feat(autoware_image_projection_based_fusion): add mask cluster fusion node #9482
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Signed-off-by: Barış Zeren <[email protected]>
Signed-off-by: Barış Zeren <[email protected]>
Signed-off-by: Barış Zeren <[email protected]>
Signed-off-by: Barış Zeren <[email protected]>
Signed-off-by: Barış Zeren <[email protected]>
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Signed-off-by: Barış Zeren <[email protected]>
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perception/autoware_image_projection_based_fusion/config/mask_cluster_fusion.param.yaml
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Signed-off-by: Barış Zeren <[email protected]>
Signed-off-by: Barış Zeren <[email protected]>
Signed-off-by: Barış Zeren <[email protected]>
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Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-9482/ |
Signed-off-by: Barış Zeren <[email protected]>
Signed-off-by: Barış Zeren <[email protected]>
Signed-off-by: Barış Zeren <[email protected]>
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Description
This PR introduces a new node for fusing instance segmentation results with clusters, assigning label values to the clusters. It serves as an alternative to the roi_cluster_fusion node, which relies on bounding boxes.
Following table shows results with old and new approach:
roi_cluster_fusiononly_allow_inside_cluster = falseroi_cluster_fusiononly_allow_inside_cluster = truemask_cluster_fusiondefaultRelated links
Parent Issue:
How was this PR tested?
Testers can follow these steps to test PR.
1) Download the pre-trained RTMDet model:
2) For
autowareuse following PR:3) For
autoware.universeuse this and following PR:4) Build your Autoware workspace with new changes.
5) Run e2e or logging simulator.
6) Update the topic parameters from
launch/rtmdet.launch.xmland run the launch file7) Update the topic parameters from
launch/mask_cluster_fusion.launch.xmland run the launch file/perception/object_recognition/detection/clustering/camera_lidar_fusion/clusterstopic.Notes for reviewers
Interface changes
None.
Effects on system behavior
None.