Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat: Add radar based far detection #851

Closed
wants to merge 6 commits into from
Closed

feat: Add radar based far detection #851

Show file tree
Hide file tree
Changes from 5 commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
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
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions ...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -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 @@ -19,7 +19,7 @@
<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 Down
33 changes: 22 additions & 11 deletions .../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,15 +1,15 @@
<?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_pointcloud_map" default="true" description="use pointcloud map in detection"/>
<arg name="use_downsample_pointcloud" default="true" description="use downsample pointcloud in perception"/>
Expand All @@ -19,7 +19,7 @@
<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 @@ -46,8 +46,9 @@
<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="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
Expand All @@ -62,7 +63,7 @@
<arg name="image_number" value="$(var image_number)"/>
</include> -->

<!-- Radar detection-->
<!-- Radar detection -->
<group>
<push-ros-namespace namespace="radar"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
Expand Down Expand Up @@ -178,7 +179,7 @@
<include file="$(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 @@ -250,7 +251,7 @@
</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 @@ -259,7 +260,7 @@
</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 @@ -341,16 +342,26 @@
<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>
37 changes: 26 additions & 11 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,16 +1,17 @@
<?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_pointcloud_map" default="true" description="use pointcloud map in detection"/>
<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 @@ -29,14 +30,15 @@
<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 @@ -64,11 +66,16 @@
<arg name="container_name" value="$(var container_name)"/>
<arg name="remove_unknown" value="$(var remove_unknown)"/>
<arg name="trust_distance" value="$(var trust_distance)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
<arg name="use_low_height_cropbox" value="$(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 @@ -97,7 +104,7 @@
</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 @@ -106,11 +113,18 @@
<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="$(var container_name)"/>
<<<<<<< HEAD
<arg name="input/radar" value="$(var input/radar)"/>
=======
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
>>>>>>> cca5fee5a8 (fix(tier4_perception_launch): add object_merger of far_objects to fusion for Camera-LiDAR-Radar fusion (#5026))
</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 @@ -122,11 +136,12 @@
</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="$(var radar_lanelet_filtering_range_param)"/>
</include>
</group>
</launch>
4 changes: 2 additions & 2 deletions ...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
<arg name="container_name" default="pointcloud_container"/>
<arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
<arg name="score_threshold" default="0.35"/>
<arg name="lidar_detection_score_threshold" default="0.35"/>
<arg name="centerpoint_model_name" default="centerpoint_tiny"/>
<arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
<arg name="lidar_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config"/>
Expand Down Expand Up @@ -74,7 +74,7 @@
<include file="$(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
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,18 +1,19 @@
<?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_pointcloud_map" default="true" description="use pointcloud map in detection"/>
<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="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
<arg name="input/objects" value="lidar/objects"/>
<arg name="input/radars" value="radar/noise_filtered_objects"/>
Expand Down
14 changes: 7 additions & 7 deletions ...r4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,14 +2,14 @@
<launch>
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
<arg name="output/objects" default="far_objects"/>
<arg name="filter/angle_threshold" default="1.0472"/>
<arg name="filter/velocity_threshold" default="3.0"/>
<arg name="split/velocity_threshold" default="4.5"/>
<arg name="split_range" default="70.0"/>
<arg name="clustering/angle_threshold" default="0.174"/>
<arg name="filter/angle_threshold" default="1.221"/>
<arg name="filter/velocity_threshold" default="1.5"/>
<arg name="split/velocity_threshold" default="5.5"/>
<arg name="split_range" default="80.0"/>
<arg name="clustering/angle_threshold" default="0.349"/>
<arg name="clustering/distance_threshold" default="10.0"/>
<arg name="clustering/velocity_threshold" default="4.0"/>
<arg name="radar_lanelet_filtering_range_param" default="$(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
Loading
Loading