feat(lidar_centerpoint): output the covariance of pose and twist #6573

tzhong518 · 2024-03-08T05:39:57Z

Description

This PR enables the centerpoint node to update the covariance of covariance of pose and twist.
The variance comes from the model trained with sigma loss(https://github.com/tier4/AWMLdetection3D/pull/133), which predicts the variance of the boundingbox's size, position, and velocity.

Tests performed

ros2 launch lidar_centerpoint lidar_centerpoint.launch.xml model_name:=centerpoint_sigma input/pointcloud:=/sensing/lidar/concatenated/pointcloud
output:
`ros2 topic echo ~/objects

existence_probability: 0.47262266278266907
classification:
- label: 2
  probability: 1.0
  kinematics:
  pose_with_covariance:
  pose:
  position:
  x: 14.863276481628418
  y: -30.522504806518555
  z: 0.982421875
  orientation:
  x: 0.0
  y: -0.0
  z: -0.8441231237133663
  w: -0.5361493747197593
  covariance:
  - 0.2047557532787323
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.23383840918540955
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.1902950257062912
  - 0.0
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  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
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  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.025285644456744194
    has_position_covariance: true
    orientation_availability: 1
    twist_with_covariance:
    twist:
    linear:
    x: 6.219586886509506e-05
    y: 0.0
    z: 0.0
    angular:
    x: 0.0
    y: 0.0
    z: 7.58850622177124
    covariance:
  - 0.06898762285709381
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.09374400973320007
  - 0.0
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  - 0.0
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  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
    has_twist: true
    has_twist_covariance: true
    shape:
    type: 0
    footprint:
    points: []
    dimensions:
    x: 5.908353805541992
    y: 2.103604555130005
    z: 2.882314920425415
    ---`

Notes for reviewers

Interface changes

Effects on system behavior

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kminoda

Thank you for the PR 👍

Please fix the conflict before opening the PR, and also some CIs those are failing 🙏

FYI: https://tier4.atlassian.net/wiki/spaces/~727523079/pages/2417199892/Pull+Request

codecov · 2024-04-03T02:24:46Z

Codecov Report

Attention: Patch coverage is 0% with 32 lines in your changes are missing coverage. Please review.

Project coverage is 14.93%. Comparing base (35642a6) to head (8a23731).
Report is 27 commits behind head on main.

❗ Current head 8a23731 differs from pull request most recent head e595630. Consider uploading reports for the commit e595630 to get more accurate results

Files	Patch %	Lines
perception/lidar_centerpoint/lib/ros_utils.cpp	0.00%	18 Missing ⚠️
...t/include/lidar_centerpoint/centerpoint_config.hpp	0.00%	7 Missing ⚠️
perception/lidar_centerpoint/src/node.cpp	0.00%	4 Missing ⚠️
...ion_based_fusion/src/pointpainting_fusion/node.cpp	0.00%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6573      +/-   ##
==========================================
- Coverage   14.93%   14.93%   -0.01%     
==========================================
  Files        1944     1939       -5     
  Lines      134061   133700     -361     
  Branches    39891    39756     -135     
==========================================
- Hits        20027    19971      -56     
+ Misses      91735    91483     -252     
+ Partials    22299    22246      -53

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`14.94% <ø> (+<0.01%)`	⬆️	Carriedforward from 44ded7a

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Signed-off-by: tzhong518 <[email protected]>

tzhong518 · 2024-04-03T03:05:22Z

Config of pointpainting is updated.

github-actions · 2024-04-03T03:06:06Z

Possible Configurations:

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technolojin · 2024-04-03T05:42:07Z

I am testing the centerpoint_sigma model with lsim

### copy onnx models
# $HOME/autoware_data/lidar_centerpoint/pts_backbone_neck_head_centerpoint_sigma.onnx
# $HOME/autoware_data/lidar_centerpoint/pts_voxel_encoder_centerpoint_sigma.onnx

### launch once for tensorRT cuda engine generation: convert onnx to engine
ros2 launch lidar_centerpoint lidar_centerpoint.launch.xml model_name:=centerpoint_sigma input/pointcloud:=/sensing/lidar/concatenated/pointcloud

### copy parameter to autoware_launch
# autoware/launcher/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml

### launch lsim
ros2 launch autoware_launch logging_simulator.launch.xml  ........ lidar_detection_model:=centerpoint centerpoint_model_name:=centerpoint_sigma

centerpoint_sigma2.mp4

technolojin · 2024-04-03T07:56:01Z

It would be better to add available option list in dnn detector launcher
https://github.com/autowarefoundation/autoware.universe/blob/250f0818f8694bb94d4c5613602f9c52996b6848/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml#L8C14-L8C36

<arg name="centerpoint_model_name" default="centerpoint_sigma" description="options: `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`"/>

YoshiRi · 2024-04-03T09:59:31Z

Compatibility check

I checked this PR would not brake conventional detection process with sample-rosbag in autoware tutorial.

config
model: conventional one
autoware_launch is not changed
result
Not broken. Covariance and twist is not published.

Twist check

Since current model already has twist output, we can get twist by changing paramter in autoware_launch.
feat(lidar_centerpoint, multi_object_tracker) : Use velocity estimated by CenterPoint to stabilize initial velocity of tracker #6602

Pose covariance check

Current model seems not able to measure covariance, but the process still works.

config
- add variance=true in conventional model param

YoshiRi

It worked! But I think we need to fix autoware_launch first.
Could you make PR and link it to this?

perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp

perception/lidar_centerpoint/src/node.cpp

Co-authored-by: Yoshi Ri <[email protected]>

…ion/node.cpp Co-authored-by: Yoshi Ri <[email protected]>

Co-authored-by: Yoshi Ri <[email protected]>

Signed-off-by: tzhong518 <[email protected]>

tzhong518 · 2024-04-04T01:54:56Z

PR to autoware_launch: autowarefoundation/autoware_launch#945

kminoda

I left one minor comment.

Also, let ius discuss in slack whether to handle this as a centerpoint_model or different model (e.g. lidar_model = centerpoint_sigma)

perception/lidar_centerpoint/lib/postprocess/postprocess_kernel.cu

Signed-off-by: tzhong518 <[email protected]>

YoshiRi

LGTM

technolojin

Can you fix the launcher misconfiguration?

...perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml

…tion/detector/lidar_dnn_detector.launch.xml Co-authored-by: Taekjin LEE <[email protected]>

technolojin

LGTM

yukkysaito

LGTM

…owarefoundation#6573) * feat: postprocess variance Signed-off-by: tzhong518 <[email protected]> * feat: output variance Signed-off-by: tzhong518 <[email protected]> * feat: add has_variance to config Signed-off-by: tzhong518 <[email protected]> * fix: single_inference node Signed-off-by: tzhong518 <[email protected]> * style(pre-commit): autofix * fix: add to pointpainting param Signed-off-by: tzhong518 <[email protected]> * Update perception/lidar_centerpoint/src/node.cpp Co-authored-by: Yoshi Ri <[email protected]> * Update perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp Co-authored-by: Yoshi Ri <[email protected]> * Update perception/lidar_centerpoint/src/node.cpp Co-authored-by: Yoshi Ri <[email protected]> * fix: add options Signed-off-by: tzhong518 <[email protected]> * fix: avoid powf Signed-off-by: tzhong518 <[email protected]> * Update launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml Co-authored-by: Taekjin LEE <[email protected]> --------- Signed-off-by: tzhong518 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yoshi Ri <[email protected]> Co-authored-by: Taekjin LEE <[email protected]>

github-actions bot added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Mar 8, 2024

tzhong518 marked this pull request as ready for review March 14, 2024 01:54

tzhong518 requested review from knzo25 and kminoda as code owners March 14, 2024 01:54

kminoda reviewed Mar 14, 2024

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kminoda added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Apr 3, 2024

fix: add to pointpainting param

a7708a4

Signed-off-by: tzhong518 <[email protected]>

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tzhong518 and others added 4 commits April 4, 2024 10:10

Update perception/lidar_centerpoint/src/node.cpp

29c655d

Co-authored-by: Yoshi Ri <[email protected]>

Update perception/image_projection_based_fusion/src/pointpainting_fus…

375c023

…ion/node.cpp Co-authored-by: Yoshi Ri <[email protected]>

Update perception/lidar_centerpoint/src/node.cpp

4ff31ff

Co-authored-by: Yoshi Ri <[email protected]>

fix: add options

44ded7a

Signed-off-by: tzhong518 <[email protected]>

github-actions bot added the component:launch Launch files, scripts and initialization tools. (auto-assigned) label Apr 4, 2024

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feat(autoware_launch): add centerpoint_sigma param autowarefoundation/autoware_launch#945

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fix: avoid powf

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Update launch/tier4_perception_launch/launch/object_recognition/detec…

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…tion/detector/lidar_dnn_detector.launch.xml Co-authored-by: Taekjin LEE <[email protected]>

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Merge branch 'main' into feat/sigma_loss

e595630

tzhong518 enabled auto-merge (squash) April 16, 2024 01:08

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tzhong518 merged commit cf5a2ed into autowarefoundation:main Apr 16, 2024
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feat(autoware_launch): add centerpoint_sigma param to pointpainting.param.yaml autowarefoundation/autoware_launch#955

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feat(lidar_centerpoint): output the covariance of pose and twist #6573

feat(lidar_centerpoint): output the covariance of pose and twist #6573

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feat(lidar_centerpoint): output the covariance of pose and twist #6573

feat(lidar_centerpoint): output the covariance of pose and twist #6573

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tzhong518 commented Mar 8, 2024 • edited Loading

Description

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Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

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YoshiRi commented Apr 3, 2024

Compatibility check

Twist check

Pose covariance check

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