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feat: Add radar based far detection #851

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feat: Add radar based far detection #851

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0cdecb8
fix(simple_object_merger): fix timeout (#4990)
scepter914 Sep 14, 2023
f0d8586
feat(object_merger): add queue size parameter (#4994)
scepter914 Sep 14, 2023
c45a340
fix(radar_fusion_to_detected_object): fix confidence (#4992)
scepter914 Sep 19, 2023
43cf077
fix(radar_tracks_msg_converter): fix twist coordinate conversion (#4993)
scepter914 Sep 19, 2023
c2330af
fix conflict
scepter914 Sep 19, 2023
fff4519
fix conflict
scepter914 Sep 22, 2023
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6 changes: 3 additions & 3 deletions ...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
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@@ -1,9 +1,9 @@
<?xml version="1.0"?>
<launch>
<!-- Interface param -->
<!-- Interface parameters -->
<arg name="output/objects" default="objects"/>

<!-- LiDAR param -->
<!-- LiDAR parameters -->
<arg name="input/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
<arg name="container_name" default="pointcloud_container"/>
Expand All @@ -18,7 +18,7 @@
<arg name="trust_distance" default="30.0"/>
<arg name="use_roi_based_cluster" default="false"/>

<!-- Camera param -->
<!-- Camera parameters -->
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
<arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
<arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
Expand Down
33 changes: 22 additions & 11 deletions .../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
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@@ -1,23 +1,23 @@
<?xml version="1.0"?>
<launch>
<!-- Interface param -->
<!-- Interface parameters -->
<arg name="output/objects" default="objects"/>

<!-- LiDAR param -->
<!-- LiDAR parameters -->
<arg name="input/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
<arg name="container_name" default="pointcloud_container"/>

<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="score_threshold" default="0.35"/>
<arg name="lidar_detection_score_threshold" default="0.35"/>

<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="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
<arg name="remove_unknown" default="true"/>
<arg name="trust_distance" default="30.0"/>

<!-- Camera param -->
<!-- Camera parameters -->
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
<arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
<arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
Expand All @@ -44,8 +44,9 @@
<arg name="detection_rois7" default="/perception/object_recognition/detection/rois7"/>
<arg name="image_number" default="1" description="choose image raw number(1-8)"/>

<!-- Radar param -->
<!-- Radar parameters -->
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
<arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>

<!-- Jetson AGX -->
<!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
Expand All @@ -60,7 +61,7 @@
<arg name="image_number" value="$(var image_number)"/>
</include> -->

<!-- Radar detection-->
<!-- Radar detection -->
<group>
<push-ros-namespace namespace="radar"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
Expand Down Expand Up @@ -218,7 +219,7 @@
<include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="objects"/>
<arg name="score_threshold" value="$(var score_threshold)"/>
<arg name="score_threshold" value="$(var lidar_detection_score_threshold)"/>
<arg name="model_name" value="$(var centerpoint_model_name)"/>
<arg name="model_path" value="$(var centerpoint_model_path)"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
Expand Down Expand Up @@ -290,7 +291,7 @@
</include>
</group>

<!-- Radar fusion-->
<!-- Radar fusion -->
<group>
<include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
<arg name="input/objects" value="$(var lidar_detection_model)/objects"/>
Expand All @@ -299,7 +300,7 @@
</include>
</group>

<!-- Camera late fusion-->
<!-- Camera late fusion -->
<group>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
Expand Down Expand Up @@ -381,16 +382,26 @@
<group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
<include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
<arg name="input/object" value="objects_before_filter"/>
<arg name="output/object" value="$(var output/objects)"/>
<arg name="output/object" value="near_objects"/>
<arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
</include>
</group>

<group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
<include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml" if="$(var use_object_filter)">
<arg name="input/object" value="objects_before_filter"/>
<arg name="output/object" value="$(var output/objects)"/>
<arg name="output/object" value="near_objects"/>
<arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
</include>
</group>

<!-- Merge far_objects and near_objects. This merger will be removed after tracking fusion operates stably. -->
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="near_objects"/>
<arg name="input/object1" value="radar/far_objects"/>
<arg name="output/object" value="$(var output/objects)"/>
<arg name="priority_mode" value="0"/>
<arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
<arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
</include>
</launch>
29 changes: 17 additions & 12 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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@@ -1,15 +1,16 @@
<?xml version="1.0"?>
<launch>
<!-- Interface parameters -->
<arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>

<!-- lidar param -->
<!-- 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"/>

<!-- camera param -->
<!-- Camera parameters -->
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
<arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
<arg name="image_raw1" default=""/>
Expand All @@ -28,14 +29,15 @@
<arg name="camera_info7" default=""/>
<arg name="image_number" default="1" description="choose image raw number(1-8)"/>

<!-- camera lidar fusion param -->
<!-- Radar parameters -->
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
<arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>

<!-- Camera-LiDAR fusion parameters -->
<arg name="remove_unknown" default="true"/>
<arg name="trust_distance" default="30.0"/>

<!-- radar param -->
<arg name="input/radar" default="/sensing/radar/detected_objects"/>

<!-- 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="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
Expand Down Expand Up @@ -63,13 +65,14 @@
<arg name="container_name" value="$(var container_name)"/>
<arg name="remove_unknown" value="$(var remove_unknown)"/>
<arg name="trust_distance" value="$(var trust_distance)"/>
<arg name="input/radar" value="$(var input/radar)"/>
<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="input/radar" value="$(var input/radar)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
</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="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
Expand Down Expand Up @@ -100,7 +103,7 @@
</include>
</group>

<!-- lidar radar based detection-->
<!-- LiDAR-Radar fusion based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
Expand All @@ -110,11 +113,12 @@
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<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_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
</include>
</group>

<!-- lidar based detection-->
<!-- LiDAR based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
Expand All @@ -127,11 +131,12 @@
</include>
</group>

<!-- radar based detection-->
<!-- Radar based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="output/objects" value="objects"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
</include>
</group>
</launch>
4 changes: 2 additions & 2 deletions ...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
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Expand Up @@ -8,7 +8,7 @@
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
<arg name="container_name" default="pointcloud_container"/>
<arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
<arg name="score_threshold" default="0.35"/>
<arg name="lidar_detection_score_threshold" default="0.35"/>
<arg name="centerpoint_model_name" default="centerpoint_tiny"/>
<arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
<arg name="lidar_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config"/>
Expand Down Expand Up @@ -70,7 +70,7 @@
<include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="objects"/>
<arg name="score_threshold" value="$(var score_threshold)"/>
<arg name="score_threshold" value="$(var lidar_detection_score_threshold)"/>
<arg name="model_name" value="$(var centerpoint_model_name)"/>
<arg name="model_path" value="$(var centerpoint_model_path)"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
Expand Down
15 changes: 8 additions & 7 deletions ...ception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
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@@ -1,17 +1,18 @@
<?xml version="1.0"?>
<launch>
<!-- lidar param -->
<!-- LiDAR parameters -->
<arg name="input/pointcloud"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `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="score_threshold" default="0.20"/>
<arg name="lidar_detection_score_threshold" default="0.35"/>

<!-- radar param -->
<!-- Radar parameters -->
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
<arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>

<!-- lidar based detection-->
<!-- LiDAR detection-->
<group>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
Expand All @@ -22,11 +23,11 @@
<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="$(var container_name)"/>
<arg name="score_threshold" value="$(var score_threshold)"/>
<arg name="lidar_detection_score_threshold" value="$(var lidar_detection_score_threshold)"/>
</include>
</group>

<!-- radar detection-->
<!-- Radar detection-->
<group>
<push-ros-namespace namespace="radar"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
Expand All @@ -42,7 +43,7 @@
</include>
</group>

<!-- lidar radar fusion-->
<!-- LiDAR-Radar fusion-->
<include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
<arg name="input/objects" value="lidar/objects"/>
<arg name="input/radars" value="radar/noise_filtered_objects"/>
Expand Down
14 changes: 7 additions & 7 deletions ...r4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
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Expand Up @@ -2,14 +2,14 @@
<launch>
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
<arg name="output/objects" default="far_objects"/>
<arg name="filter/angle_threshold" default="1.0472"/>
<arg name="filter/velocity_threshold" default="3.0"/>
<arg name="split/velocity_threshold" default="4.5"/>
<arg name="split_range" default="70.0"/>
<arg name="clustering/angle_threshold" default="0.174"/>
<arg name="filter/angle_threshold" default="1.221"/>
<arg name="filter/velocity_threshold" default="1.5"/>
<arg name="split/velocity_threshold" default="5.5"/>
<arg name="split_range" default="80.0"/>
<arg name="clustering/angle_threshold" default="0.349"/>
<arg name="clustering/distance_threshold" default="10.0"/>
<arg name="clustering/velocity_threshold" default="4.0"/>
<arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_position_filter.param.yaml"/>
<arg name="clustering/velocity_threshold" default="5.0"/>
<arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>

<!-- Detection for far dynamic objects -->
<include file="$(find-pkg-share radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
Expand Down
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