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fix: xt32 sample #10

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merged 3 commits into from
Sep 29, 2023
Merged

fix: xt32 sample #10

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7868a26
fix: coodinate system for xt32 sample
Jun 30, 2023
03d8e9c
feat(perception_xt32_sample): add fusion function
manato Jul 18, 2023
d9c3aa3
feat(perception_xt32_sample): adjust RViz style to the AT128 one
manato Jul 18, 2023
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87 changes: 69 additions & 18 deletions edge_auto_launch/config/visualization/perception_xt32_sample.rviz
View file
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Original file line number Diff line number Diff line change
@@ -1,11 +1,12 @@
Panels:
- Class: rviz_common/Displays
Help Height: 78
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.48444443941116333
Tree Height: 719
Expanded:
- /Pointcloud1
Splitter Ratio: 0.34330984950065613
Tree Height: 1740
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expand Down Expand Up @@ -100,6 +101,56 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- BUS:
Alpha: 0.30000001192092896
Color: 255; 255; 255
CAR:
Alpha: 0.30000001192092896
Color: 255; 255; 255
CYCLIST:
Alpha: 0.30000001192092896
Color: 255; 255; 255
Class: autoware_auto_perception_rviz_plugin/DetectedObjects
Display Acceleration: true
Display Label: true
Display PoseWithCovariance: true
Display Predicted Path Confidence: true
Display Predicted Paths: true
Display Twist: true
Display UUID: true
Display Velocity: true
Enabled: true
Line Width: 0.019999999552965164
MOTORCYCLE:
Alpha: 0.30000001192092896
Color: 255; 255; 255
Name: EuclideanCluster
Namespaces:
label: true
shape: true
twist: true
velocity: true
PEDESTRIAN:
Alpha: 0.30000001192092896
Color: 255; 255; 255
Polygon Type: 3d
TRAILER:
Alpha: 0.30000001192092896
Color: 255; 255; 255
TRUCK:
Alpha: 0.30000001192092896
Color: 255; 255; 255
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /perception/object_recognition/detection/euclidean_cluster/objects
UNKNOWN:
Alpha: 0.30000001192092896
Color: 255; 255; 255
Value: true
Visualization Type: Normal
- BUS:
Alpha: 1
Color: 30; 144; 255
Expand All @@ -123,7 +174,7 @@ Visualization Manager:
MOTORCYCLE:
Alpha: 1
Color: 30; 144; 255
Name: Detected Objects
Name: Fusion
Namespaces:
label: true
shape: true
Expand Down Expand Up @@ -196,41 +247,41 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 11.199999809265137
Distance: 17.369640350341797
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.20143486559391022
Y: -0.5514689087867737
Z: 0.7952755689620972
X: -0.3781598210334778
Y: -0.7969066500663757
Z: 2.003519058227539
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.560398519039154
Pitch: 0.5603983998298645
Target Frame: <Fixed Frame>
Value: Orbit (rviz_default_plugins)
Yaw: 1.7753984928131104
Yaw: 1.455397605895996
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1016
Height: 2246
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001c40000035afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002cf000000c70000000000000000000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004570000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000002e5000007c4fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed00000a8000000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000007c40000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002cf000000c70000000000000000000000010000033200001056fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000006e000010560000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000fb60000005afc0100000002fb0000000800540069006d0065010000000000000fb60000058100fffffffb0000000800540069006d0065010000000000000450000000000000000000000cc5000007c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1846
X: 74
Y: 27
collapsed: true
Width: 4022
X: 696
Y: 3227
42 changes: 42 additions & 0 deletions edge_auto_launch/launch/component/roi_cluster_fusion.launch.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,42 @@
<launch>
<arg name="input/rois_number" default="2"/>
<arg name="input/rois0" default="input/rois0"/>
<arg name="input/camera_info0" default="input/camera_info0"/>
<arg name="input/rois1" default="input/rois1"/>
<arg name="input/camera_info1" default="input/camera_info1"/>

<arg name="input/clusters" default="input/clusters"/>
<arg name="output/clusters" default="output/clusters"/>
<arg name="sync_param_path" default="$(find-pkg-share edge_auto_launch)/config/roi_sync.param.yaml"/>
<arg name="remove_unknown" default="true"/>
<arg name="trust_distance" default="100.0"/>

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

<group>
<set_remap if="$(eval &quot;'$(var input_rois_number)' >= '1' &quot;)" from="input/rois0" to="$(var input/rois0)"/>
<set_remap if="$(eval &quot;'$(var input_rois_number)' >= '1' &quot;)" from="input/camera_info0" to="$(var input/camera_info0)"/>
<set_remap if="$(eval &quot;'$(var input_rois_number)' >= '2' &quot;)" from="input/rois1" to="$(var input/rois1)"/>
<set_remap if="$(eval &quot;'$(var input_rois_number)' >= '2' &quot;)" from="input/camera_info1" to="$(var input/camera_info1)"/>

<node pkg="image_projection_based_fusion" exec="roi_cluster_fusion_node" name="roi_cluster_fusion" output="screen">
<param name="rois_number" value="$(var input/rois_number)"/>
<param from="$(var sync_param_path)"/>
<remap from="input" to="$(var input/clusters)"/>
<remap from="output" to="$(var output/clusters)"/>

<param name="remove_unknown" value="$(var remove_unknown)"/>
<param name="trust_distance" value="$(var trust_distance)"/>

<param name="use_iou" value="true"/>
<param name="use_iou_x" value="false"/>
<param name="use_iou_y" value="false"/>
<param name="only_allow_inside_cluster" value="true"/>
<param name="roi_scale_factor" value="1.1"/>

<param name="iou_threshold" value="0.3"/>
<param name="debug_mode" value="false"/>
</node>
</group>
</launch>
37 changes: 29 additions & 8 deletions edge_auto_launch/launch/perception_xt32_sample.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,13 +34,8 @@
<include file="$(find-pkg-share edge_auto_launch)/launch/component/crop_box_filter.launch.xml">
<arg name="input/pointcloud" value="/sensing/lidar/xt32/pointcloud_raw"/>
<arg name="output/pointcloud" value="cropped/pointcloud"/>
<arg name="min_x" value="-0.15"/>
<arg name="min_y" value="-0.15"/>
<arg name="min_z" value="-0.15"/>
<arg name="max_x" value="0.15"/>
<arg name="max_y" value="0.15"/>
<arg name="max_z" value="0.15"/>
<arg name="negative" value="true"/>
<arg name="frame_id" value="base_link"/>
<arg name="max_z" value="1.2"/>
</include>
<push-ros-namespace namespace="obstacle_segmentation"/>
<include file="$(find-pkg-share edge_auto_launch)/launch/component/scan_ground_filter.launch.xml">
Expand All @@ -59,15 +54,41 @@
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="clusters"/>
<arg name="output/objects" value="objects_with_feature"/>
<arg name="node_name" value="shape_estimation"/>
</include>
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="objects_with_feature"/>
<arg name="output" value="/perception/object_recognition/detection/objects"/>
<arg name="output" value="/perception/object_recognition/detection/euclidean_cluster/objects"/>
<arg name="node_name" value="detected_object_feature_remover"/>
</include>
</group>
</group>
<group>
<push-ros-namespace namespace="image_projection_based_fusion"/>
<include file="$(find-pkg-share edge_auto_launch)/launch/component/roi_cluster_fusion.launch.xml">
<arg name="input/clusters" value="/perception/object_recognition/detection/euclidean_cluster/clusters"/>
<arg name="output/clusters" value="clusters"/>
<arg name="input/rois_number" value="2"/>
<arg name="input/rois0" value="/perception/object_recognition/detection/rois0"/>
<arg name="input/camera_info0" value="/sensing/camera/camera0/camera_info"/>
<arg name="input/rois1" value="/perception/object_recognition/detection/rois1"/>
<arg name="input/camera_info1" value="/sensing/camera/camera1/camera_info"/>
</include>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="clusters"/>
<arg name="output/objects" value="objects_with_feature"/>
<arg name="node_name" value="shape_estimation"/>
</include>
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="objects_with_feature"/>
<arg name="output" value="/perception/object_recognition/detection/objects"/>
<arg name="node_name" value="detected_object_feature_remover"/>
</include>
</group>
</group>

<node pkg="tf2_ros" exec="static_transform_publisher" name="base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 1.0 --qx 0.0 --qy 0.0 --qz 0.0 --qw 1.0 --frame-id base_link --child-frame-id lidar" />

<!-- visualization -->
<node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share edge_auto_launch)/config/visualization/perception_xt32_sample.rviz"/>
<node pkg="rqt_gui" exec="rqt_gui" name="rqt_gui" output="screen" args="--perspective-file $(find-pkg-share edge_auto_launch)/config/visualization/perception_xt32_sample.perspective"/>
Expand Down
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