Feat/sync perception launch (#534)

* sync from autoware.universe Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * sync perception launch Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * Fix package.xml Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * sync from autoware.universe again Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>
autowarefoundation · Nov 9, 2022 · d3503d3 · d3503d3
1 parent 6b00a8c
commit d3503d3
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Showing 10 changed files with 110 additions and 42 deletions.
diff --git a/...onfig/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/...onfig/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
@@ -22,8 +22,8 @@
        3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #BICYCLE
        2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0]       #PEDESTRIAN
     max_area_matrix:
-      # NOTE(yukke42): The size of truck is 12 m length x 3 m width.
-      # NOTE(yukke42): The size of trailer is 20 m length x 3 m width.
+      # NOTE: The size of truck is 12 m length x 3 m width.
+      # NOTE: The size of trailer is 20 m length x 3 m width.
       #UNKNOWN,  CAR,      TRUCK,    BUS,      TRAILER,   MOTORBIKE, BICYCLE,  PEDESTRIAN
         [100.00,   100.00,   100.00,   100.00,   100.00,    100.00,    100.00,   100.00,   #UNKNOWN
           12.10,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #CAR

diff --git a/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -22,9 +22,14 @@
   <arg name="image_number" default="1" description="choose image raw number(0-7)"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
+  <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
+  <arg name="score_threshold" default="0.35"/>
+  <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
+  <arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
+  <arg name="centerpoint_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var centerpoint_model_name).param.yaml"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
@@ -148,10 +153,16 @@
   <!-- CenterPoint -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
     <push-ros-namespace namespace="centerpoint"/>
-    <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="output/objects" value="objects"/>
-    </include>
+    <group>
+      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+        <arg name="output/objects" value="objects"/>
+        <arg name="score_threshold" value="$(var score_threshold)"/>
+        <arg name="model_name" value="$(var centerpoint_model_name)"/>
+        <arg name="model_path" value="$(var centerpoint_model_path)"/>
+        <arg name="model_param_path" value="$(var centerpoint_model_param_path)"/>
+      </include>
+    </group>
   </group>
 
   <!-- Lidar Apollo Instance Segmentation -->
@@ -169,6 +180,7 @@
         <arg name="input/objects" value="labeled_clusters"/>
         <arg name="output/objects" value="objects_with_feature"/>
         <arg name="use_vehicle_reference_yaw" value="true"/>
+        <arg name="use_vehicle_reference_shape_size" value="false"/>
       </include>
     </group>
 
@@ -181,6 +193,40 @@
     </group>
   </group>
 
+  <!-- PointPainting -->
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='pointpainting'&quot;)">
+    <push-ros-namespace namespace="pointpainting"/>
+    <include file="$(find-pkg-share image_projection_based_fusion)/launch/pointpainting_fusion.launch.xml">
+      <arg name="input/camera_info0" value="$(var camera_info0)"/>
+      <arg name="input/rois0" value="/perception/object_recognition/detection/rois0"/>
+      <arg name="input/camera_info1" value="$(var camera_info1)"/>
+      <arg name="input/rois1" value="/perception/object_recognition/detection/rois1"/>
+      <arg name="input/camera_info2" value="$(var camera_info2)"/>
+      <arg name="input/rois2" value="/perception/object_recognition/detection/rois2"/>
+      <arg name="input/camera_info3" value="$(var camera_info3)"/>
+      <arg name="input/rois3" value="/perception/object_recognition/detection/rois3"/>
+      <arg name="input/camera_info4" value="$(var camera_info4)"/>
+      <arg name="input/rois4" value="/perception/object_recognition/detection/rois4"/>
+      <arg name="input/camera_info5" value="$(var camera_info5)"/>
+      <arg name="input/rois5" value="/perception/object_recognition/detection/rois5"/>
+      <arg name="input/camera_info6" value="$(var camera_info6)"/>
+      <arg name="input/rois6" value="/perception/object_recognition/detection/rois6"/>
+      <arg name="input/camera_info7" value="$(var camera_info7)"/>
+      <arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
+      <arg name="input/rois_number" value="$(var image_number)"/>
+      <arg name="input/image0" value="$(var image_raw0)"/>
+      <arg name="input/image1" value="$(var image_raw1)"/>
+      <arg name="input/image2" value="$(var image_raw2)"/>
+      <arg name="input/image3" value="$(var image_raw3)"/>
+      <arg name="input/image4" value="$(var image_raw4)"/>
+      <arg name="input/image5" value="$(var image_raw5)"/>
+      <arg name="input/image6" value="$(var image_raw6)"/>
+      <arg name="input/image7" value="$(var image_raw7)"/>
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      <arg name="output/objects" value="objects"/>
+    </include>
+  </group>
+
   <!-- Validator -->
   <group>
     <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
@@ -205,23 +251,25 @@
 
   <group>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="detection_by_tracker/objects"/>
+      <arg name="input/object0" value="clustering/objects"/>
       <arg name="input/object1" value="camera_lidar_fusion/objects"/>
       <arg name="output/object" value="temporary_merged_objects"/>
     </include>
   </group>
 
   <group>
+    <let name="merger/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
+    <let name="merger/output/objects" value="$(var output/objects)" unless="$(var use_object_filter)"/>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="temporary_merged_objects"/>
-      <arg name="input/object1" value="clustering/objects"/>
-      <arg name="output/object" value="objects_before_filter"/>
+      <arg name="input/object1" value="detection_by_tracker/objects"/>
+      <arg name="output/object" value="$(var merger/output/objects)"/>
     </include>
   </group>
 
   <!-- Filter -->
   <group>
-    <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
+    <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
       <arg name="input/object" value="objects_before_filter"/>
       <arg name="output/object" value="$(var output/objects)"/>
       <arg name="filtering_range_param" value="$(find-pkg-share perception_launch)/config/object_recognition/detection/object_lanelet_filter.param.yaml"/>

diff --git a/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -4,8 +4,10 @@
   <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
+  <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
+  <arg name="score_threshold" default="0.20"/>
 
   <!-- camera param -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
@@ -50,8 +52,10 @@
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
+      <arg name="score_threshold" value="$(var score_threshold)"/>
     </include>
   </group>
 

diff --git a/perception_launch/launch/object_recognition/detection/detection.launch.xml b/perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -4,8 +4,9 @@
 
   <!-- lidar param -->
   <arg name="input/pointcloud"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
+  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
+  <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
 
@@ -53,6 +54,7 @@
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
     </include>
@@ -81,6 +83,7 @@
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
     </include>
@@ -92,6 +95,7 @@
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
     </include>
@@ -103,6 +107,7 @@
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
     </include>

diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -5,9 +5,14 @@
   <arg name="output/objects" default="objects"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
+  <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
+  <arg name="score_threshold" default="0.35"/>
+  <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
+  <arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
+  <arg name="centerpoint_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var centerpoint_model_name).param.yaml"/>
 
   <!-- Pointcloud map filter -->
   <group>
@@ -62,6 +67,11 @@
     <group>
       <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+        <arg name="output/objects" value="objects"/>
+        <arg name="score_threshold" value="$(var score_threshold)"/>
+        <arg name="model_name" value="$(var centerpoint_model_name)"/>
+        <arg name="model_path" value="$(var centerpoint_model_path)"/>
+        <arg name="model_param_path" value="$(var centerpoint_model_param_path)"/>
       </include>
     </group>
   </group>
@@ -81,6 +91,7 @@
         <arg name="input/objects" value="labeled_clusters"/>
         <arg name="output/objects" value="objects_with_feature"/>
         <arg name="use_vehicle_reference_yaw" value="true"/>
+        <arg name="use_vehicle_reference_shape_size" value="false"/>
       </include>
     </group>
 
@@ -116,16 +127,18 @@
   </group>
 
   <group>
+    <let name="merger/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
+    <let name="merger/output/objects" value="$(var output/objects)" unless="$(var use_object_filter)"/>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="temporary_merged_objects"/>
       <arg name="input/object1" value="detection_by_tracker/objects"/>
-      <arg name="output/object" value="objects_before_filter"/>
+      <arg name="output/object" value="$(var merger/output/objects)"/>
     </include>
   </group>
 
   <!-- Filter -->
   <group>
-    <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
+    <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
       <arg name="input/object" value="objects_before_filter"/>
       <arg name="output/object" value="$(var output/objects)"/>
       <arg name="filtering_range_param" value="$(find-pkg-share perception_launch)/config/object_recognition/detection/object_lanelet_filter.param.yaml"/>

diff --git a/perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
@@ -4,8 +4,10 @@
   <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
+  <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
+  <arg name="score_threshold" default="0.20"/>
 
   <!-- lidar based detection-->
   <group>
@@ -14,8 +16,10 @@
       <arg name="output/objects" value="lidar/objects"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
+      <arg name="score_threshold" value="$(var score_threshold)"/>
     </include>
   </group>
 

diff --git a/perception_launch/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py b/perception_launch/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py
@@ -16,8 +16,6 @@
 from launch.actions import DeclareLaunchArgument
 from launch.actions import SetLaunchConfiguration
 from launch.conditions import IfCondition
-from launch.conditions import LaunchConfigurationEquals
-from launch.conditions import LaunchConfigurationNotEquals
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer
@@ -62,26 +60,27 @@ def add_launch_arg(name: str, default_value=None):
     ]
 
     occupancy_grid_map_container = ComposableNodeContainer(
-        condition=LaunchConfigurationEquals("container", ""),
-        name="occupancy_grid_map_container",
+        name=LaunchConfiguration("container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
         composable_node_descriptions=composable_nodes,
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
 
     load_composable_nodes = LoadComposableNodes(
-        condition=LaunchConfigurationNotEquals("container", ""),
         composable_node_descriptions=composable_nodes,
-        target_container=LaunchConfiguration("container"),
+        target_container=LaunchConfiguration("container_name"),
+        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
     )
 
     return LaunchDescription(
         [
-            add_launch_arg("container", ""),
-            add_launch_arg("use_multithread", "false"),
-            add_launch_arg("use_intra_process", "false"),
+            add_launch_arg("use_multithread", "False"),
+            add_launch_arg("use_intra_process", "True"),
+            add_launch_arg("use_pointcloud_container", "False"),
+            add_launch_arg("container_name", "occupancy_grid_map_container"),
             add_launch_arg("input/obstacle_pointcloud", "no_ground/oneshot/pointcloud"),
             add_launch_arg("input/raw_pointcloud", "concatenated/pointcloud"),
             add_launch_arg("output", "occupancy_grid"),