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feat(tier4_perception_launch): enable multi channel tracker merger #7459

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technolojin
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@technolojin technolojin commented Jun 12, 2024

Description

Add an perception option use_multi_channel_tracker_merger.
This option replaces object merge pipeline to the multi-object-tracker multi input functionality.

The new pipeline will be tested.

This work is based on the perception launcher refactoring #7194

Tests performed

  • perception_mode:=camera_lidar_radar_fusion lidar_detection_model:=pointpainting
  • perception_mode:=camera_lidar_radar_fusion lidar_detection_model:=centerpoint
  • perception_mode:=camera_lidar_fusion lidar_detection_model:=pointpainting
  • perception_mode:=camera_lidar_fusion lidar_detection_model:=centerpoint
  • perception_mode:=camera_lidar_fusion lidar_detection_model:=apollo
  • perception_mode:=lidar_radar_fusion lidar_detection_model:=centerpoint
  • perception_mode:=radar
  • perception_mode:=lidar lidar_detection_model:=centerpoint
  • use_multi_channel_tracker_merger:=true perception_mode:=camera_lidar_radar_fusion lidar_detection_model:=pointpainting
  • use_multi_channel_tracker_merger:=true perception_mode:=camera_lidar_fusion lidar_detection_model:=centerpoint
  • use_multi_channel_tracker_merger:=true perception_mode:=lidar_radar_fusion lidar_detection_model:=centerpoint
  • use_multi_channel_tracker_merger:=true perception_mode:=lidar lidar_detection_model:=centerpoint
  • use_multi_channel_tracker_merger:=true perception_mode:=radar
  • use_multi_channel_tracker_merger:=true perception_mode:=camera_lidar_fusion use_detection_by_tracker:=false

Effects on system behavior

Expected to get benefit of the new multi channel tracker merger.

Interface changes

The new argument use_multi_channel_tracker_merger will be added. Default value will be false that works as previous pipeline.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

  • There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

@github-actions github-actions bot added the component:launch Launch files, scripts and initialization tools. (auto-assigned) label Jun 12, 2024
@technolojin technolojin linked an issue Jun 12, 2024 that may be closed by this pull request
3 tasks
@technolojin technolojin changed the title feat(): enable multi channel tracker merger feat(tier4_perception_launch): enable multi channel tracker merger Jun 12, 2024
@technolojin technolojin force-pushed the feat/enable_multi_channel_tracker_merger branch 6 times, most recently from fc9775d to 814f95f Compare June 19, 2024 08:32
@technolojin technolojin self-assigned this Jun 20, 2024
@technolojin technolojin force-pushed the feat/enable_multi_channel_tracker_merger branch from e5ad3eb to 90025b2 Compare June 20, 2024 06:31
technolojin and others added 13 commits June 20, 2024 17:23
Signed-off-by: Taekjin LEE <[email protected]>

feat: separate filters

feat: filtering camera lidar fusion

fix: object validator to modular
Signed-off-by: Taekjin LEE <[email protected]>

fix: add missing config

Signed-off-by: Taekjin LEE <[email protected]>

fix: radar only mode for both fusion mode

fix

Signed-off-by: Taekjin LEE <[email protected]>

style(pre-commit): autofix

Signed-off-by: Taekjin LEE <[email protected]>
fix radar output

Signed-off-by: Taekjin LEE <[email protected]>
Signed-off-by: Taekjin LEE <[email protected]>
This commit updates the input paths for object detection. It ensures that the correct paths are used for the detection process.

Signed-off-by: Taekjin LEE <[email protected]>
@technolojin technolojin force-pushed the feat/enable_multi_channel_tracker_merger branch from f806b2e to be8318f Compare June 20, 2024 08:24
@technolojin technolojin marked this pull request as ready for review June 20, 2024 08:24
@technolojin technolojin added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jun 20, 2024
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LGTM

@technolojin technolojin merged commit ec88fc5 into autowarefoundation:main Jun 26, 2024
34 checks passed
simon-eisenmann-driveblocks pushed a commit to simon-eisenmann-driveblocks/autoware.universe that referenced this pull request Jun 26, 2024
…utowarefoundation#7459)

* feat: introduce multi channel tracker merger

Signed-off-by: Taekjin LEE <[email protected]>

feat: separate filters

feat: filtering camera lidar fusion

fix: object validator to modular
Signed-off-by: Taekjin LEE <[email protected]>

fix: add missing config

Signed-off-by: Taekjin LEE <[email protected]>

fix: radar only mode for both fusion mode

fix

Signed-off-by: Taekjin LEE <[email protected]>

style(pre-commit): autofix

Signed-off-by: Taekjin LEE <[email protected]>

* fix: implement merger switching

Signed-off-by: Taekjin LEE <[email protected]>

* chore: move pointcloud filter from detection to filter group

Signed-off-by: Taekjin LEE <[email protected]>

* chore: define external and internal interfaces

Signed-off-by: Taekjin LEE <[email protected]>

* fix: set output of camera-lidar in absolute path

Signed-off-by: Taekjin LEE <[email protected]>

* chore: explicit object detection output

Signed-off-by: Taekjin LEE <[email protected]>

* style(pre-commit): autofix

Signed-off-by: Taekjin LEE <[email protected]>

* chore: update object detection input paths

fix radar output

Signed-off-by: Taekjin LEE <[email protected]>

* chore: update object detection input paths

Signed-off-by: Taekjin LEE <[email protected]>

* fix: radar pipeline output

Signed-off-by: Taekjin LEE <[email protected]>

* chore: update object detection input paths

This commit updates the input paths for object detection. It ensures that the correct paths are used for the detection process.

Signed-off-by: Taekjin LEE <[email protected]>

* style(pre-commit): autofix

Signed-off-by: Taekjin LEE <[email protected]>

* fix: group to avoid argument mixture

Signed-off-by: Taekjin LEE <[email protected]>

---------

Signed-off-by: Taekjin LEE <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: Simon Eisenmann <[email protected]>
mitukou1109 pushed a commit to mitukou1109/autoware.universe that referenced this pull request Jul 2, 2024
…utowarefoundation#7459)

* feat: introduce multi channel tracker merger

Signed-off-by: Taekjin LEE <[email protected]>

feat: separate filters

feat: filtering camera lidar fusion

fix: object validator to modular
Signed-off-by: Taekjin LEE <[email protected]>

fix: add missing config

Signed-off-by: Taekjin LEE <[email protected]>

fix: radar only mode for both fusion mode

fix

Signed-off-by: Taekjin LEE <[email protected]>

style(pre-commit): autofix

Signed-off-by: Taekjin LEE <[email protected]>

* fix: implement merger switching

Signed-off-by: Taekjin LEE <[email protected]>

* chore: move pointcloud filter from detection to filter group

Signed-off-by: Taekjin LEE <[email protected]>

* chore: define external and internal interfaces

Signed-off-by: Taekjin LEE <[email protected]>

* fix: set output of camera-lidar in absolute path

Signed-off-by: Taekjin LEE <[email protected]>

* chore: explicit object detection output

Signed-off-by: Taekjin LEE <[email protected]>

* style(pre-commit): autofix

Signed-off-by: Taekjin LEE <[email protected]>

* chore: update object detection input paths

fix radar output

Signed-off-by: Taekjin LEE <[email protected]>

* chore: update object detection input paths

Signed-off-by: Taekjin LEE <[email protected]>

* fix: radar pipeline output

Signed-off-by: Taekjin LEE <[email protected]>

* chore: update object detection input paths

This commit updates the input paths for object detection. It ensures that the correct paths are used for the detection process.

Signed-off-by: Taekjin LEE <[email protected]>

* style(pre-commit): autofix

Signed-off-by: Taekjin LEE <[email protected]>

* fix: group to avoid argument mixture

Signed-off-by: Taekjin LEE <[email protected]>

---------

Signed-off-by: Taekjin LEE <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
palas21 pushed a commit to palas21/autoware.universe that referenced this pull request Jul 12, 2024
…utowarefoundation#7459)

* feat: introduce multi channel tracker merger

Signed-off-by: Taekjin LEE <[email protected]>

feat: separate filters

feat: filtering camera lidar fusion

fix: object validator to modular
Signed-off-by: Taekjin LEE <[email protected]>

fix: add missing config

Signed-off-by: Taekjin LEE <[email protected]>

fix: radar only mode for both fusion mode

fix

Signed-off-by: Taekjin LEE <[email protected]>

style(pre-commit): autofix

Signed-off-by: Taekjin LEE <[email protected]>

* fix: implement merger switching

Signed-off-by: Taekjin LEE <[email protected]>

* chore: move pointcloud filter from detection to filter group

Signed-off-by: Taekjin LEE <[email protected]>

* chore: define external and internal interfaces

Signed-off-by: Taekjin LEE <[email protected]>

* fix: set output of camera-lidar in absolute path

Signed-off-by: Taekjin LEE <[email protected]>

* chore: explicit object detection output

Signed-off-by: Taekjin LEE <[email protected]>

* style(pre-commit): autofix

Signed-off-by: Taekjin LEE <[email protected]>

* chore: update object detection input paths

fix radar output

Signed-off-by: Taekjin LEE <[email protected]>

* chore: update object detection input paths

Signed-off-by: Taekjin LEE <[email protected]>

* fix: radar pipeline output

Signed-off-by: Taekjin LEE <[email protected]>

* chore: update object detection input paths

This commit updates the input paths for object detection. It ensures that the correct paths are used for the detection process.

Signed-off-by: Taekjin LEE <[email protected]>

* style(pre-commit): autofix

Signed-off-by: Taekjin LEE <[email protected]>

* fix: group to avoid argument mixture

Signed-off-by: Taekjin LEE <[email protected]>

---------

Signed-off-by: Taekjin LEE <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: palas21 <[email protected]>
tby-udel pushed a commit to tby-udel/autoware.universe that referenced this pull request Jul 14, 2024
…utowarefoundation#7459)

* feat: introduce multi channel tracker merger

Signed-off-by: Taekjin LEE <[email protected]>

feat: separate filters

feat: filtering camera lidar fusion

fix: object validator to modular
Signed-off-by: Taekjin LEE <[email protected]>

fix: add missing config

Signed-off-by: Taekjin LEE <[email protected]>

fix: radar only mode for both fusion mode

fix

Signed-off-by: Taekjin LEE <[email protected]>

style(pre-commit): autofix

Signed-off-by: Taekjin LEE <[email protected]>

* fix: implement merger switching

Signed-off-by: Taekjin LEE <[email protected]>

* chore: move pointcloud filter from detection to filter group

Signed-off-by: Taekjin LEE <[email protected]>

* chore: define external and internal interfaces

Signed-off-by: Taekjin LEE <[email protected]>

* fix: set output of camera-lidar in absolute path

Signed-off-by: Taekjin LEE <[email protected]>

* chore: explicit object detection output

Signed-off-by: Taekjin LEE <[email protected]>

* style(pre-commit): autofix

Signed-off-by: Taekjin LEE <[email protected]>

* chore: update object detection input paths

fix radar output

Signed-off-by: Taekjin LEE <[email protected]>

* chore: update object detection input paths

Signed-off-by: Taekjin LEE <[email protected]>

* fix: radar pipeline output

Signed-off-by: Taekjin LEE <[email protected]>

* chore: update object detection input paths

This commit updates the input paths for object detection. It ensures that the correct paths are used for the detection process.

Signed-off-by: Taekjin LEE <[email protected]>

* style(pre-commit): autofix

Signed-off-by: Taekjin LEE <[email protected]>

* fix: group to avoid argument mixture

Signed-off-by: Taekjin LEE <[email protected]>

---------

Signed-off-by: Taekjin LEE <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
KhalilSelyan pushed a commit that referenced this pull request Jul 22, 2024
…7459)

* feat: introduce multi channel tracker merger

Signed-off-by: Taekjin LEE <[email protected]>

feat: separate filters

feat: filtering camera lidar fusion

fix: object validator to modular
Signed-off-by: Taekjin LEE <[email protected]>

fix: add missing config

Signed-off-by: Taekjin LEE <[email protected]>

fix: radar only mode for both fusion mode

fix

Signed-off-by: Taekjin LEE <[email protected]>

style(pre-commit): autofix

Signed-off-by: Taekjin LEE <[email protected]>

* fix: implement merger switching

Signed-off-by: Taekjin LEE <[email protected]>

* chore: move pointcloud filter from detection to filter group

Signed-off-by: Taekjin LEE <[email protected]>

* chore: define external and internal interfaces

Signed-off-by: Taekjin LEE <[email protected]>

* fix: set output of camera-lidar in absolute path

Signed-off-by: Taekjin LEE <[email protected]>

* chore: explicit object detection output

Signed-off-by: Taekjin LEE <[email protected]>

* style(pre-commit): autofix

Signed-off-by: Taekjin LEE <[email protected]>

* chore: update object detection input paths

fix radar output

Signed-off-by: Taekjin LEE <[email protected]>

* chore: update object detection input paths

Signed-off-by: Taekjin LEE <[email protected]>

* fix: radar pipeline output

Signed-off-by: Taekjin LEE <[email protected]>

* chore: update object detection input paths

This commit updates the input paths for object detection. It ensures that the correct paths are used for the detection process.

Signed-off-by: Taekjin LEE <[email protected]>

* style(pre-commit): autofix

Signed-off-by: Taekjin LEE <[email protected]>

* fix: group to avoid argument mixture

Signed-off-by: Taekjin LEE <[email protected]>

---------

Signed-off-by: Taekjin LEE <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
@technolojin technolojin deleted the feat/enable_multi_channel_tracker_merger branch July 26, 2024 02:21
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Replace serialized detected object mergers to reduce complexity
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