Skip to content

Binary classifier #23

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
zehdari wants to merge 23 commits into
base: dev
Choose a base branch
from
Open

Binary classifier #23

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
23 commits
Select commit Hold shift + click to select a range
06d235f
Binary classifier working
zehdari Jun 7, 2026
f74f605
Fix param access order
Effo12345 Jun 11, 2026
8e819e0
Make services mapping namespaced
Effo12345 Jun 11, 2026
ce62c3c
Fix classifier service param names
Effo12345 Jun 12, 2026
d7faaa2
Remove deprecated launch junk
zehdari Jun 12, 2026
5eb81ba
coderabbit suggested fixes
zehdari Jun 12, 2026
1b642ad
RS26 task logic and refactoring
zehdari Jun 12, 2026
1cdf7e0
Actually installing the files in cmake
zehdari Jun 14, 2026
ac9db6c
seed obj estimate for binary classifier on aquire -> track transition
zehdari Jun 14, 2026
2377ade
Bin classifier working tirpak
Effo12345 Jun 14, 2026
a7af4d0
Ok running
Effo12345 Jun 14, 2026
806631b
Better handling for mixed mask tasks
zehdari Jun 14, 2026
6147ce1
Removed unused module
zehdari Jun 14, 2026
d2d59c5
color pointcloud2 for debugging/testing
zehdari Jun 15, 2026
25190e5
grid based sampling
zehdari Jun 16, 2026
4f3366b
Added mapping configs for new props
zehdari Jun 16, 2026
4a414a9
Performance tweaks, QOL changes
zehdari Jun 17, 2026
1a1994d
using class colors for pointcloud
zehdari Jun 17, 2026
059bdd6
Merge branch 'dev' into BinaryClassifier
zehdari Jun 17, 2026
e823e27
Merge branch 'NonCursedYolo' into BinaryClassifier
zehdari Jun 17, 2026
2010f77
Using splitext to get file extension
zehdari Jun 17, 2026
79d36fe
actually use correct stamp in frame
zehdari Jun 17, 2026
7a111ea
Improved outlier filtering performance, correct camera frame
zehdari Jun 18, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions .gitignore
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -134,3 +134,5 @@ logs/
.vscode

COLCON_IGNORE

.DS_Store
3 changes: 0 additions & 3 deletions .gitmodules
View file
Open in desktop

This file was deleted.

13 changes: 13 additions & 0 deletions riptide_mapping/config/binary_classifier.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
/**:
ros__parameters:
binary_classifier:
buffer_size: 500 # max detections held in the rolling buffer used for clustering
buffer_ttl_sec: 8.0 # detections older than this are dropped, so a target we've left behind stops contributing
min_cluster_detections: 6 # how many nearby detections it takes to lock an instance
cluster_radius_m: 0.15 # neighbors within this radius count as the same cluster when finding an instance
assignment_gate_m: 0.20 # once an instance is locked, a new detection farther than this from its centroid is rejected as not belonging to it
exclusion_radius_m: 0.30 # while hunting for the second instance, detections within this radius of the first are thrown out so the first can't bleed into the second
min_instance_separation_m: 0.40 # a candidate second instance must be at least this far from the first to be accepted
max_cluster_variance_m2: 0.02 # reject a cluster whose spread exceeds this. 0 disables the check
centroid_ema_alpha: 0.15 # Exponential Moving Average (EMA) rate for a locked centroid chasing new detections. lower = steadier & slower, higher = faster & noisier
use_3d_distance: false # cluster/measure distance in 3D (x,y,z) vs 2D (x,y). Keep False for top-down flat targets where z is the noisy axis
163 changes: 131 additions & 32 deletions riptide_mapping/config/config.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@
y: 0.0
z: -0.8
yaw: 0.0
gate_shark:
gate_rescue:
parent: gate_frame
covar:
x: 1.0
Expand All @@ -49,7 +49,7 @@
y: 0.5
z: 0.0
yaw: 180.0
gate_saw:
gate_repair:
parent: gate_frame
covar:
x: 1.0
Expand All @@ -63,6 +63,7 @@
yaw: 180.0
slalom_parent:
parent: map
lock_orientation_to_config: true
covar:
x: 1.0
y: 1.0
Expand All @@ -75,6 +76,7 @@
yaw: 180.0
slalom_front:
parent: slalom_parent_frame
lock_orientation_to_config: true
covar:
x: 1.0
y: 1.0
Expand All @@ -87,6 +89,7 @@
yaw: 0.0
slalom_middle:
parent: slalom_parent_frame
lock_orientation_to_config: true
covar:
x: 1.0
y: 1.0
Expand All @@ -99,6 +102,7 @@
yaw: 0.0
slalom_back:
parent: slalom_parent_frame
lock_orientation_to_config: true
covar:
x: 1.0
y: 1.0
Expand All @@ -121,7 +125,7 @@
y: 4.0
z: -3.0
yaw: 180.0
torpedo_shark_hole:
fire_hole_large:
parent: torpedo_frame
covar:
x: 0.5
Expand All @@ -133,7 +137,7 @@
y: -0.029972
z: 0.217424
yaw: 0.0
torpedo_sawfish_hole:
fire_hole_small:
parent: torpedo_frame
covar:
x: 0.001
Expand All @@ -145,19 +149,66 @@
y: 0.11176
z: -0.0889
yaw: 0.0
bin_target:
blood_hole_large:
parent: torpedo_frame
covar:
x: 0.5
y: 0.5
z: 0.5
yaw: 0.5
pose:
x: 0.0
y: -0.029972
z: 0.217424
yaw: 0.0
blood_hole_small:
parent: torpedo_frame
covar:
x: 0.001
y: 0.001
z: 0.001
yaw: 0.001
pose:
x: 0.0
y: 0.11176
z: -0.0889
yaw: 0.0
bin:
parent: map
covar:
x: 0.001
y: 0.001
z: 0.001
yaw: 0.001
pose:
x: 11.0
y: -6.0
z: -3.25
x: 1.0
y: 0.0
z: -1.2
yaw: 0.0
bin_target1:
parent: bin_frame
covar:
x: 0.001
y: 0.001
z: 0.001
yaw: 0.001
pose:
x: 0.0
y: 0.0
z: 0.0
yaw: 0.0
bin_target2:
parent: bin_frame
covar:
x: 0.001
y: 0.001
z: 0.001
yaw: 0.001
pose:
x: 0.0
y: 0.0
z: 0.0
yaw: 0.0

# table locations
table:
parent: map
Expand All @@ -171,79 +222,127 @@
y: -4.0
z: -3.25
yaw: 180.0
table_reefshark:
pill:
parent: table_frame
covar:
x: 0.001
y: 0.001
z: 0.001
yaw: 0.001
pose:
x: 1.0
y: 0.0
z: 1.0
x: -0.25
y: 0.25
z: 0.0
yaw: 180.0
table_sawfish:
bandage:
parent: table_frame
covar:
x: 0.001
y: 0.001
z: 0.001
yaw: 0.001
pose:
x: -1.0
y: 0.0
z: 1.0
yaw: 180.0
table_basket_pink:
x: -0.25
y: -0.25
z: 0.0
yaw: 180.0
nut_and_bolt:
parent: table_frame
covar:
x: 0.001
y: 0.001
z: 0.001
yaw: 0.001
pose:
x: 0.305
y: 0.0
x: 0.25
y: 0.25
z: 0.0
yaw: 0.0
table_basket_yellow:
plug:
parent: table_frame
covar:
x: 0.001
y: 0.001
z: 0.001
yaw: 0.001
pose:
x: -0.305
y: 0.0
x: 0.25
y: -0.25
z: 0.0
yaw: 0.0
table_spoon_pink:
yaw: 0.0
helmet:
parent: table_frame
covar:
x: 0.001
y: 0.001
z: 0.001
yaw: 0.001
pose:
x: 0.1
y: -0.036
x: 0.305
y: 0.0
z: 0.0
yaw: 0.0
table_bottle_yellow:
warning:
parent: table_frame
covar:
x: 0.001
y: 0.001
z: 0.001
yaw: 0.001
pose:
x: 0.25
y: 0.25
x: -0.305
y: 0.0
z: 0.0
yaw: 0.0

compass:
parent: table_frame
covar:
x: 1.0
y: 1.0
z: 1.0
yaw: 1.0
pose:
x: 1.2
y: 0.0
z: 1.0
yaw: 180.0
hammer_and_wrench:
parent: table_frame
covar:
x: 1.0
y: 1.0
z: 1.0
yaw: 1.0
pose:
x: -1.2
y: 0.0
z: 1.0
yaw: 0.0
buoy:
parent: table_frame
covar:
x: 1.0
y: 1.0
z: 1.0
yaw: 1.0
pose:
x: 0.0
y: 1.2
z: 1.0
yaw: 270.0
sos:
parent: table_frame
covar:
x: 1.0
y: 1.0
z: 1.0
yaw: 1.0
pose:
x: 0.0
y: -1.2
z: 1.0
yaw: 90.0

prequal_gate:
parent: map
covar:
Expand Down
40 changes: 39 additions & 1 deletion riptide_mapping/config/dummy_detections.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,26 @@
/**/dummydetections:
ros__parameters:
timer_period: 0.05
objects:
- gate
- gate_shark
- gate_saw
- slalom_front
- slalom_middle
- slalom_back
- torpedo
- torpedo_shark_hole
- torpedo_sawfish_hole
- bin_target
Comment on lines +4 to +14

@coderabbitai coderabbitai Bot Jun 17, 2026 •
edited
Loading

Copy link
Copy Markdown

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

⚠️ Potential issue | 🟠 Major | ⚡ Quick win

Dummy detection class IDs are out of sync with mapping target names.

Line 4 onward still uses legacy object IDs, and those entries publish the same class IDs by default. mapping.py now accepts renamed IDs (gate_rescue, gate_repair, fire_hole_large, fire_hole_small, bin_target1/2), so these simulated detections are treated as unknown and skipped.

🔧 Minimal aliasing fix in YAML 
       gate_shark:
+        class_id: gate_rescue
         pose: [2.0, 0.5, -0.8, 0.0, 0.0, 3.1415]
@@
       gate_saw:
+        class_id: gate_repair
         pose: [2.0, -0.5, -0.8, 0.0, 0.0, 3.1415]
@@
       torpedo_shark_hole:
+        class_id: fire_hole_large
         pose: [12.0, -3.970028, -2.782576, 0.0, 0.0, 3.1415]
@@
       torpedo_sawfish_hole:
+        class_id: fire_hole_small
         pose: [12.0, 4.11176, -3.0889, 0.0, 0.0, 3.1415]
@@
       bin_target:
+        class_id: bin_target1
         pose: [11.0, -6.0, -3.25, 0.0, 0.0, 0.0]

Also applies to: 33-104

🤖 Prompt for AI Agents 
Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

In `@riptide_mapping/config/dummy_detections.yaml` around lines 4 - 14, The
objects list in the YAML file starting at line 4 contains legacy detection class
IDs that no longer match the renamed IDs expected by mapping.py. Update all
object entries in the objects list to use the new naming convention: replace
gate with gate_rescue, gate_shark and gate_saw with gate_repair, replace slalom
entries with fire_hole_large and fire_hole_small as appropriate, replace torpedo
and its variants with the corresponding fire hole names, and update bin_target
to bin_target1 and bin_target2. This same update must be applied to all object
entries throughout the file, including the additional entries mentioned at lines
33-104, so that the dummy detections are recognized by mapping.py and not
skipped as unknown.

@zehdari zehdari Jun 17, 2026

Copy link
Copy Markdown
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

@AdityaGupta0 you can fix this one for tree testing

@coderabbitai coderabbitai Bot Jun 17, 2026

Copy link
Copy Markdown

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Seems like the humans are having a chat. I'll hop back into my burrow for now. If you need me again, just tag @coderabbitai in a new comment, and I'll come hopping out!

- blood_1
- blood_2
- table
- table_reefshark
- table_sawfish
- table_basket_pink
- table_basket_yellow
- table_spoon_pink
- table_bottle_yellow
detection_data:
gate:
pose: [2.0, 0.0, -0.8, 0.0, 0.0, 0.0]
Expand Down Expand Up @@ -31,7 +51,7 @@
noise: 0.1
score: 0.8
downward: false
pub_invalid_orientation: false
pub_invalid_orientation: true
min_dist: 0.5
max_dist: 3.0
slalom_middle:
Expand Down Expand Up @@ -82,6 +102,24 @@
pub_invalid_orientation: false
min_dist: 0.5
max_dist: 3.0
blood_1:
class_id: blood
pose: [4.0, -3.0, -3.25, 0.0, 0.0, 0.0]
noise: 0.05
score: 0.8
downward: true
pub_invalid_orientation: false
min_dist: 0.5
max_dist: 3.0
blood_2:
class_id: blood
pose: [4.7, -3.5, -3.25, 0.0, 0.0, 0.0]
noise: 0.05
score: 0.8
downward: true
pub_invalid_orientation: false
min_dist: 0.5
max_dist: 3.0
table:
pose: [4.0, 8.0, -3.25, 0.0, 0.0, 0.0]
noise: 0.05
Expand Down
Loading