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feat(detection): add container option #6228

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merged 19 commits into from
Feb 1, 2024
Merged

feat(detection): add container option #6228

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fdf60d6
feat(lidar_centerpoint,image_projection_based_fusion): add pointcloud…
kminoda Jan 30, 2024
50211e5
revert lidar_perception_model
kminoda Jan 30, 2024
66110e0
style(pre-commit): autofix
pre-commit-ci[bot] Jan 30, 2024
ca72a0c
fix: add options
kminoda Jan 30, 2024
30bac0d
fix: fix default param
kminoda Jan 30, 2024
8050460
Merge branch 'main' into feat/ml_detection/use_container
kminoda Jan 30, 2024
eb38c1e
update node name
kminoda Jan 30, 2024
a80f4de
fix: fix IfCondition
kminoda Jan 30, 2024
2fba982
fix pointpainting namespace
kminoda Jan 30, 2024
6b1a5d1
Merge branch 'main' into feat/ml_detection/use_container
kminoda Jan 30, 2024
704589b
fix: fix launch args
kminoda Jan 31, 2024
1a17a79
Merge remote-tracking branch 'origin' into feat/ml_detection/use_cont…
kminoda Jan 31, 2024
a8b0d46
fix(euclidean_cluster): do not launch individual container when use_p…
kminoda Jan 31, 2024
24f6e50
fix(euclidean_cluster): fix launch condition
kminoda Jan 31, 2024
095e70f
fix(euclidean_cluster): fix launch condition
kminoda Jan 31, 2024
9238f2c
Update perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
kminoda Jan 31, 2024
5ed8540
Merge branch 'main' into feat/ml_detection/use_container
kminoda Feb 1, 2024
c5f3f78
Merge branch 'main' into feat/ml_detection/use_container
knzo25 Feb 1, 2024
a7d0626
Merge branch 'main' into feat/ml_detection/use_container
kminoda Feb 1, 2024
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3 changes: 3 additions & 0 deletions ...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
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Expand Up @@ -85,6 +85,9 @@
<arg name="model_path" value="$(var pointpainting_model_path)"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
<arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>

<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>
</group>

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3 changes: 3 additions & 0 deletions ...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
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Expand Up @@ -22,6 +22,9 @@
<arg name="model_path" value="$(var centerpoint_model_path)"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
<arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>

<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>
</group>
</group>
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3 changes: 3 additions & 0 deletions ...eption_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
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Expand Up @@ -26,6 +26,9 @@
<arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
<arg name="output_clusters" value="clusters"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>

<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>
</group>

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12 changes: 10 additions & 2 deletions perception/euclidean_cluster/launch/euclidean_cluster.launch.py
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Expand Up @@ -78,18 +78,24 @@ def load_composable_node_param(param_path):
output="screen",
)

target_container = (
LaunchConfiguration("pointcloud_container_name")
if IfCondition(LaunchConfiguration("use_pointcloud_container"))
else container
)

use_low_height_pointcloud_loader = LoadComposableNodes(
composable_node_descriptions=[
low_height_cropbox_filter_component,
use_low_height_euclidean_component,
],
target_container=container,
target_container=target_container,
condition=IfCondition(LaunchConfiguration("use_low_height_cropbox")),
)

disuse_low_height_pointcloud_loader = LoadComposableNodes(
composable_node_descriptions=[disuse_low_height_euclidean_component],
target_container=container,
target_container=target_container,
condition=UnlessCondition(LaunchConfiguration("use_low_height_cropbox")),
)

Expand All @@ -106,6 +112,8 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("input_map", "/map/pointcloud_map"),
add_launch_arg("output_clusters", "clusters"),
add_launch_arg("use_low_height_cropbox", "false"),
add_launch_arg("use_pointcloud_container", "false"),
add_launch_arg("pointcloud_container_name", "pointcloud_container"),
add_launch_arg(
"euclidean_param_path",
[
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5 changes: 5 additions & 0 deletions perception/euclidean_cluster/launch/euclidean_cluster.launch.xml
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Expand Up @@ -5,12 +5,17 @@
<arg name="output_clusters" default="clusters"/>
<arg name="use_low_height_cropbox" default="false"/>
<arg name="euclidean_param_path" default="$(find-pkg-share euclidean_cluster)/config/euclidean_cluster.param.yaml"/>
<arg name="use_pointcloud_container" default="false"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>

<include file="$(find-pkg-share euclidean_cluster)/launch/euclidean_cluster.launch.py">
<arg name="input_points_raw_list" value="$(var input_pointcloud)"/>
<arg name="input_map" value="$(var input_map)"/>
<arg name="output_clusters" value="$(var output_clusters)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="euclidean_param_path" value="$(var euclidean_param_path)"/>

<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>
</launch>
12 changes: 10 additions & 2 deletions perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
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Expand Up @@ -79,18 +79,24 @@
output="screen",
)

target_container = (
LaunchConfiguration("pointcloud_container_name")
if IfCondition(LaunchConfiguration("use_pointcloud_container"))
else container
)

use_low_height_pointcloud_loader = LoadComposableNodes(
composable_node_descriptions=[
low_height_cropbox_filter_component,
use_low_height_euclidean_component,
],
target_container=container,
target_container=target_container,
condition=IfCondition(LaunchConfiguration("use_low_height_cropbox")),
)

disuse_low_height_pointcloud_loader = LoadComposableNodes(
composable_node_descriptions=[disuse_low_height_euclidean_component],
target_container=container,
target_container=target_container,

Check warning on line 99 in perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Large Method 

launch_setup has 70 lines, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
condition=UnlessCondition(LaunchConfiguration("use_low_height_cropbox")),
)
return [
Expand All @@ -110,6 +116,8 @@
add_launch_arg("input_map", "/map/pointcloud_map"),
add_launch_arg("output_clusters", "clusters"),
add_launch_arg("use_low_height_cropbox", "false"),
add_launch_arg("use_pointcloud_container", "false"),
add_launch_arg("pointcloud_container_name", "pointcloud_container"),
add_launch_arg(
"voxel_grid_based_euclidean_param_path",
[
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5 changes: 5 additions & 0 deletions perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml
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Expand Up @@ -5,12 +5,17 @@
<arg name="output_clusters" default="clusters"/>
<arg name="use_low_height_cropbox" default="false"/>
<arg name="voxel_grid_based_euclidean_param_path" default="$(find-pkg-share euclidean_cluster)/config/voxel_grid_based_euclidean_cluster.param.yaml"/>
<arg name="use_pointcloud_container" default="false"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>

<include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.py">
<arg name="input_pointcloud" value="$(var input_pointcloud)"/>
<arg name="input_map" value="$(var input_map)"/>
<arg name="output_clusters" value="$(var output_clusters)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="voxel_grid_based_euclidean_param_path" value="$(var voxel_grid_based_euclidean_param_path)"/>

<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>
</launch>
51 changes: 50 additions & 1 deletion perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
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Expand Up @@ -26,6 +26,9 @@
<arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
<arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>

<arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
<arg name="pointcloud_container_name" default="pointcloud_container" description="pointcloud_container name"/>

<!-- for eval variable-->
<arg name="input_rois_number" default="$(var input/rois_number)"/>

Expand All @@ -38,7 +41,53 @@
<arg name="input/image5" default="/image_raw5"/>
<arg name="input/image6" default="/image_raw6"/>
<arg name="input/image7" default="/image_raw7"/>
<group>

<group if="$(var use_pointcloud_container)">
<load_composable_node target="$(var pointcloud_container_name)">
<composable_node pkg="image_projection_based_fusion" plugin="image_projection_based_fusion::PointPaintingFusionNode" name="pointpainting">
<remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
<remap from="~/output/objects" to="$(var output/objects)"/>
<param name="trt_precision" value="fp16"/>
<param name="encoder_onnx_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"/>
<param name="encoder_engine_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).engine"/>
<param name="head_onnx_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"/>
<param name="head_engine_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"/>
<param from="$(var model_param_path)"/>
<param from="$(var sync_param_path)"/>
<param from="$(var class_remapper_param_path)"/>
<param name="rois_number" value="$(var input/rois_number)"/>
<param name="build_only" value="$(var build_only)"/>

<!-- rois, camera and info -->
<param name="input/rois0" value="$(var input/rois0)"/>
<param name="input/camera_info0" value="$(var input/camera_info0)"/>
<param name="input/image0" value="$(var input/image0)"/>
<param name="input/rois1" value="$(var input/rois1)"/>
<param name="input/camera_info1" value="$(var input/camera_info1)"/>
<param name="input/image1" value="$(var input/image1)"/>
<param name="input/rois2" value="$(var input/rois2)"/>
<param name="input/camera_info2" value="$(var input/camera_info2)"/>
<param name="input/image2" value="$(var input/image2)"/>
<param name="input/rois3" value="$(var input/rois3)"/>
<param name="input/camera_info3" value="$(var input/camera_info3)"/>
<param name="input/image3" value="$(var input/image3)"/>
<param name="input/rois4" value="$(var input/rois4)"/>
<param name="input/camera_info4" value="$(var input/camera_info4)"/>
<param name="input/image4" value="$(var input/image4)"/>
<param name="input/rois5" value="$(var input/rois5)"/>
<param name="input/camera_info5" value="$(var input/camera_info5)"/>
<param name="input/image5" value="$(var input/image5)"/>
<param name="input/rois6" value="$(var input/rois6)"/>
<param name="input/camera_info6" value="$(var input/camera_info6)"/>
<param name="input/image6" value="$(var input/image6)"/>
<param name="input/rois7" value="$(var input/rois7)"/>
<param name="input/camera_info7" value="$(var input/camera_info7)"/>
<param name="input/image7" value="$(var input/image7)"/>
<extra_arg name="use_intra_process_comms" value="true"/>
</composable_node>
</load_composable_node>
</group>
<group unless="$(var use_pointcloud_container)">
<node pkg="image_projection_based_fusion" exec="pointpainting_fusion_node" name="pointpainting" output="screen">
<remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
<remap from="~/output/objects" to="$(var output/objects)"/>
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6 changes: 3 additions & 3 deletions perception/lidar_centerpoint/config/detection_class_remapper.param.yaml
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Expand Up @@ -29,9 +29,9 @@
max_area_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN
0.000, 0.000, 36.000, 0.000, inf, 0.000, 0.000, 0.000, #CAR
0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #TRUCK
0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #BUS
0.000, 0.000, 36.000, 0.000, 999.999, 0.000, 0.000, 0.000, #CAR
0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #TRUCK
0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #BUS
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE
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57 changes: 41 additions & 16 deletions perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
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Expand Up @@ -11,20 +11,45 @@
<arg name="has_twist" default="false"/>
<arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>

<node pkg="lidar_centerpoint" exec="lidar_centerpoint_node" name="lidar_centerpoint" output="screen">
<remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
<remap from="~/output/objects" to="$(var output/objects)"/>
<param name="score_threshold" value="$(var score_threshold)"/>
<param name="densification_world_frame_id" value="map"/>
<param name="densification_num_past_frames" value="1"/>
<param name="trt_precision" value="fp16"/>
<param name="has_twist" value="$(var has_twist)"/>
<param name="encoder_onnx_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"/>
<param name="encoder_engine_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).engine"/>
<param name="head_onnx_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"/>
<param name="head_engine_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"/>
<param name="build_only" value="$(var build_only)"/>
<param from="$(var model_param_path)"/>
<param from="$(var class_remapper_param_path)"/>
</node>
<arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
<arg name="pointcloud_container_name" default="pointcloud_container" description="pointcloud_container name"/>

<group if="$(var use_pointcloud_container)">
<load_composable_node target="$(var pointcloud_container_name)">
<composable_node pkg="lidar_centerpoint" plugin="centerpoint::LidarCenterPointNode" name="lidar_centerpoint">
<remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
<remap from="~/output/objects" to="objects"/>
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<param name="score_threshold" value="$(var score_threshold)"/>
<param name="densification_world_frame_id" value="map"/>
<param name="densification_num_past_frames" value="1"/>
<param name="trt_precision" value="fp16"/>
<param name="has_twist" value="$(var has_twist)"/>
<param name="encoder_onnx_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"/>
<param name="encoder_engine_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).engine"/>
<param name="head_onnx_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"/>
<param name="head_engine_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"/>
<param name="build_only" value="$(var build_only)"/>
<param from="$(var model_param_path)"/>
<param from="$(var class_remapper_param_path)"/>
</composable_node>
</load_composable_node>
</group>
<group unless="$(var use_pointcloud_container)">
<node pkg="lidar_centerpoint" exec="lidar_centerpoint_node" name="lidar_centerpoint" output="screen">
<remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
<remap from="~/output/objects" to="objects"/>
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<param name="score_threshold" value="$(var score_threshold)"/>
<param name="densification_world_frame_id" value="map"/>
<param name="densification_num_past_frames" value="1"/>
<param name="trt_precision" value="fp16"/>
<param name="has_twist" value="$(var has_twist)"/>
<param name="encoder_onnx_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"/>
<param name="encoder_engine_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).engine"/>
<param name="head_onnx_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"/>
<param name="head_engine_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"/>
<param name="build_only" value="$(var build_only)"/>
<param from="$(var model_param_path)"/>
<param from="$(var class_remapper_param_path)"/>
</node>
</group>
</launch>
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