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Add overview diagram of the perception and rearrange README file #501

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Jan 16, 2025
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Add overview diagram of the perception and rearrange README file #501

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Add overview diagram of the perception and rearrange README file
Nov 13, 2024
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Add camera to overview diagram and adjust the vision node summary sen…
Dec 9, 2024
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Merge branch 'main' into 500-general-add-an-overview-of-the-perceptio…
asamluka Dec 15, 2024
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Merge branch 'main' into 500-general-add-an-overview-of-the-perceptio…
asamluka Dec 15, 2024
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Merge branch 'main' into 500-general-add-an-overview-of-the-perceptio…
ll7 Jan 16, 2025
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Binary file added 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.

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53 changes: 32 additions & 21 deletions doc/perception/README.md
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@@ -1,26 +1,37 @@
# Documentation of perception component

This folder contains further documentation of the perception components.

1. [Vision Node](./vision_node.md)
- The Visison Node provides an adaptive interface that is able to perform object-detection and/or image-segmentation on multiple cameras at the same time.
2. [Position Heading Filter Debug Node](./position_heading_filter_debug_node.md)
3. [Kalman Filter](./kalman_filter.md)
4. [Position Heading Publisher Node](./position_heading_publisher_node.md)
5. [Distance to Objects](./distance_to_objects.md)
6. [Traffic Light Detection](./traffic_light_detection.md)
7. [Coordinate Transformation (helper functions)](./coordinate_transformation.md)
8. [Dataset Generator](./dataset_generator.md)
9. [Dataset Structure](./dataset_structure.md)
10. [Lidar Distance Utility](./lidar_distance_utility.md)
1. not used since paf22
11. [Efficient PS](./efficientps.md)
1. not used scince paf22 and never successfully tested

## Overview Localization
# Documentation of Perception

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.

![Perception Overview](../../doc/assets/perception/perception_overview.png)

## 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 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).
- [Distance to Objects](./distance_to_objects.md)
Comment on lines +11 to +13
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@coderabbitai coderabbitai bot Dec 9, 2024 •
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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

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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.

Suggested change
- [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.

- [Traffic Light Detection](./traffic_light_detection.md)
- [Dataset Generator](./dataset_generator.md)
- [Dataset Structure](./dataset_structure.md)

## Localization

An overview over the different nodes working together to localize the vehicle is provided in the [localization](./localization.md) file.

- [Kalman Filter](./kalman_filter.md)
- [Position Heading Publisher Node](./position_heading_publisher_node.md)
- [Position Heading Filter Debug Node](./position_heading_filter_debug_node.md)
- [Coordinate Transformation](./coordinate_transformation.md) (helper functions)

## Unused files

- [Lidar Distance Utility](./lidar_distance_utility.md)
- Not used since paf22
- [Efficient PS](./efficientps.md)
- Not used scince paf22 and never successfully tested

## Experiments

- The overview of performance evaluations is located in the [experiments](./experiments/README.md) folder.
The overview of performance evaluations is located in the [experiments](./experiments/README.md) folder.
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