feat(perception): enable to specify region filter.

[MasatoSaeki]

Types of PR

• New Features
• Upgrade of existing features
• Bugfix

Description

This PR enables to specify region based on x-y coordinate from ego, and you can still use distance filter.

Interface roles

1. You can only specify Distance or Region
2. Specification role is that lower_limit and upper_limit are combined by , while Distance is combined by -.
3. You must specify lower_limit and upper_limit of x_position or y_position if use Region.

How to review this PR

Fundamentally, follow this docs
assume that you have already done build of Autoware. To use branch is below.

• driving_log_replayer_v2 -> feat/limitation_by_area
• perception_eval -> feat/limitation_by_area

mkdir -p ~/driving_log_replayer_v2
gdown -O ~/driving_log_replayer_v2/sample_dataset_v2.tar.zst 'https://docs.google.com/uc?export=download&id=1iCoykBBETI_rGfKEFYYb7LFydF-RJVkC'
tar -I zstd -xvf ~/driving_log_replayer_v2/sample_dataset_v2.tar.zst -C ~/driving_log_replayer_v2/
gdown -O ~/driving_log_replayer_v2/sample-map-planning.zip 'https://docs.google.com/uc?export=download&id=1499_nsbUbIeturZaDj7jhUownh5fvXHd'
unzip -d ~/driving_log_replayer_v2/ ~/driving_log_replayer_v2/sample-map-planning.zip
mv ~/driving_log_replayer_v2/sample-map-planning ~/driving_log_replayer_v2/sample_dataset/map

SAMPLE_ROOT=${path/to/autoware}/src/simulator/driving_log_replayer_v2/sample
cp ${SAMPLE_ROOT}/perception/scenario.yaml ~/driving_log_replayer_v2/perception.yaml

source install setup.bash
 ros2 launch driving_log_replayer_v2 driving_log_replayer_v2.launch.py scenario_path:=$HOME/driving_log_replayer_v2/perception.yaml dataset_index:=0 sensing:=false

You can specify region like below

Filter:
  Distance: null # [m] null [Do not filter by distance] or lower_limit-(upper_limit) [Upper limit can be omitted. If omitted value is 1.7976931348623157e+308]
  Region:
    x_position: -10,10 # [m] null [Do not filter by x_position] or lower_limit,upper_limit [Upper limit can be omitted. If omitted value is 1.7976931348623157e+308]
    y_position: 0,20 # [m] null [Do not filter by y_position] or lower_limit,upper_limit [Upper limit can be omitted. If omitted value is 1.7976931348623157e+308]

Others

• feat(perception): enable to filter based on region autoware_perception_evaluation#200

[hayato-m126]

Since the distance from the center is always positive, it is possible to get the lower upper by splitting a string like 0.0-18.0 with -.

But with postion, aren't there also negative values?
For example, if it is -1.0-18.0, it is difficult to handle because there are multiple hyphens.

Other than that, I didn't see anything else that bothered me.

[hayato-m126]

Specification role is that lower_limit and upper_limit are combined by , while Distance is combined by -.

I had missed it.

[MasatoSaeki]

@hayato-m126
I change traffic light code in order to adopt this PR (I have checked this PR on my local pc). a8fec35

And, I wait for releasing autoware_perception_evaluation which related PR to pass ci/cd.

[hayato-m126]

The reason why colcon test is failing is because the main branch of perception_eval does not contain the update corresponding to this PR.
If you test with develop branch of perception_eval, unit test passes.

[hayato-m126]

LGTM

[sonarqubecloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
61.2% Coverage on New Code
49.3% Duplication on New Code

See analysis details on SonarQube Cloud