diff --git a/ansible/roles/microservices/files/robocar/car/deployments.yaml b/ansible/roles/microservices/files/robocar/car/deployments.yaml index a005278..626d636 100644 --- a/ansible/roles/microservices/files/robocar/car/deployments.yaml +++ b/ansible/roles/microservices/files/robocar/car/deployments.yaml @@ -113,6 +113,7 @@ spec: - "--camera-tuning-exposition=8300us" #- "--camera-tuning-exposition=500us" + - "--disable-disparity" - "--stereo-mode-lr-check" # remove incorrectly calculated disparity pixels due to occlusions at object borders - "--stereo-mode-extended-disparity" # allows detecting closer distance objects for the given baseline. This increases the maximum disparity search from 96 to 191, meaning the range is now: [ 0..190 ] - "--stereo-mode-subpixel" # improves the precision and is especially useful for long range measurements diff --git a/ansible/roles/microservices/files/robocar/car/kustomization.yaml b/ansible/roles/microservices/files/robocar/car/kustomization.yaml index 495ec01..0df6fb4 100644 --- a/ansible/roles/microservices/files/robocar/car/kustomization.yaml +++ b/ansible/roles/microservices/files/robocar/car/kustomization.yaml @@ -17,6 +17,4 @@ images: newTag: v0.6.4 - name: git.cyrilix.bzh/robocars/robocar-oak-camera - #newTag: v0.5.0-2-gfb5b351 # Enable disparity - newTag: v0.5.0-6-g01e2c8c # disparity filters - #newTag: v0.5.0 + newTag: v0.6.1 \ No newline at end of file diff --git a/ansible/roles/microservices/files/robocar/common-car/kustomization.yaml b/ansible/roles/microservices/files/robocar/common-car/kustomization.yaml index c3c573c..eb774a4 100644 --- a/ansible/roles/microservices/files/robocar/common-car/kustomization.yaml +++ b/ansible/roles/microservices/files/robocar/common-car/kustomization.yaml @@ -17,5 +17,4 @@ images: newTag: v0.7.0 - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu - #newTag: v0.5.3 newTag: v0.6.1 diff --git a/ansible/roles/microservices/files/robocar/common/configmap.yaml b/ansible/roles/microservices/files/robocar/common/configmap.yaml index a6a2284..53a6f3a 100644 --- a/ansible/roles/microservices/files/robocar/common/configmap.yaml +++ b/ansible/roles/microservices/files/robocar/common/configmap.yaml @@ -310,20 +310,40 @@ data: } # speed_custom - custom_steering.json: | + speed_steering.json: | { "steering_values": [0.0, 0.20, 0.50, 0.70], "throttle_steps": [0.17, 0.16, 0.15, 0.13] } + # speed_custom + speed_steering_2.json: | + { + "steering_values": [0.0, 0.20, 0.50, 0.70], + "throttle_steps": [0.18, 0.16, 0.15, 0.13] + } + + # speed_custom + speed_steering_3.json: | + { + "steering_values": [0.0, 0.20, 0.50, 0.70], + "throttle_steps": [0.18, 0.17, 0.16, 0.14] + } + + speed_steering_4.json: | + { + "steering_values": [0.0, 0.20, 0.50, 0.70], + "throttle_steps": [0.19, 0.18, 0.16, 0.14] + } # good_custom_steering - good_custom_steering.json: | + safe_steering.json: | { "steering_values": [0.0, 0.20, 0.50, 0.70], "throttle_steps": [0.14, 0.13, 0.12, 0.11] } - lcustom_steering.json: | + # little_speeed_custom_steering + ls_custom_steering.json: | { "steering_values": [0.0, 0.20, 0.50, 0.70], "throttle_steps": [0.16, 0.15, 0.14, 0.12] @@ -349,3 +369,22 @@ data: "steering_values": [0.0, 0.20, 0.50, 0.70], "throttle_steps": [0.12, 0.115, 0.112, 0.11] } + + +--- +apiVersion: v1 +kind: ConfigMap +metadata: + name: robocar-profiles +data: + #throttle_from_steering: "slow_custom_steering.json" + #throttle_from_steering: "safe_steering.json" + #throttle_from_steering: "ls_custom_steering.json" # little_speeed_custom_steering + #throttle_from_steering: "speed_steering.json" + throttle_from_steering: "speed_steering_2.json" + #throttle_from_steering: "speed_steering_3.json" + #throttle_from_steering: "speed_steering_4.json" + #throttle_from_steering: "very_speed_custom_steering.json" + + detection_objects: "false" + #detection_objects: "true" diff --git a/ansible/roles/microservices/files/robocar/common/deployments.yaml b/ansible/roles/microservices/files/robocar/common/deployments.yaml index cdf079e..21e067f 100644 --- a/ansible/roles/microservices/files/robocar/common/deployments.yaml +++ b/ansible/roles/microservices/files/robocar/common/deployments.yaml @@ -19,17 +19,26 @@ spec: component: objects-detection spec: containers: - - name: steering + - name: objects-detection image: docker.io/cyrilix/robocar-objects-detection args: - "-mqtt-retain=false" - "--image-width=$(IMAGE_WIDTH)" - "--image-height=$(IMAGE_HEIGHT)" - - "--object-size-threshold=0.75" - - "-log=info" + - "--object-size-threshold=0.50" + - "--enable-big-objects-remove=true" + - "--enable-group-objects=false" # to debug/test + - "--enable-bottom-filter=false" # don't work + - "--enable-nearest-filter=true" + - "--object-bottom-limit=0.90" + - "--log=info" securityContext: runAsUser: 1234 runAsGroup: 1234 + resources: + limits: + memory: 100Mi + env: - name: MQTT_BROKER valueFrom: @@ -61,7 +70,7 @@ spec: - name: MQTT_TOPIC_DISPARITY valueFrom: configMapKeyRef: - key: MQTT_TOPIC_DISPARITY + key: MQTT_TOPIC_CAMERA_DISPARITY name: robocar - name: MQTT_QOS value: "0" @@ -102,10 +111,8 @@ spec: image: docker.io/cyrilix/robocar-steering args: - "-mqtt-retain=false" - - "--image-width=$(IMAGE_WIDTH)" - - "--image-height=$(IMAGE_HEIGHT)" - - "--enable-objects-correction=true" - - "--enable-objects-correction-user=true" + - "--enable-objects-correction=$(DETECTION_OBJECTS)" + - "--enable-objects-correction-user=$(DETECTION_OBJECTS)" - "--grid-map-config=/etc/robocar/grid.json" - "--objects-move-factors-config=/etc/robocar/omf.json" - "--delta-middle=0.1" @@ -154,7 +161,7 @@ spec: - name: MQTT_TOPIC_OBJECTS valueFrom: configMapKeyRef: - key: MQTT_TOPIC_OBJECTS + key: MQTT_TOPIC_OBJECTS_CLEAN name: robocar - name: MQTT_QOS value: "0" @@ -170,6 +177,11 @@ spec: name: robocar-camera - name: TZ value: "Europe/Paris" + - name: DETECTION_OBJECTS + valueFrom: + configMapKeyRef: + key: detection_objects + name: robocar-profiles volumeMounts: - mountPath: /etc/robocar name: robocar-configs @@ -205,7 +217,7 @@ spec: - "--enable-brake-feature=true" - "--brake-configuration=/etc/robocar/brake.json" - "--enable-custom-steering-processor=true" - - "--custom-steering-processor-config=/etc/robocar/custom_steering.json" + - "--custom-steering-processor-config=/etc/robocar/$(THROTTLE_STEERING_CONFIG)" - "--accelerator-factor=$(THROTTLE_ACCELERATOR_FACTOR)" - "--log=info" securityContext: @@ -279,6 +291,11 @@ spec: configMapKeyRef: name: robocar-throttle key: THROTTLE_ACCELERATOR_FACTOR + - name: THROTTLE_STEERING_CONFIG + valueFrom: + configMapKeyRef: + key: throttle_from_steering + name: robocar-profiles - name: MQTT_QOS value: "0" - name: TZ @@ -462,10 +479,25 @@ spec: image: docker.io/cyrilix/robocar-road args: - "-mqtt-retain=false" + - "-image-width=$(IMAGE_WIDTH)" + - "-image-height=$(IMAGE_HEIGHT)" + - "-white-threshold-low=20" + - "-white-threshold-high=255" + - "-canny-threshold-low=100" + - "-canny-threshold-high=250" + - "-hough-lines-rho=2" # distance resolution in pixels of the Hough grid") + #- "-hough-lines-theta", 1*math.Pi/180, "angular resolution in radians of the Hough grid, default Pi/180") + - "-hough-lines-threshold=15" # minimum number of votes (intersections in Hough grid cell) + - "-hough-lines-min-line-length=10" # minimum number of pixels making up a line + - "-hough-lines-max-lines-gap=20" # maximum gap in pixels between connectable line segments - "--log=info" securityContext: runAsUser: 1234 runAsGroup: 1234 + resources: + limits: + memory: 100Mi + cpu: 500m env: - name: MQTT_BROKER valueFrom: @@ -496,5 +528,15 @@ spec: name: robocar - name: MQTT_QOS value: "0" + - name: IMAGE_WIDTH + valueFrom: + configMapKeyRef: + key: CAMERA_WIDTH + name: robocar-camera + - name: IMAGE_HEIGHT + valueFrom: + configMapKeyRef: + key: CAMERA_HEIGHT + name: robocar-camera - name: TZ value: "Europe/Paris" diff --git a/ansible/roles/microservices/files/robocar/common/kustomization.yaml b/ansible/roles/microservices/files/robocar/common/kustomization.yaml index 475dc0e..3e78a0c 100644 --- a/ansible/roles/microservices/files/robocar/common/kustomization.yaml +++ b/ansible/roles/microservices/files/robocar/common/kustomization.yaml @@ -20,10 +20,10 @@ images: newTag: v0.3.0 - name: docker.io/cyrilix/robocar-steering - newTag: v0.7.1 + newTag: v0.8.0 - name: docker.io/cyrilix/robocar-road - newTag: v0.2.0 + newTag: v0.3.0 - name: docker.io/cyrilix/robocar-objects-detection - newTag: v0.1.0 + newTag: v0.2.0