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

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merged 13 commits into from
Jun 26, 2024
Merged

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

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81c1f40
feat: introduce multi channel tracker merger
technolojin Jun 6, 2024
33c744e
fix: implement merger switching
technolojin Jun 18, 2024
ff60d3f
chore: move pointcloud filter from detection to filter group
technolojin Jun 19, 2024
6c7255e
chore: define external and internal interfaces
technolojin Jun 19, 2024
53b34c7
fix: set output of camera-lidar in absolute path
technolojin Jun 19, 2024
a858040
chore: explicit object detection output
technolojin Jun 19, 2024
11d66f9
style(pre-commit): autofix
pre-commit-ci[bot] Jun 19, 2024
3a86ce8
chore: update object detection input paths
technolojin Jun 19, 2024
487aedc
chore: update object detection input paths
technolojin Jun 19, 2024
344b863
fix: radar pipeline output
technolojin Jun 19, 2024
46db2ef
chore: update object detection input paths
technolojin Jun 19, 2024
32099c5
style(pre-commit): autofix
pre-commit-ci[bot] Jun 19, 2024
be8318f
fix: group to avoid argument mixture
technolojin Jun 20, 2024
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162 changes: 123 additions & 39 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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32 changes: 11 additions & 21 deletions ...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,17 +1,11 @@
<?xml version="1.0"?>
<launch>
<!-- Lidar parameters -->
<arg name="input/pointcloud"/>
<arg name="input/pointcloud_map/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud"/>
<arg name="node/pointcloud_container"/>

<!-- Lidar + Camera detector parameters -->
<arg name="lidar_detection_model" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="use_roi_based_cluster"/>
<arg name="use_low_intensity_cluster_filter"/>

<!-- Camera parameters -->
<!-- External interfaces -->
<arg name="number_of_cameras"/>
<arg name="input/camera0/image"/>
<arg name="input/camera0/info"/>
Expand All @@ -38,6 +32,14 @@
<arg name="input/camera7/info"/>
<arg name="input/camera7/rois"/>

<arg name="node/pointcloud_container"/>
<arg name="input/pointcloud"/>
<arg name="input/pointcloud_map/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud"/>

<arg name="output/ml_detector/objects"/>
<arg name="output/rule_detector/objects"/>

<!-- Jetson AGX -->
<!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/multiple_yolox.launch.xml">
<arg name="image_raw0" value="$(var input/camera0/image)"/>
Expand Down Expand Up @@ -81,7 +83,7 @@
<arg name="input/image6" value="$(var input/camera6/image)"/>
<arg name="input/image7" value="$(var input/camera7/image)"/>
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="objects"/>
<arg name="output/objects" value="$(var output/ml_detector/objects)"/>

<arg name="model_name" value="$(var lidar_detection_model)"/>
<arg name="model_path" value="$(var pointpainting_model_path)"/>
Expand All @@ -93,18 +95,6 @@
</include>
</group>

<!-- Pointcloud filter -->
<group>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py">
<arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
<arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
</include>
</group>

<!-- Clustering -->
<group>
<push-ros-namespace namespace="clustering"/>
Expand Down Expand Up @@ -230,7 +220,7 @@
<group>
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="objects_with_feature"/>
<arg name="output" value="objects"/>
<arg name="output" value="$(var output/rule_detector/objects)"/>
</include>
</group>
</group>
Expand Down
15 changes: 8 additions & 7 deletions ...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
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@@ -1,18 +1,19 @@
<?xml version="1.0"?>
<launch>
<!-- Lidar parameters -->
<arg name="input/pointcloud"/>
<arg name="node/pointcloud_container"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `clustering`"/>

<!-- Lidar detector centerpoint parameters -->
<arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint`, `centerpoint_tiny` or `centerpoint_sigma`"/>
<arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>

<!-- Lidar detector transfusion parameters -->
<arg name="transfusion_model_name" default="transfusion" description="options: `transfusion`"/>
<arg name="transfusion_model_path" default="$(var data_path)/lidar_transfusion"/>

<!-- External interfaces -->
<arg name="node/pointcloud_container"/>
<arg name="input/pointcloud"/>
<arg name="output/objects"/>

<!-- TransFusion -->
<group if="$(eval &quot;'$(var lidar_detection_model)'=='transfusion'&quot;)">
<push-ros-namespace namespace="transfusion"/>
Expand All @@ -21,7 +22,7 @@
<group>
<include file="$(find-pkg-share lidar_transfusion)/launch/lidar_transfusion.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="objects"/>
<arg name="output/objects" value="$(var output/objects)"/>
<arg name="model_name" value="$(var transfusion_model_name)"/>
<arg name="model_path" value="$(var transfusion_model_path)"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var transfusion_model_name).param.yaml"/>
Expand All @@ -41,7 +42,7 @@
<group>
<include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="objects"/>
<arg name="output/objects" value="$(var output/objects)"/>
<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 @@ -77,7 +78,7 @@
<group>
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="objects_with_feature"/>
<arg name="output" value="objects"/>
<arg name="output" value="$(var output/objects)"/>
</include>
</group>
</group>
Expand Down
20 changes: 4 additions & 16 deletions ...eption_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,22 +1,10 @@
<?xml version="1.0"?>
<launch>
<!-- Lidar parameters -->
<!-- External interfaces -->
<arg name="node/pointcloud_container"/>
<arg name="input/pointcloud_map/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud"/>
<arg name="node/pointcloud_container"/>
<arg name="use_pointcloud_map"/>

<!-- Pointcloud filter -->
<group>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py">
<arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
<arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
</include>
</group>
<arg name="output/objects"/>

<!-- Clustering -->
<group>
Expand All @@ -43,7 +31,7 @@
<group>
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="objects_with_feature"/>
<arg name="output" value="objects"/>
<arg name="output" value="$(var output/objects)"/>
</include>
</group>
</group>
Expand Down
2 changes: 2 additions & 0 deletions ...ion_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,10 +1,12 @@
<?xml version="1.0"?>
<launch>
<arg name="output/objects"/>
<!-- DetectionByTracker -->
<group>
<push-ros-namespace namespace="detection_by_tracker"/>
<include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
<arg name="output" value="$(var output/objects)"/>
</include>
</group>
</launch>
6 changes: 3 additions & 3 deletions ...rception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -44,9 +44,9 @@
<arg name="input/camera7/rois"/>
<arg name="input/pointcloud_map/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud"/>
<arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
<arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
<arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
<arg name="input/lidar_ml/objects"/>
<arg name="input/lidar_rule/objects"/>
<arg name="input/detection_by_tracker/objects"/>
<arg name="output/objects" default="objects"/>

<!-- internal interfaces -->
Expand Down
12 changes: 6 additions & 6 deletions ...on_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -47,16 +47,16 @@
<arg name="input/camera7/rois"/>
<arg name="input/pointcloud_map/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud"/>
<arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
<arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
<arg name="input/radar_near/objects" default="radar/noise_filtered_objects"/>
<arg name="input/radar_far/objects" default="radar/far_objects"/>
<arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
<arg name="input/lidar_ml/objects"/>
<arg name="input/lidar_rule/objects"/>
<arg name="input/radar/objects"/>
<arg name="input/radar_far/objects"/>
<arg name="input/detection_by_tracker/objects"/>
<arg name="output/objects" default="objects"/>

<!-- internal interfaces -->
<let name="radar_objects_fusion/input/objects" value="$(var input/lidar_ml/objects)"/>
<let name="radar_objects_fusion/input/radars" value="$(var input/radar_near/objects)"/>
<let name="radar_objects_fusion/input/radars" value="$(var input/radar/objects)"/>
<let name="radar_objects_fusion/output/objects" value="radar_fusion/objects"/>

<let name="camera_roi_fusion/input/objects" value="$(var radar_objects_fusion/output/objects)" if="$(var use_near_radar_fusion)"/>
Expand Down
119 changes: 78 additions & 41 deletions launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,8 @@
<?xml version="1.0"?>
<launch>
<!-- Current namespace -->
<let name="ns" value="/perception/object_recognition/tracking"/>

<!-- Radar Tracking and Merger parameters -->
<arg name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path" description="association param file for radar far object tracking"/>
<arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path" description="tracking setting param file for radar far object tracking"/>
Expand All @@ -13,50 +16,84 @@
<let name="use_radar_tracking_fusion" value="false" if="$(eval '&quot;$(var mode)&quot;!=&quot;camera_lidar_radar_fusion&quot;')"/>

<!-- External interface -->
<arg name="input/detection_input_channels" default="['detected_objects']"/>
<!-- detection_input_channels: Input channels for multi object tracker, reference: multi_object_tracker/config/input_channels.param.yaml -->
<let name="input/detection_input_channels" value="['detected_objects']"/>
<arg name="input/radar/objects" default="/perception/object_recognition/detection/radar/far_objects"/>
<arg name="output/objects" default="/perception/object_recognition/tracking/objects"/>

<!-- Internal interface -->
<let name="radar_tracker/input/objects" value="$(var input/radar/objects)"/>
<let name="radar_tracker/output/objects" value="/perception/object_recognition/tracking/radar/far_objects"/>

<let name="multi_object_tracker/input/selected_input_channels" value="$(var input/detection_input_channels)"/>
<let name="multi_object_tracker/output/objects" value="$(var output/objects)" unless="$(var use_radar_tracking_fusion)"/>
<let name="multi_object_tracker/output/objects" value="/perception/object_recognition/tracking/near_objects" if="$(var use_radar_tracking_fusion)"/>

<let name="tracker_merger/input/main_objects" value="$(var multi_object_tracker/output/objects)"/>
<let name="tracker_merger/input/sub_objects" value="$(var radar_tracker/output/objects)"/>
<let name="tracker_merger/output/objects" value="$(var output/objects)"/>

<!--Multi object tracking-->
<include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
<arg name="selected_input_channels" value="$(var multi_object_tracker/input/selected_input_channels)"/>
<arg name="output" value="$(var multi_object_tracker/output/objects)"/>
<arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
<arg name="input_channels_path" value="$(var object_recognition_tracking_multi_object_tracker_input_channels_param_path)"/>
<arg name="tracker_setting_path" value="$(var object_recognition_tracking_multi_object_tracker_node_param_path)"/>
</include>

<!-- Run with tracking merger to add far radar information -->
<group if="$(var use_radar_tracking_fusion)">
<!--radar long range dynamic object tracking-->
<include file="$(find-pkg-share radar_object_tracker)/launch/radar_object_tracker.launch.xml">
<arg name="input" value="$(var radar_tracker/input/objects)"/>
<arg name="output" value="$(var radar_tracker/output/objects)"/>
<arg name="data_association_matrix_path" value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"/>
<arg name="tracker_setting_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
<arg name="radar_object_tracker_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
<arg name="output/objects" default="$(var ns)/objects"/>

<group unless="$(var use_multi_channel_tracker_merger)">
<!-- Internal interface -->
<let name="radar_tracker/input/objects" value="$(var input/radar/objects)"/>
<let name="radar_tracker/output/objects" value="$(var ns)/radar/far_objects"/>

<let name="multi_object_tracker/input/selected_input_channels" value="$(var input/detection_input_channels)"/>
<let name="multi_object_tracker/output/objects" value="$(var output/objects)" unless="$(var use_radar_tracking_fusion)"/>
<let name="multi_object_tracker/output/objects" value="$(var ns)/near_objects" if="$(var use_radar_tracking_fusion)"/>

<let name="tracker_merger/input/main_objects" value="$(var multi_object_tracker/output/objects)"/>
<let name="tracker_merger/input/sub_objects" value="$(var radar_tracker/output/objects)"/>
<let name="tracker_merger/output/objects" value="$(var output/objects)"/>

<!-- Multi object tracking -->
<include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
<arg name="selected_input_channels" value="$(var multi_object_tracker/input/selected_input_channels)"/>
<arg name="output" value="$(var multi_object_tracker/output/objects)"/>
<arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
<arg name="input_channels_path" value="$(var object_recognition_tracking_multi_object_tracker_input_channels_param_path)"/>
<arg name="tracker_setting_path" value="$(var object_recognition_tracking_multi_object_tracker_node_param_path)"/>
</include>

<!--tracking object merger to merge near objects and far objects -->
<include file="$(find-pkg-share tracking_object_merger)/launch/decorative_tracker_merger.launch.xml">
<arg name="input/main_object" value="$(var tracker_merger/input/main_objects)"/>
<arg name="input/sub_object" value="$(var tracker_merger/input/sub_objects)"/>
<arg name="output" value="$(var tracker_merger/output/objects)"/>
<arg name="data_association_matrix_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
<arg name="node_param_file_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
<!-- Run with tracking merger to add far radar information -->
<group if="$(var use_radar_tracking_fusion)">
<!-- radar long range dynamic object tracking -->
<include file="$(find-pkg-share radar_object_tracker)/launch/radar_object_tracker.launch.xml">
<arg name="input" value="$(var radar_tracker/input/objects)"/>
<arg name="output" value="$(var radar_tracker/output/objects)"/>
<arg name="data_association_matrix_path" value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"/>
<arg name="tracker_setting_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
<arg name="radar_object_tracker_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
</include>

<!-- tracking object merger to merge near objects and far objects -->
<include file="$(find-pkg-share tracking_object_merger)/launch/decorative_tracker_merger.launch.xml">
<arg name="input/main_object" value="$(var tracker_merger/input/main_objects)"/>
<arg name="input/sub_object" value="$(var tracker_merger/input/sub_objects)"/>
<arg name="output" value="$(var tracker_merger/output/objects)"/>
<arg name="data_association_matrix_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
<arg name="node_param_file_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
</include>
</group>
</group>

<!-- Object list for multi-channel tracker merger -->
<group if="$(var use_multi_channel_tracker_merger)">
<let name="detection_enabled_channels" value="$(var input/detection_input_channels)"/>
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','detection_by_tracker','radar_far']" if="$(var use_detection_by_tracker)"/>
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','radar_far']" unless="$(var use_detection_by_tracker)"/>
</group>
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','detection_by_tracker']" if="$(var use_detection_by_tracker)"/>
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion']" unless="$(var use_detection_by_tracker)"/>
</group>
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','detection_by_tracker','radar_far']" if="$(var use_detection_by_tracker)"/>
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','radar_far']" unless="$(var use_detection_by_tracker)"/>
</group>
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','detection_by_tracker']" if="$(var use_detection_by_tracker)"/>
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated']" unless="$(var use_detection_by_tracker)"/>
</group>
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
<let name="detection_enabled_channels" value="['radar_far']"/>
</group>

<!-- Multi object tracking -->
<include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
<arg name="selected_input_channels" value="$(var detection_enabled_channels)"/>
<arg name="output" value="$(var output/objects)"/>
<arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
<arg name="input_channels_path" value="$(var object_recognition_tracking_multi_object_tracker_input_channels_param_path)"/>
<arg name="tracker_setting_path" value="$(var object_recognition_tracking_multi_object_tracker_node_param_path)"/>
</include>
</group>
</launch>
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