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feat: add down sample filter before detection module #961

Merged
merged 11 commits into from
May 26, 2022
Merged

feat: add down sample filter before detection module #961

merged 11 commits into from
May 26, 2022

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tkimura4
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@tkimura4 tkimura4 commented May 25, 2022 •
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Signed-off-by: tomoya.kimura tomoya.kimura@tier4.jp

Description

  • add down sample filter before detection module (optional; default: off)
    By inserting down sample filter, the calculation cost of voxel_based_compare_map_filter is reduced.

  • use pointcloud_container for voxel_based_compare_map_filter and down_sample_filter
    By using intra_process, it is possible to reduce the cost in communication of a huge point cloud.

Related links

Tests performed

tested by rosbag. I confirmed that the detection module works both when use_down_sample_filter is true and false

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@tkimura4
feat: add down sample filter before detection module
0ad1106 
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
@tkimura4
fix format
810ca74 
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
tkimura4 and others added 9 commits May 26, 2022 19:42
@tkimura4
change comment
499266a 
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
@tkimura4
add output topic
f0e6e5e 
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
@tkimura4 @yukkysaito
Update launch/tier4_perception_launch/launch/object_recognition/detec…
b8d2fc1 
…tion/detection_preprocess.launch.py

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
@tkimura4 @yukkysaito
Update launch/tier4_perception_launch/launch/object_recognition/detec…
c3e36ad 
…tion/detection_preprocess.launch.py

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
@tkimura4
Merge branch 'feature/down_sample_before_detection' of github.com:tki…
5179679 
…mura4/autoware.universe into feature/down_sample_before_detection
@pre-commit-ci
ci(pre-commit): autofix
3edf82d
@tkimura4
Merge branch 'main' into feature/down_sample_before_detection
967c638
@tkimura4
fix pre-commit
7d33ac1 
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
@tkimura4
Merge branch 'feature/down_sample_before_detection' of github.com:tki…
4fe6874 
…mura4/autoware.universe into feature/down_sample_before_detection
@yukkysaito yukkysaito self-requested a review May 26, 2022 10:57
yukkysaito
yukkysaito approved these changes May 26, 2022
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LGTM

@tkimura4 tkimura4 merged commit f238d96 into autowarefoundation:main May 26, 2022
@tkimura4 tkimura4 deleted the feature/down_sample_before_detection branch May 26, 2022 12:54
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request May 27, 2022
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@shmpwk shmpwk mentioned this pull request May 27, 2022
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@tkimura4 tkimura4 mentioned this pull request May 30, 2022
Merged
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ktro2828 pushed a commit to ktro2828/autoware.universe that referenced this pull request Jun 7, 2022
@tkimura4 @yukkysaito
@pre-commit-ci @ktro2828
feat: add down sample filter before detection module (autowarefoundat…
1c8b77a 
…ion#961)

* feat: add down sample filter before detection module

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix format

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* change comment

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* add output topic

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* Update launch/tier4_perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* Update launch/tier4_perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* ci(pre-commit): autofix

* fix pre-commit

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
boyali referenced this pull request in boyali/autoware.universe Sep 28, 2022
@tkimura4 @yukkysaito
@pre-commit-ci @boyali
feat: add down sample filter before detection module (tier4#961)
75dfd88 
* feat: add down sample filter before detection module

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix format

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* change comment

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* add output topic

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* Update launch/tier4_perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* Update launch/tier4_perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* ci(pre-commit): autofix

* fix pre-commit

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@tkimura4 @yukkysaito
@pre-commit-ci @boyali
feat: add down sample filter before detection module (tier4#961)
544390d 
* feat: add down sample filter before detection module

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix format

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* change comment

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* add output topic

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* Update launch/tier4_perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* Update launch/tier4_perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* ci(pre-commit): autofix

* fix pre-commit

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@tkimura4 @yukkysaito
@pre-commit-ci @boyali
feat: add down sample filter before detection module (tier4#961)
1f9d9fe 
* feat: add down sample filter before detection module

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix format

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* change comment

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* add output topic

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* Update launch/tier4_perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* Update launch/tier4_perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* ci(pre-commit): autofix

* fix pre-commit

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
boyali referenced this pull request in boyali/autoware.universe Oct 19, 2022
@tkimura4 @yukkysaito
@pre-commit-ci @boyali
feat: add down sample filter before detection module (tier4#961)
6ff1622 
* feat: add down sample filter before detection module

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix format

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* change comment

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* add output topic

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* Update launch/tier4_perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* Update launch/tier4_perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* ci(pre-commit): autofix

* fix pre-commit

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
kyoichi-sugahara pushed a commit to kyoichi-sugahara/autoware.universe that referenced this pull request Oct 19, 2023
@takayuki5168
Merge pull request autowarefoundation#961 from tier4/lc-update-20231018
8831d72 
fix(lane_change): prevent stuck and chattering
iwatake2222 pushed a commit to iwatake2222/autoware.universe that referenced this pull request Jan 17, 2025
@satoshi-ota
refactor(bpp): remove unused params (autowarefoundation#961)
84da2c3 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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@yukkysaito yukkysaito yukkysaito approved these changes

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