feat(localization): add nerf_based_localizer

launch/tier4_localization_launch/launch/pose_twist_estimator/nerf_based_localizer.launch.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+  <group>
+    <push-ros-namespace namespace="nerf_based_localizer"/>
+    <group>
+      <include file="$(find-pkg-share nerf_based_localizer)/launch/nerf_based_localizer.launch.xml">
+        <arg name="input_image" value="/sensing/camera/traffic_light/image_raw"/>
+        <arg name="input_pose" value="/localization/pose_twist_fusion_filter/biased_pose_with_covariance"/>
+        <arg name="output_image" value="/localization/pose_estimator/nerf_image"/>
+        <arg name="output_pose_with_covariance" value="/localization/pose_estimator/pose_with_covariance"/>
+        <arg name="param_file" value="$(find-pkg-share nerf_based_localizer)/config/nerf_based_localizer.param.yaml"/>
+        <arg name="service_optimize_pose" value="/localization/pose_estimator/nerf_align_srv"/>
+      </include>
+    </group>
+  </group>
+</launch>

launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml

@@ -9,7 +9,7 @@
   <arg name="gnss_enabled" default="true" description="gnss availability for initial position estimation"/>
 
   <!-- split string with underscores -->
-  <let name="available_args" value="[\'ndt\',\'yabloc\',\'eagleye\',\'artag\']"/>
+  <let name="available_args" value="[\'ndt\',\'yabloc\',\'eagleye\',\'artag\',\'nerf\']"/>
   <let name="split_function" value="list(set('$(var pose_source)'.split('_')).intersection($(var available_args)))"/>
   <let name="pose_sources" value="$(eval $(var split_function))"/>
   <let name="multi_localizer_mode" value="$(eval &quot;len($(var pose_sources))> 1&quot;)"/>
@@ -18,6 +18,7 @@
   <let name="use_ndt_pose" value="$(eval &quot;'ndt' in $(var pose_sources)&quot;)"/>
   <let name="use_yabloc_pose" value="$(eval &quot;'yabloc' in $(var pose_sources)&quot;)"/>
   <let name="use_artag_pose" value="$(eval &quot;'artag' in $(var pose_sources)&quot;)"/>
+  <let name="use_nerf_pose" value="$(eval &quot;'nerf' in $(var pose_sources)&quot;)"/>
   <let name="use_eagleye_pose" value="$(eval &quot;'eagleye' in $(var pose_sources)&quot;)"/>
   <let name="use_eagleye_twist" value="$(eval &quot;'eagleye' == '$(var twist_source)'&quot;)"/>
   <let name="use_gyro_odom_twist" value="$(eval &quot;'gyro_odom' == '$(var twist_source)'&quot;)"/>
@@ -91,6 +92,12 @@
     </include>
   </group>
 
+  <!-- NeRF Based Localizer (as pose estimator) -->
+  <group if="$(var use_nerf_pose)">
+    <push-ros-namespace namespace="pose_estimator"/>
+    <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/nerf_based_localizer.launch.xml"/>
+  </group>
+
   <!-- Pose Estimator Arbiter Launch -->
   <group if="$(var multi_localizer_mode)">
     <include file="$(find-pkg-share pose_estimator_arbiter)/launch/pose_estimator_arbiter.launch.xml">
@@ -116,6 +123,7 @@
       <arg name="yabloc_enabled" value="$(var use_yabloc_pose)"/>
       <arg name="gnss_enabled" value="$(var gnss_enabled)"/>
       <arg name="ekf_enabled" value="true"/>
+      <arg name="nerf_enabled" value="$(var use_nerf_pose)"/>
       <arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
       <arg name="config_file" value="$(var pose_initializer_param_path)"/>
       <arg name="sub_gnss_pose_cov" value="$(var sub_gnss_pose_cov)"/>

launch/tier4_localization_launch/package.xml

@@ -27,6 +27,7 @@
   <exec_depend>geo_pose_projector</exec_depend>
   <exec_depend>gyro_odometer</exec_depend>
   <exec_depend>ndt_scan_matcher</exec_depend>
+  <exec_depend>nerf_based_localizer</exec_depend>
   <exec_depend>pose_estimator_arbiter</exec_depend>
   <exec_depend>pose_initializer</exec_depend>
   <exec_depend>pose_instability_detector</exec_depend>

localization/nerf_based_localizer/CMakeLists.txt

@@ -0,0 +1,51 @@
+cmake_minimum_required(VERSION 3.14)
+project(nerf_based_localizer)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+find_package(CUDA REQUIRED)
+find_package(CUDAToolkit REQUIRED)
+
+if(NOT ${CUDA_FOUND})
+  message(WARNING "cuda is not found, so the nerf_based_localizer package won't be built.")
+  return()
+endif()
+
+# libtorch
+set(CMAKE_PREFIX_PATH ${DCMAKE_PREFIX_PATH}$ ${CMAKE_SOURCE_DIR}/external/libtorch/)
+find_package(Torch PATHS ${CMAKE_SOURCE_DIR}/external/libtorch NO_DEFAULT_PATH)
+
+# skip if libtorch is not found
+if(NOT Torch_FOUND)
+  message(WARNING "libtorch is not found, so the nerf_based_localizer package won't be built.")
+  return()
+endif()
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS} -w")
+link_directories(${CMAKE_SOURCE_DIR}/external/libtorch/lib/)
+include_directories(${TORCH_INCLUDE_DIRS})
+
+# OpenCV
+find_package(OpenCV REQUIRED)
+link_directories(${OpenCV_LIBRARIES})
+include_directories(${OpenCV_INCLUDE_DIRS})
+
+file(GLOB_RECURSE SRC_ALL
+  src/*.cpp
+  src/*.cu)
+
+ament_auto_add_executable(nerf_based_localizer ${SRC_ALL})
+ament_export_dependencies(CUDA)
+target_link_libraries(nerf_based_localizer
+  ${TORCH_LIBRARIES}
+  ${TORCH_CUDA_LIBRARIES}
+  ${OpenCV_LIBS}
+  stdc++fs
+)
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+  config
+)

localization/nerf_based_localizer/ORIGINAL_LICENSE

@@ -0,0 +1,201 @@
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