feat(tier4_perception_launch): add option for euclidean lidar detection model #842

shmpwk · 2022-05-02T10:23:26Z

Description

Add euclidean lidar deteciton model option instead of apollo or centerpoint model.
This option is useful for no-cuda users since apollo and centerpoint model need cuda.

Tests performed

I tested this option with logiee and confirmed it works.

Notes for reviewers

I changed the option only for lidar_based_detection.launch.xml but not for camera_lidar_fusion_based_detection.launch.xml under detection.launch.xml.
This is because camera_lidar_fusion_based_detection.launch.xml can detect objects here without apollo or centerpoint model by default.
I only check this option with logiee, so please be sure to check the other reference design.

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taikitanaka3 · 2022-05-06T05:05:04Z

@shmpwk
Can you make this PR to tier4 fork autoware_launch too?

yukkysaito · 2022-05-06T07:59:07Z

I'm currently changing centerpoint and apollo with the clustering outputs, so can you please wait for that? I will send out a PR soon.

shmpwk · 2022-05-09T00:35:44Z

Thank you for checking, I will change this PR to draft until centerpoint and apollo with the clustering outputs PR.

Can you make this PR to tier4 fork autoware_launch too?

Ok I will.

stale · 2022-07-08T09:03:37Z

This pull request has been automatically marked as stale because it has not had recent activity.

shmpwk · 2022-12-22T23:53:58Z

@yukkysaito

I'm currently changing centerpoint and apollo with the clustering outputs, so can you please wait for that? I will send out a PR soon.

Have you finished it yet?

yukkysaito · 2022-12-23T00:32:09Z

@shmpwk Sorry for late. I finished. 🙏

shmpwk · 2022-12-23T02:43:38Z

I confirmed it works with AWSIM by following command.

ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=/home/shumpeiwakabayashi/Downloads/nishishinjuku_autoware_map/ lidar_detection_model:=clustering

If we specify lidar_detection_model:=clustering, all objects are recognized as UNKNOWN.

shmpwk · 2022-12-23T02:44:38Z

I will edit autoware_launch too.

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

codecov · 2022-12-23T02:56:23Z

Codecov Report

Base: 11.49% // Head: 11.27% // Decreases project coverage by -0.21% ⚠️

Coverage data is based on head (570ad24) compared to base (0f04622).
Patch has no changes to coverable lines.

❗ Current head 570ad24 differs from pull request most recent head 6b4c676. Consider uploading reports for the commit 6b4c676 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #842      +/-   ##
==========================================
- Coverage   11.49%   11.27%   -0.22%     
==========================================
  Files        1271     1168     -103     
  Lines       88407    81939    -6468     
  Branches    23310    21011    -2299     
==========================================
- Hits        10162     9242     -920     
+ Misses      67472    62834    -4638     
+ Partials    10773     9863     -910

Flag	Coverage Δ		*Carryforward flag
differential	`∅ <ø> (?)`
total	`11.27% <ø> (-0.22%)`	⬇️	Carriedforward from db37c87

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...vehicle_model/vehicle_model_bicycle_kinematics.hpp	`0.00% <0.00%> (-100.00%)`	⬇️
...clude/obstacle_avoidance_planner/mpt_optimizer.hpp	`0.00% <0.00%> (-80.00%)`	⬇️
...nner/src/vehicle_model/vehicle_model_interface.cpp	`0.00% <0.00%> (-75.00%)`	⬇️
...vehicle_model/vehicle_model_bicycle_kinematics.cpp	`0.00% <0.00%> (-52.18%)`	⬇️
...g/obstacle_avoidance_planner/src/mpt_optimizer.cpp	`0.00% <0.00%> (-43.55%)`	⬇️
...srv/detail/dds_fastrtps/load_map__type_support.cpp	`0.00% <0.00%> (-41.94%)`	⬇️
...v/detail/dds_fastrtps/plan_route__type_support.cpp	`0.00% <0.00%> (-37.50%)`	⬇️
...include/obstacle_avoidance_planner/utils/utils.hpp	`0.00% <0.00%> (-36.48%)`	⬇️
...rv/detail/dds_fastrtps/plan_path__type_support.cpp	`0.00% <0.00%> (-34.12%)`	⬇️
planning/static_centerline_optimizer/src/main.cpp	`0.00% <0.00%> (-33.34%)`	⬇️
... and 255 more

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shmpwk · 2022-12-23T02:57:36Z

...on_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml

@@ -20,7 +20,7 @@
  <arg name="image_raw7" default="/image_raw7"/>
  <arg name="camera_info7" default="/camera_info7"/>
  <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="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>


@miursh @yukke42 @tzhong518
Can I add description of lidar_detection_model for pointpainting?

@shmpwk No, It's only for camera-lidar-fusion.

yukke42 · 2022-12-23T07:41:15Z

@shmpwk Cloud you check launch files again? The options are only changed.

shmpwk · 2022-12-23T07:42:45Z

@yukke42 Actually, there is no need to add some script thanks to the clustering namespace.

shmpwk · 2023-01-05T07:58:33Z

Resolved conflict. Any other concerns for this PR?

miursh

LGTM

…in-sync chore: sync beta branch beta/v0.12.0 with tier4/main

…foundation#842) update upstream's docker directory Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

Added twist2accel.param.yaml Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>

shmpwk force-pushed the feat/euclid-option branch from 5ed9bba to 0d8840e Compare May 2, 2022 10:25

wep21 requested a review from yukkysaito May 4, 2022 08:03

shmpwk marked this pull request as draft May 9, 2022 00:35

yukke42 added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label May 9, 2022

shmpwk mentioned this pull request May 27, 2022

docs(how-to guides): add runninng Autoware without CUDA autowarefoundation/autoware-documentation#128

Merged

4 tasks

stale bot added the status:stale Inactive or outdated issues. (auto-assigned) label Jul 8, 2022

stale bot removed the status:stale Inactive or outdated issues. (auto-assigned) label Dec 22, 2022

github-actions bot added component:launch Launch files, scripts and initialization tools. (auto-assigned) and removed component:perception Advanced sensor data processing and environment understanding. (auto-assigned) labels Dec 22, 2022

shmpwk force-pushed the feat/euclid-option branch from 0d8840e to 570ad24 Compare December 23, 2022 02:42

shmpwk marked this pull request as ready for review December 23, 2022 02:43

shmpwk requested review from miursh and a team as code owners December 23, 2022 02:43

shmpwk requested review from h-ohta and kminoda December 23, 2022 02:44

shmpwk changed the title ~~feat(tier4_perception_launch): add euclidean lidar detection model~~ feat(tier4_perception_launch): add option for euclidean lidar detection model Dec 23, 2022

feat(tier4_perception_launch): add euclidean lidar detection model

82cf812

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

shmpwk force-pushed the feat/euclid-option branch from 570ad24 to 82cf812 Compare December 23, 2022 02:55

shmpwk commented Dec 23, 2022

View reviewed changes

shmpwk requested a review from yukke42 December 23, 2022 05:56

Merge branch 'main' into feat/euclid-option

6b4c676

kminoda mentioned this pull request Jan 6, 2023

feat(perception_launch): replace perception_launch with tier4_perception_launch tier4/autoware_launch-old#681

Merged

8 tasks

miursh approved these changes Jan 10, 2023

View reviewed changes

shmpwk merged commit 72a27d3 into autowarefoundation:main Jan 10, 2023

shmpwk deleted the feat/euclid-option branch January 10, 2023 23:56

tier4-autoware-public-bot bot mentioned this pull request Jan 11, 2023

chore: sync upstream tier4/autoware.universe#221

Merged

SaltUhey pushed a commit to SaltUhey/autoware.universe that referenced this pull request Oct 2, 2023

Merge pull request autowarefoundation#842 from tier4/beta-to-tier4-ma…

339b4bd

…in-sync chore: sync beta branch beta/v0.12.0 with tier4/main

iwatake2222 pushed a commit to iwatake2222/autoware.universe that referenced this pull request Jan 17, 2025

chore(twist2accel): rework parameters (autowarefoundation#842)

a72fe01

Added twist2accel.param.yaml Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>

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feat(tier4_perception_launch): add option for euclidean lidar detection model #842

feat(tier4_perception_launch): add option for euclidean lidar detection model #842

shmpwk commented May 2, 2022 •

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feat(tier4_perception_launch): add option for euclidean lidar detection model #842

feat(tier4_perception_launch): add option for euclidean lidar detection model #842

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Description

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Tests performed

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In-review checklist for the PR reviewers

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