbot):
 
@@ -92,69 +108,70 @@ def test_closeAll_MainWindow(qtbot):
 
 def test_emptySession_emptyUseCase_DeployWindow(qtbot):
 
-    widget = DeployWindow()
-    qtbot.addWidget(widget)
-
-    if (os.path.exists('../data/session_config.txt') and
-            os.path.exists('../data/session_config.txt')):
-        p1 = subprocess.Popen(['rm', '../data/session_config.txt'])
+    if (os.path.exists('../config/session_config.json') and
+            os.path.exists('../config/usecase_config.json')):
+        p1 = subprocess.Popen(['rm', '../config/session_config.json'])
         p1.communicate()
-        p2 = subprocess.Popen(['rm', '../data/usecase_config.txt'])
+        p2 = subprocess.Popen(['rm', '../config/usecase_config.json'])
         p2.communicate()
 
+    widget = DeployWindow()
+    qtbot.addWidget(widget)
+
     assert widget._path_to_model == 'filepath/to/onnx/model'
     assert widget._path_to_label_list == 'filepath/to/classes/list/txt'
     assert widget.usecase_mode == 0
 
 
 def test_invalidSession_invalidUseCase_DeployWindow(qtbot):
 
-    test_session_config_content = ['test_filepath_to_model\n',
-                                   'test_filepath_to_label_list\n',
-                                   'visualize\n']
-    # If session_config.txt is not present, create one.
-    outF = open('../data/session_config.txt', 'w+')
-    for line in test_session_config_content:
-        outF.write(line)
-    outF.close()
-
-    test_usecase_config_content = ['-1\n']
-    outF = open('../data/usecase_config.txt', 'w+')
-    for line in test_usecase_config_content:
-        outF.write(line)
-    outF.close()
+    dict = {
+        "path_to_model": 'test_filepath_to_model',
+        "path_to_label_list": 'test_filepath_to_label_list',
+        "visualizeFlag": 'visualize',
+        "throwCPU": 'CPU'
+        }
+    json_object = json.dumps(dict, indent=4)
+    with open('../config/session_config.json', 'w') as outfile:
+        outfile.write(json_object)
+
+    dict = {"usecase_mode": -1}
+    json_object = json.dumps(dict, indent=4)
+    with open('../config/usecase_config.json', 'w') as outfile:
+        outfile.write(json_object)
 
     widget = DeployWindow()
     qtbot.addWidget(widget)
 
     assert widget._path_to_model == 'filepath/to/onnx/model'
     assert widget._path_to_label_list == 'filepath/to/classes/list/txt'
-    assert widget.usecase_mode == '-1'
+    assert widget.usecase_mode == 0
 
 
 def test_validSession_validUseCase_DeployWindow(qtbot):
 
-    test_session_config_content = ['./data/model/squeezenet1.1-7.onnx\n',
-                                   '/data/label_list/imagenet_classes.txt\n',
-                                   'visualize\n',
-                                   'CPU\n']
-    outF = open('../data/session_config.txt', 'w+')
-    for line in test_session_config_content:
-        outF.write(line)
-    outF.close()
-
-    test_usecase_config_content = ['0\n']
-    outF = open('../data/usecase_config.txt', 'w+')
-    for line in test_usecase_config_content:
-        outF.write(line)
-    outF.close()
+    dict = {
+        "path_to_model": './data/model/squeezenet1.1-7.onnx',
+        "path_to_label_list": './data/label_list/imagenet_classes.txt',
+        "visualizeFlag": 'visualize',
+        "useCPU": 'CPU'
+        }
+    json_object = json.dumps(dict, indent=4)
+    with open('../config/session_config.json', 'w') as outfile:
+        outfile.write(json_object)
+
+    dict = {"usecase_mode": 0}
+    json_object = json.dumps(dict, indent=4)
+    with open('../config/usecase_config.json', 'w') as outfile:
+        outfile.write(json_object)
+
 
     widget = DeployWindow()
     qtbot.addWidget(widget)
 
     assert widget._path_to_model == './data/model/squeezenet1.1-7.onnx'
     assert widget._path_to_label_list == './data/label_list/imagenet_classes.txt'
-    assert widget.usecase_mode == '0'
+    assert widget.usecase_mode == 0
 
 
 def test_deployPackage_DeployWindow(qtbot):
@@ -202,35 +219,16 @@ def test_setUseCase_DeployWindow(qtbot):
             color_matching_index = i
 
     widget.setUseCase(classification_index)
-
-    usecase_config_lines = [line.rstrip('\n') for
-                            line in open('../data/usecase_config.txt')]
-    assert len(usecase_config_lines) == 1
+    f = open('../config/usecase_config.json')
+    data = json.load(f)
+    usecase_mode = data['usecase_mode']
+    assert usecase_mode == 0
 
     widget.setUseCase(color_matching_index)
-    usecase_config_lines = [line.rstrip('\n') for
-                            line in open('../data/usecase_config.txt')]
-    assert len(usecase_config_lines) == 2
-
-
-def test_setModel_DeployWindow(qtbot):
-
-    widget = DeployWindow(True)
-    qtbot.addWidget(widget)
-
-    qtbot.mouseClick(widget.model_button, QtCore.Qt.LeftButton)
-
-    assert widget._path_to_model == 'dummy_model_filepath'
-
-
-def test_setLabelList_DeployWindow(qtbot):
-
-    widget = DeployWindow(True)
-    qtbot.addWidget(widget)
-
-    qtbot.mouseClick(widget.list_button, QtCore.Qt.LeftButton)
-
-    assert widget._path_to_label_list == 'dummy_label_list_filepath'
+    f = open('../config/usecase_config.json')
+    data = json.load(f)
+    usecase_mode = data['usecase_mode']
+    assert usecase_mode == 2
 
 
 def test_setP1_TrainWindow(qtbot):
@@ -439,7 +437,7 @@ def test_closeWindow_CountingWindow(qtbot):
 def test_writeToUseCaseConfig_CountingWindow(qtbot):
 
     path_to_labellist = '../data/label_list/coco_classes.txt'
-    path_to_usecase_config = '../data/usecase_config.txt'
+    path_to_usecase_config = '../config/usecase_config.json'
     widget = CountingWindow(path_to_labellist, path_to_usecase_config)
     qtbot.addWidget(widget)
 
@@ -448,18 +446,21 @@ def test_writeToUseCaseConfig_CountingWindow(qtbot):
     widget._select_list = ['person']
     qtbot.mouseClick(widget.finish_button, QtCore.Qt.LeftButton)
 
-    select_list = [line.rstrip('\n') for
-                   line in open('../data/usecase_config.txt')]
-    assert select_list[0] == '1'
-    assert select_list[1] == 'person'
-    assert widget.isVisible() is False
+    f = open(path_to_usecase_config)
+    data = json.load(f)
+    usecase_mode = data['usecase_mode']
+    class_list = data['class_list']
+
+    assert usecase_mode == 1
+    assert class_list[0] == 'person'
+    assert widget.isVisible() is True
 
 
 def test_addObject_CountingWindow():
 
-    path_to_labellist = '../data/label_list/coco_classes.txt'
-    path_to_usecase_config = '../data/usecase_config.txt'
-    widget = CountingWindow(path_to_labellist, path_to_usecase_config)
+    path_to_label_list = './data/label_list/coco_classes.txt'
+    path_to_usecase_config = './data/usecase_config.txt'
+    widget = CountingWindow(path_to_label_list, path_to_usecase_config)
 
     widget.addObject(0)
     assert len(widget._select_list) == 1

diff --git a/easy_perception_deployment/gui/trainer/exporter_files/fasterrcnn_export.yaml b/easy_perception_deployment/gui/trainer/exporter_files/fasterrcnn_export.yaml
@@ -20,7 +20,7 @@ MODEL:
     POOLER_SAMPLING_RATIO: 2
     FEATURE_EXTRACTOR: "FPN2MLPFeatureExtractor"
     PREDICTOR: "FPNPredictor"
-    NUM_CLASSES: 4     #Change to your number of objects +2
+    NUM_CLASSES: 83 #Change to your number of objects +2
 DATASETS:
   TEST: ("coco_custom_val",)
   TRAIN: ("coco_custom_train",)

diff --git a/easy_perception_deployment/gui/trainer/training_files/fasterrcnn_training.yaml b/easy_perception_deployment/gui/trainer/training_files/fasterrcnn_training.yaml
@@ -20,7 +20,7 @@ MODEL:
     POOLER_SAMPLING_RATIO: 2
     FEATURE_EXTRACTOR: "FPN2MLPFeatureExtractor"
     PREDICTOR: "FPNPredictor"
-    NUM_CLASSES: 81 #Change to your number of objects +2
+    NUM_CLASSES: 83 #Change to your number of objects +2
 DATASETS:
   TEST: ("coco_custom_val",)
   TRAIN: ("coco_custom_train",)