Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat(perception): refactor pointcloud container #1126

Merged
merged 4 commits into from
Feb 2, 2024
Merged

feat(perception): refactor pointcloud container #1126

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
9ae6e88
feat: always separate lidar preprocessing from pointcloud_container (…
kminoda Jan 19, 2024
4a69cf7
chore(pointcloud_container): move glog_component to autoware_launch (…
kminoda Jan 20, 2024
dd9c809
refactor(tier4_perception_launch): refactor object_recognition/detect…
technolojin Jan 24, 2024
8158e53
feat(detection): add container option (#6228)
kminoda Feb 1, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 4 additions & 3 deletions launch/tier4_localization_launch/launch/localization.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,14 +15,15 @@
<arg name="eagleye_param_path"/>

<arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud"/>
<arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="lidar_container_name" default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"/>

<!-- localization module -->
<group>
<push-ros-namespace namespace="localization"/>
<!-- pose_twist_estimator module -->
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/pose_twist_estimator.launch.xml"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/pose_twist_estimator.launch.xml">
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
</include>

<!-- pose_twist_fusion_filter module -->
<group>
Expand Down
8 changes: 6 additions & 2 deletions launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,9 @@
<group if="$(var gnss_enabled)">
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py">
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
</include>
</group>
</group>

Expand Down Expand Up @@ -142,7 +144,9 @@
<group if="$(var gnss_enabled)">
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py">
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
</include>
</group>
</group>
</launch>
18 changes: 4 additions & 14 deletions launch/tier4_localization_launch/launch/util/util.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,6 @@
import launch
from launch.actions import DeclareLaunchArgument
from launch.actions import OpaqueFunction
from launch.conditions import LaunchConfigurationNotEquals
from launch.conditions import UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode
Expand Down Expand Up @@ -71,16 +69,9 @@ def load_composable_node_param(param_path):
random_downsample_component,
]

target_container = (
"/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"
if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
else LaunchConfiguration("pointcloud_container_name")
)

load_composable_nodes = LoadComposableNodes(
condition=LaunchConfigurationNotEquals(target_container, ""),
composable_node_descriptions=composable_nodes,
target_container=target_container,
target_container=LaunchConfiguration("lidar_container_name"),
)

return [load_composable_nodes]
Expand Down Expand Up @@ -115,11 +106,10 @@ def add_launch_arg(name: str, default_value=None, description=None):
"path to the parameter file of random_downsample_filter",
)
add_launch_arg("use_intra_process", "true", "use ROS 2 component container communication")
add_launch_arg("use_pointcloud_container", "True", "use pointcloud container")
add_launch_arg(
"pointcloud_container_name",
"/pointcloud_container",
"container name",
"lidar_container_name",
"/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container",
"container name of main lidar used for localization",
)

add_launch_arg(
Expand Down
437 changes: 0 additions & 437 deletions .../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
View file
Open in desktop

This file was deleted.

155 changes: 127 additions & 28 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,12 @@
<!-- Interface parameters -->
<arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>

<!-- LiDAR parameters -->
<!-- Lidar parameters -->
<arg name="input/pointcloud"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<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="pointcloud_container_name" default="pointcloud_container"/>

<!-- Camera parameters -->
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
Expand All @@ -34,9 +34,10 @@
<arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
<arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>

<!-- Camera-LiDAR-Radar fusion based detection -->
<!-- Camera-Lidar-Radar fusion based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml">
<!-- Camera-Lidar detectors -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
Expand All @@ -57,23 +58,61 @@
<arg name="image_number" value="$(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="$(var container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
<arg name="roi_cluster_fusion_param_path" value="$(var roi_cluster_fusion_param_path)"/>
<arg name="roi_pointcloud_fusion_param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
</include>
<!-- Lidar dnn-based detectors-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
</include>
<!-- Radar detector-->
<group>
<push-ros-namespace namespace="radar"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="output/objects" value="far_objects"/>
<arg name="filter/angle_threshold" value="1.0472"/>
<arg name="filter/velocity_threshold" value="3.0"/>
<arg name="split/velocity_threshold" value="4.5"/>
<arg name="split_range" value="70.0"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</group>
<!-- Object merger -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml">
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
<arg name="image_raw1" value="$(var image_raw1)"/>
<arg name="camera_info1" value="$(var camera_info1)"/>
<arg name="image_raw2" value="$(var image_raw2)"/>
<arg name="camera_info2" value="$(var camera_info2)"/>
<arg name="image_raw3" value="$(var image_raw3)"/>
<arg name="camera_info3" value="$(var camera_info3)"/>
<arg name="image_raw4" value="$(var image_raw4)"/>
<arg name="camera_info4" value="$(var camera_info4)"/>
<arg name="image_raw5" value="$(var image_raw5)"/>
<arg name="camera_info5" value="$(var camera_info5)"/>
<arg name="image_raw6" value="$(var image_raw6)"/>
<arg name="camera_info6" value="$(var camera_info6)"/>
<arg name="image_raw7" value="$(var image_raw7)"/>
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_number" value="$(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="$(var use_object_filter)"/>
<arg name="roi_detected_object_fusion_param_path" value="$(var roi_detected_object_fusion_param_path)"/>
</include>
</group>

<!-- Camera-LiDAR fusion based detection -->
<!-- Camera-Lidar fusion based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
<!-- Camera-Lidar detectors -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
Expand All @@ -94,47 +133,107 @@
<arg name="image_number" value="$(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="$(var container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
</include>
<!-- Lidar dnn-based detectors-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
</include>
<!-- Object merger -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
<arg name="image_raw1" value="$(var image_raw1)"/>
<arg name="camera_info1" value="$(var camera_info1)"/>
<arg name="image_raw2" value="$(var image_raw2)"/>
<arg name="camera_info2" value="$(var camera_info2)"/>
<arg name="image_raw3" value="$(var image_raw3)"/>
<arg name="camera_info3" value="$(var camera_info3)"/>
<arg name="image_raw4" value="$(var image_raw4)"/>
<arg name="camera_info4" value="$(var camera_info4)"/>
<arg name="image_raw5" value="$(var image_raw5)"/>
<arg name="camera_info5" value="$(var camera_info5)"/>
<arg name="image_raw6" value="$(var image_raw6)"/>
<arg name="camera_info6" value="$(var camera_info6)"/>
<arg name="image_raw7" value="$(var image_raw7)"/>
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_number" value="$(var image_number)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
</include>
</group>

<!-- LiDAR-Radar fusion based detection -->
<!-- Lidar-Radar fusion based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml">
<!-- Radar detector-->
<group>
<push-ros-namespace namespace="radar"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="output/objects" value="far_objects"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</group>
<!-- Lidar dnn-based detectors-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
</include>
<!-- Lidar rule-based detectors-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
<arg name="use_pointcloud_map" value="$(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="$(var container_name)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>
<!-- Lidar object merger -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
<arg name="output/objects" value="lidar/objects"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
</include>
<!-- Lidar-Radar object merger-->
<include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
<arg name="input/objects" value="lidar/objects"/>
<arg name="input/radars" value="radar/noise_filtered_objects"/>
<arg name="output/objects" value="objects"/>
</include>
</group>

<!-- LiDAR based detection -->
<!-- Lidar based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
<!-- Lidar dnn-based detectors-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
</include>
<!-- Lidar rule-based detectors-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
<arg name="use_pointcloud_map" value="$(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="$(var container_name)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>
<!-- Lidar object merger -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
<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)"/>
</include>
</group>

<!-- Radar based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
<!-- Radar detector-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="output/objects" value="objects"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
Expand Down
Loading
Loading