Add overview diagram of the perception and rearrange README file #501
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WalkthroughThe changes in this pull request involve the reorganization and updating of the documentation in Changes
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Actionable comments posted: 0
🧹 Outside diff range and nitpick comments (3)
doc/perception/README.md (3)
3-8: Optimize the documentation structure and improve readability.
- The diagram path can be simplified as we're already in the
docdirectory.- The introduction text could be more polished.
Consider these improvements:
- +-In the following diagram you can see all the nodes and topics used in the perception to show how they work together. +In the following diagram, you can see all the nodes and topics used in the perception system and how they interact with each other.🧰 Tools
🪛 LanguageTool
[uncategorized] ~5-~5: Possible missing comma found.
Context: ...erception components. In the following diagram you can see all the nodes and topics us...(AI_HYDRA_LEO_MISSING_COMMA)
11-16: Maintain consistent documentation style across components.Currently, only the Vision Node has a description. Consider adding brief descriptions for all components to maintain consistency and improve understanding.
Example structure:
- [Vision Node](./vision_node.md) - The Vision Node provides an adaptive interface that is able to perform object detection and/or image segmentation on multiple cameras at the same time. - [Distance to Objects](./distance_to_objects.md) - Calculates the distance to detected objects using camera data. - [Traffic Light Detection](./traffic_light_detection.md) - Handles the detection and classification of traffic lights.🧰 Tools
🪛 LanguageTool
[style] ~12-~12: As a shorter alternative for ‘able to’, consider using “can”.
Context: ...ode provides an adaptive interface that is able to perform object detection and/or image s...(BE_ABLE_TO)
🪛 Markdownlint
12-12: Expected: 2; Actual: 3
Unordered list indentation(MD007, ul-indent)
29-32: Fix typo and consider documentation structure for deprecated components.There's a typo in the word "since" and the indentation is inconsistent.
Apply this fix:
- - [Efficient PS](./efficientps.md) - - Not used scince paf22 and never successfully tested + - [Efficient PS](./efficientps.md) + - Not used since paf22 and never successfully testedConsider moving deprecated components to a separate
deprecated.mdfile to keep the main README focused on active components while maintaining historical information.🧰 Tools
🪛 Markdownlint
30-30: Expected: 2; Actual: 4
Unordered list indentation(MD007, ul-indent)
32-32: Expected: 2; Actual: 4
Unordered list indentation(MD007, ul-indent)
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Review profile: CHILL
⛔ Files ignored due to path filters (1)
doc/assets/perception/perception_overview.pngis excluded by!**/*.png
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doc/perception/README.md(1 hunks)
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doc/perception/README.md
[uncategorized] ~5-~5: Possible missing comma found.
Context: ...erception components. In the following diagram you can see all the nodes and topics us...
(AI_HYDRA_LEO_MISSING_COMMA)
[style] ~12-~12: As a shorter alternative for ‘able to’, consider using “can”.
Context: ...ode provides an adaptive interface that is able to perform object detection and/or image s...
(BE_ABLE_TO)
🪛 Markdownlint
doc/perception/README.md
12-12: Expected: 2; Actual: 3
Unordered list indentation
(MD007, ul-indent)
30-30: Expected: 2; Actual: 4
Unordered list indentation
(MD007, ul-indent)
32-32: Expected: 2; Actual: 4
Unordered list indentation
(MD007, ul-indent)
🔇 Additional comments (2)
doc/perception/README.md (2)
36-36: LGTM!
The experiments section provides a clear reference to the performance evaluations documentation.
18-25: Verify the localization documentation structure.
The section references a separate localization file. Let's ensure all referenced files exist and are properly linked.
✅ Verification successful
Localization documentation structure is verified.
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for file in localization.md kalman_filter.md position_heading_publisher_node.md position_heading_filter_debug_node.md coordinate_transformation.md; do
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🧹 Outside diff range and nitpick comments (3)
doc/perception/README.md (3)
3-6: Polish the introduction textConsider these grammatical improvements:
-This folder contains documentation of the perception components. - -In the following diagram you can see all the nodes and topics used in the perception to show how they work together. +This folder contains documentation of the perception components. + +The following diagram shows all nodes and topics used in perception and illustrates how they work together.🧰 Tools
🪛 LanguageTool
[uncategorized] ~5-~5: Possible missing comma found.
Context: ...erception components. In the following diagram you can see all the nodes and topics us...(AI_HYDRA_LEO_MISSING_COMMA)
11-16: Consider adding brief descriptions for all componentsThe Vision Node entry includes a helpful description, but other components lack descriptions. Consider adding brief descriptions for all components to maintain consistency and improve documentation clarity.
Example format:
- [Vision Node](./vision_node.md) - The Vision Node provides an adaptive interface that is able to perform object detection and/or image segmentation on multiple cameras at the same time. - [Distance to Objects](./distance_to_objects.md) + - Calculates distances to detected objects using camera data. - [Traffic Light Detection](./traffic_light_detection.md) + - Processes images to detect and classify traffic light states.🧰 Tools
🪛 LanguageTool
[style] ~12-~12: As a shorter alternative for ‘able to’, consider using “can”.
Context: ...ode provides an adaptive interface that is able to perform object detection and/or image s...(BE_ABLE_TO)
29-32: Fix typo in version note- [Lidar Distance Utility](./lidar_distance_utility.md) - Not used since paf22 - [Efficient PS](./efficientps.md) - - Not used scince paf22 and never successfully tested + - Not used since paf22 and never successfully tested
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⛔ Files ignored due to path filters (1)
doc/assets/perception/perception_overview.pngis excluded by!**/*.png
📒 Files selected for processing (1)
doc/perception/README.md(1 hunks)
🧰 Additional context used
🪛 LanguageTool
doc/perception/README.md
[uncategorized] ~5-~5: Possible missing comma found.
Context: ...erception components. In the following diagram you can see all the nodes and topics us...
(AI_HYDRA_LEO_MISSING_COMMA)
[style] ~12-~12: As a shorter alternative for ‘able to’, consider using “can”.
Context: ...ode provides an adaptive interface that is able to perform object detection and/or image s...
(BE_ABLE_TO)
[uncategorized] ~20-~20: The preposition “of” seems more likely in this position.
Context: ...cture.md) ## Localization An overview over the different nodes working together to...
(AI_EN_LECTOR_REPLACEMENT_PREPOSITION)
🔇 Additional comments (3)
doc/perception/README.md (3)
18-25: LGTM! Well-organized localization section
The section is well-structured with clear component separation and appropriate references. The helper functions annotation is particularly helpful.
🧰 Tools
🪛 LanguageTool
[uncategorized] ~20-~20: The preposition “of” seems more likely in this position.
Context: ...cture.md) ## Localization An overview over the different nodes working together to...
(AI_EN_LECTOR_REPLACEMENT_PREPOSITION)
1-36: Great job meeting PR objectives!
The changes successfully achieve the main goals:
- Added the perception overview diagram
- Improved documentation structure with clear sections
- Enhanced readability with better organization
The documentation is now more maintainable and user-friendly.
🧰 Tools
🪛 LanguageTool
[uncategorized] ~5-~5: Possible missing comma found.
Context: ...erception components. In the following diagram you can see all the nodes and topics us...
(AI_HYDRA_LEO_MISSING_COMMA)
[style] ~12-~12: As a shorter alternative for ‘able to’, consider using “can”.
Context: ...ode provides an adaptive interface that is able to perform object detection and/or image s...
(BE_ABLE_TO)
[uncategorized] ~20-~20: The preposition “of” seems more likely in this position.
Context: ...cture.md) ## Localization An overview over the different nodes working together to...
(AI_EN_LECTOR_REPLACEMENT_PREPOSITION)
7-7: Verify the diagram file existence
The diagram is a crucial addition that meets the PR objectives. Let's verify its existence and location.
✅ Verification successful
✓ Diagram exists and is properly located
- File:
doc/assets/perception/perception_overview.png(744K)
🏁 Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash
# Verify the existence of the perception overview diagram
if [ -f "doc/assets/perception/perception_overview.png" ]; then
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file "doc/assets/perception/perception_overview.png"
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It is not obvious where Center/image, Back/image... come from. Maybe you can add the camera-module to the graph
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Would you suggest a box similar to the one used for localization? I'm not sure if the graph would then still be consistent with the other topics from the other sensors. Do you think the topics from all sensors should get an own color?
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I was more like referring to the source of the topics. Like for the 'Center/dist_array' and co, you can trace back, that the values somehow come from 'LIDAR' (over the 'lidar_distance' node), which is a CARLA module. Because now it seems like, the 'Camera/image' and co just come out of thin air. To solve I would just add "Camera" and four arrows to 'Center/image' and co.
doc/perception/README.md
Outdated
| ## Overview Localization | ||
| This folder contains documentation of the perception components. | ||
|
|
||
| In the following diagram you can see all the nodes and topics used in the perception to show how they work together. |
There was a problem hiding this comment.
| In the following diagram you can see all the nodes and topics used in the perception to show how they work together. | |
| In the following diagram you can see all the nodes and topics used in the perception, to show how they work together. |
doc/perception/README.md
Outdated
| ## Object Detection / Distance and Segmentation | ||
|
|
||
| - [Vision Node](./vision_node.md) | ||
| - The Vision Node provides an adaptive interface that is able to perform object detection and/or image segmentation on multiple cameras at the same time. |
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What does "and/or" mean in this case? Are there restrictions to the simultaneous execution?
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I just copied this summary sentence from the "old" README file. The other nodes don't get a summary so I wasn't sure if I should leave it in but as the vision_node is quite important I thought a short summary might be nice. I think some models that can be selected in the node can only do object detection or image segmentation while others can do both, right? I think that's why "and/or" was used.
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As of now, the vision node is capable of providing object detection via the NN with YOLO/Ultralytics and image segmentation for the traffic lights. As far as I know. So I would write 'and'.
But at the same time, I would clarify, that at the current state it is not possible to use multiple cameras (correct me if I'm wrong)
There was a problem hiding this comment.
I was more like referring to the source of the topics. Like for the 'Center/dist_array' and co, you can trace back, that the values somehow come from 'LIDAR' (over the 'lidar_distance' node), which is a CARLA module. Because now it seems like, the 'Camera/image' and co just come out of thin air. To solve I would just add "Camera" and four arrows to 'Center/image' and co.
doc/perception/README.md
Outdated
| ## Object Detection / Distance and Segmentation | ||
|
|
||
| - [Vision Node](./vision_node.md) | ||
| - The Vision Node provides an adaptive interface that is able to perform object detection and/or image segmentation on multiple cameras at the same time. |
There was a problem hiding this comment.
As of now, the vision node is capable of providing object detection via the NN with YOLO/Ultralytics and image segmentation for the traffic lights. As far as I know. So I would write 'and'.
But at the same time, I would clarify, that at the current state it is not possible to use multiple cameras (correct me if I'm wrong)
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Actionable comments posted: 1
🧹 Outside diff range and nitpick comments (3)
doc/perception/README.md (3)
1-5: Minor grammatical improvements neededConsider adding a comma after "perception components" to improve readability.
-This folder contains documentation of the perception components. +This folder contains documentation of the perception components,🧰 Tools
🪛 LanguageTool
[uncategorized] ~5-~5: Possible missing comma found.
Context: ...erception components. In the following diagram you can see all the nodes and topics us...(AI_HYDRA_LEO_MISSING_COMMA)
19-23: Improve grammar in localization overviewReplace "over" with "of" for better English usage.
-An overview over the different nodes working together +An overview of the different nodes working together🧰 Tools
🪛 LanguageTool
[uncategorized] ~21-~21: The preposition “of” seems more likely in this position.
Context: ...cture.md) ## Localization An overview over the different nodes working together to...(AI_EN_LECTOR_REPLACEMENT_PREPOSITION)
33-33: Fix typo in unused files sectionCorrect the spelling of "since".
-- Not used scince paf22 and never successfully tested ++ Not used since paf22 and never successfully tested
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⛔ Files ignored due to path filters (1)
doc/assets/perception/perception_overview.pngis excluded by!**/*.png
📒 Files selected for processing (1)
doc/perception/README.md(1 hunks)
🧰 Additional context used
🪛 LanguageTool
doc/perception/README.md
[uncategorized] ~5-~5: Possible missing comma found.
Context: ...erception components. In the following diagram you can see all the nodes and topics us...
(AI_HYDRA_LEO_MISSING_COMMA)
[style] ~12-~12: As a shorter alternative for ‘able to’, consider using “can”.
Context: ...ode provides an adaptive interface that is able to perform object detection and image segm...
(BE_ABLE_TO)
[style] ~13-~13: For conciseness, consider replacing this expression with an adverb.
Context: ...rceiving the front of the car is active at the moment). - [Distance to Objects](./distance_to...
(AT_THE_MOMENT)
[uncategorized] ~21-~21: The preposition “of” seems more likely in this position.
Context: ...cture.md) ## Localization An overview over the different nodes working together to...
(AI_EN_LECTOR_REPLACEMENT_PREPOSITION)
🔇 Additional comments (2)
doc/perception/README.md (2)
37-37: LGTM!
The experiments section provides a clear reference to the detailed documentation.
5-7: Verify the diagram file and its rendering
Please ensure that:
- The diagram file exists at the specified path
- The diagram renders correctly in the documentation
✅ Verification successful
Diagram file exists and is properly placed
The perception overview diagram exists at the correct path (doc/assets/perception/perception_overview.png) and appears to be a valid PNG file with a size of 828,193 bytes. The relative path in the markdown file is correct, and the file is properly placed within the documentation assets structure.
🏁 Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash
# Description: Verify the existence and accessibility of the perception overview diagram
# Check if the diagram file exists
if [ -f "doc/assets/perception/perception_overview.png" ]; then
echo "Diagram file exists"
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file "doc/assets/perception/perception_overview.png"
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echo -e "\nChecking perception directory contents:"
ls -la doc/assets/perception/ 2>/dev/null || echo "Perception directory not found"
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🧰 Tools
🪛 LanguageTool
[uncategorized] ~5-~5: Possible missing comma found.
Context: ...erception components. In the following diagram you can see all the nodes and topics us...
(AI_HYDRA_LEO_MISSING_COMMA)
| - [Vision Node](./vision_node.md) | ||
| - The Vision Node provides an adaptive interface that is able to perform object detection and image segmentation on multiple cameras at the same time | ||
| (even though only one camera perceiving the front of the car is active at the moment). |
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🛠️ Refactor suggestion
Clarify Vision Node capabilities
Based on previous discussions, the description should be more precise about the current capabilities:
-- The Vision Node provides an adaptive interface that is able to perform object detection and image segmentation on multiple cameras at the same time
- (even though only one camera perceiving the front of the car is active at the moment).
++ The Vision Node provides an adaptive interface that can perform object detection and image segmentation
+ (currently configured for a single front-facing camera).📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.
| - [Vision Node](./vision_node.md) | |
| - The Vision Node provides an adaptive interface that is able to perform object detection and image segmentation on multiple cameras at the same time | |
| (even though only one camera perceiving the front of the car is active at the moment). | |
| - [Vision Node](./vision_node.md) | |
| - The Vision Node provides an adaptive interface that can perform object detection and image segmentation | |
| (currently configured for a single front-facing camera). |
🧰 Tools
🪛 LanguageTool
[style] ~12-~12: As a shorter alternative for ‘able to’, consider using “can”.
Context: ...ode provides an adaptive interface that is able to perform object detection and image segm...
(BE_ABLE_TO)
[style] ~13-~13: For conciseness, consider replacing this expression with an adverb.
Context: ...rceiving the front of the car is active at the moment). - [Distance to Objects](./distance_to...
(AT_THE_MOMENT)
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You basically just rephrased the sentence. The centrally meaning is the same.
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@asamluka Understood. Thank you for the feedback.
…n-in-the-documentation
…n-in-the-documentation
Description
A diagram providing an overview of the perception was added.
The README file was rearranged so that documentation files of nodes which are working together to provide a specific functionality are listed together.
Fixes #500
Type of change
Please delete options that are not relevant.
Does this PR introduce a breaking change?
no
Most important changes
README.md and new file in assets/perception
Checklist:
Summary by CodeRabbit