From 9212bcb9b6fe52f46c8260adeef144ace73eb32d Mon Sep 17 00:00:00 2001 From: taikitanaka3 Date: Wed, 27 Sep 2023 17:59:44 +0900 Subject: [PATCH 01/17] feat: add autoware auto perception message --- ...auto_perception_msgs__rosidl_generator_c.so | Bin 0 -> 160800 bytes ...uto_perception_msgs__rosidl_generator_py.so | Bin 0 -> 83800 bytes ...to_perception_msgs__rosidl_typesupport_c.so | Bin 0 -> 55872 bytes ..._perception_msgs__rosidl_typesupport_cpp.so | Bin 0 -> 69592 bytes ...tion_msgs__rosidl_typesupport_fastrtps_c.so | Bin 0 -> 112920 bytes ...on_msgs__rosidl_typesupport_fastrtps_cpp.so | Bin 0 -> 183800 bytes ...msgs__rosidl_typesupport_introspection_c.so | Bin 0 -> 142816 bytes ...gs__rosidl_typesupport_introspection_cpp.so | Bin 0 -> 182768 bytes ...ounding_box__rosidl_typesupport_c_native.so | Bin 0 -> 70296 bytes ...ox__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 70304 bytes ...osidl_typesupport_introspection_c_native.so | Bin 0 -> 70304 bytes ...g_box_array__rosidl_typesupport_c_native.so | Bin 0 -> 70328 bytes ...ay__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 70336 bytes ...osidl_typesupport_introspection_c_native.so | Bin 0 -> 70344 bytes ...ssified_roi__rosidl_typesupport_c_native.so | Bin 0 -> 70304 bytes ...oi__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 70312 bytes ...osidl_typesupport_introspection_c_native.so | Bin 0 -> 70320 bytes ...d_roi_array__rosidl_typesupport_c_native.so | Bin 0 -> 70344 bytes ...ay__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 70352 bytes ...osidl_typesupport_introspection_c_native.so | Bin 0 -> 70360 bytes ...cted_object__rosidl_typesupport_c_native.so | Bin 0 -> 70312 bytes ...ct__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 70320 bytes ...osidl_typesupport_introspection_c_native.so | Bin 0 -> 70328 bytes ..._kinematics__rosidl_typesupport_c_native.so | Bin 0 -> 70384 bytes ...cs__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 70392 bytes ...osidl_typesupport_introspection_c_native.so | Bin 0 -> 70400 bytes ...ted_objects__rosidl_typesupport_c_native.so | Bin 0 -> 70320 bytes ...ts__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 70328 bytes ...osidl_typesupport_introspection_c_native.so | Bin 0 -> 70336 bytes ...ssification__rosidl_typesupport_c_native.so | Bin 0 -> 70352 bytes ...on__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 70368 bytes ...osidl_typesupport_introspection_c_native.so | Bin 0 -> 70368 bytes ..._msgs_shape__rosidl_typesupport_c_native.so | Bin 0 -> 70248 bytes ...pe__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 70256 bytes ...osidl_typesupport_introspection_c_native.so | Bin 0 -> 70264 bytes .../autoware_auto_perception_msgs_assembly.dll | Bin 0 -> 144896 bytes ProjectSettings/TagManager.asset | 1 + 37 files changed, 1 insertion(+) create mode 100755 Assets/Ros2ForUnity/Plugins/Linux/x86_64/libautoware_auto_perception_msgs__rosidl_generator_c.so create mode 100644 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From 784ac56a0777758570b3951a40c21d4eba5231fe Mon Sep 17 00:00:00 2001 From: taikitanaka3 Date: Wed, 27 Sep 2023 17:59:44 +0900 Subject: [PATCH 03/17] feat: add object sensor scripts --- .../AWSIM/Scripts/Sensors/ObjectSensor.meta | 8 + .../ObjectSensor/ObjectRos2Publisher.cs | 148 ++++++++++++++++++ .../ObjectSensor/ObjectRos2Publisher.cs.meta | 11 ++ .../Sensors/ObjectSensor/ObjectSensor.cs | 142 +++++++++++++++++ .../Sensors/ObjectSensor/ObjectSensor.cs.meta | 11 ++ 5 files changed, 320 insertions(+) create mode 100644 Assets/AWSIM/Scripts/Sensors/ObjectSensor.meta create mode 100644 Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs create mode 100644 Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs.meta create mode 100644 Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs create mode 100644 Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs.meta diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor.meta b/Assets/AWSIM/Scripts/Sensors/ObjectSensor.meta new file mode 100644 index 000000000..54c8ea9a8 --- /dev/null +++ b/Assets/AWSIM/Scripts/Sensors/ObjectSensor.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: c845e9eccbdd78243936eeebb17572ae +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs new file mode 100644 index 000000000..5c0ed9a77 --- /dev/null +++ b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs @@ -0,0 +1,148 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using System; +using ROS2; + +namespace AWSIM +{ + ///

+ /// Convert the data output from ObjectSensor to ROS2 msg and Publish. + /// + [RequireComponent(typeof(ObjectSensor))] + public class ObjectRos2Publisher : MonoBehaviour + { + /// + /// Topic name in pose msg. + /// + public string objectTopic = "/awsim/ground_truth/perception/object_recognition/detection/objects"; + + /// + /// Object sensor frame id. + /// + public string frameId = "base_link"; + + /// + /// QoS settings. + /// + public QoSSettings qosSettings = new QoSSettings() + { + ReliabilityPolicy = ReliabilityPolicy.QOS_POLICY_RELIABILITY_BEST_EFFORT, + DurabilityPolicy = DurabilityPolicy.QOS_POLICY_DURABILITY_VOLATILE, + HistoryPolicy = HistoryPolicy.QOS_POLICY_HISTORY_KEEP_LAST, + Depth = 1, + }; + + IPublisher objectPublisher; + autoware_auto_perception_msgs.msg.DetectedObjects objectsMsg; + ObjectSensor objectSensor; + + void Start() + { + // Get ObjectSensor component. + objectSensor = GetComponent(); + + // Set callback. + objectSensor.OnOutputData += Publish; + + // Create msg. + objectsMsg = new autoware_auto_perception_msgs.msg.DetectedObjects(); + + // Create publisher. + var qos = qosSettings.GetQoSProfile(); + objectPublisher = SimulatorROS2Node.CreatePublisher(objectTopic, qos); + } + + void Publish(ObjectSensor.OutputData outputData) + { + var objectsList = new List(); + foreach (var detectedObject in outputData.objects) + { + var rb = detectedObject.rigidBody; + var dim = detectedObject.dimension; + var bou = detectedObject.bounds; + var obj = new autoware_auto_perception_msgs.msg.DetectedObject(); + obj.Existence_probability = 1.0f; + // TODO(tanaka): add more classes + var classification = new autoware_auto_perception_msgs.msg.ObjectClassification(); + { + classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.CAR; + classification.Probability = 1.0f; + } + obj.Classification = new List{classification}.ToArray(); + + var kinematics = new autoware_auto_perception_msgs.msg.DetectedObjectKinematics(); + // Add pose + { + var p = ROS2Utility.UnityToRosPosition(rb.transform.position)+ Environment.Instance.MgrsOffsetPosition; + kinematics.Pose_with_covariance.Pose.Position.X = p.x; + kinematics.Pose_with_covariance.Pose.Position.Y = p.y; + kinematics.Pose_with_covariance.Pose.Position.Z = p.z; + var r = ROS2Utility.UnityToRosRotation(rb.transform.rotation); + kinematics.Pose_with_covariance.Pose.Orientation.X = r.x; + kinematics.Pose_with_covariance.Pose.Orientation.Y = r.y; + kinematics.Pose_with_covariance.Pose.Orientation.Z = r.z; + } + // Add twist + { + var t = ROS2Utility.UnityToRosPosition(rb.velocity); + kinematics.Twist_with_covariance.Twist.Linear.X = t.x; + kinematics.Twist_with_covariance.Twist.Linear.Y = t.y; + kinematics.Twist_with_covariance.Twist.Linear.Z = t.z; + var a = ROS2Utility.UnityToRosPosition(rb.angularVelocity); + kinematics.Twist_with_covariance.Twist.Angular.X = t.x; + kinematics.Twist_with_covariance.Twist.Angular.Y = t.y; + kinematics.Twist_with_covariance.Twist.Angular.Z = t.z; + } + // Add covariance + { + kinematics.Has_position_covariance = true; + kinematics.Orientation_availability = autoware_auto_perception_msgs.msg.DetectedObjectKinematics.AVAILABLE; + kinematics.Has_twist = true; + kinematics.Has_twist_covariance = true; + // Add covariance 6x6 + const int size = 6; + for (int i = 0; i < size; i++) + { + kinematics.Pose_with_covariance.Covariance[i * size + i] = 1; + kinematics.Twist_with_covariance.Covariance[i * size + i] = 1; + } + } + obj.Kinematics = kinematics; + + // add shape and footprint + { + var shape = new autoware_auto_perception_msgs.msg.Shape(); + shape.Type = autoware_auto_perception_msgs.msg.Shape.BOUNDING_BOX; + shape.Dimensions.X = dim.x; + shape.Dimensions.Y = dim.y; + shape.Dimensions.Z = dim.z; + var footprints = new geometry_msgs.msg.Polygon(); + // Assuming Point32 has X, Y, Z properties + var point1 = new geometry_msgs.msg.Point32() { X = bou[0].x, Y = bou[0].y, Z = 0 }; + var point2 = new geometry_msgs.msg.Point32() { X = bou[1].x, Y = bou[1].y, Z = 0 }; + var point3 = new geometry_msgs.msg.Point32() { X = bou[2].x, Y = bou[2].y, Z = 0 }; + var point4 = new geometry_msgs.msg.Point32() { X = bou[3].x, Y = bou[3].y, Z = 0 }; + footprints.Points = new[] { point1, point2, point3, point4 }; + shape.Footprint = footprints; + obj.Shape = shape; + } + objectsList.Add(obj); + } + // Converts data output from ObjectSensor to ROS2 msg + objectsMsg.Objects = objectsList.ToArray(); + // Update msg header. + var header = objectsMsg as MessageWithHeader; + SimulatorROS2Node.UpdateROSTimestamp(ref header); + objectsMsg.Header.Frame_id = frameId; + + // Publish to ROS2. + objectPublisher.Publish(objectsMsg); + } + + void OnDestroy() + { + SimulatorROS2Node.RemovePublisher(objectPublisher); + } + } +} diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs.meta b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs.meta new file mode 100644 index 000000000..5a1a71e24 --- /dev/null +++ b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: b268261a3d68d09b1ab995099f84af28 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs new file mode 100644 index 000000000..8451d8960 --- /dev/null +++ b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs @@ -0,0 +1,142 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using UnityEngine.Events; +using System.Linq; + +namespace AWSIM +{ + /// + /// ObjectSensor sensor. + /// Need to set the MgrsReference of the Environment for the MGRS coordinate system. + /// + /// TODO: To improve the reproducibility of ObjectSensor sensors, make it possible to output rotation and covariance. + public class ObjectSensor : MonoBehaviour + { + /// + /// This data is output from ObjectSensor at the OutputHz cycle. + /// + /// + public enum Classification + { + CAR, + TRUCK, + BUS, + Pedestrian + } + public class DetectedObject + { + public Rigidbody rigidBody; + public Vector3 dimension; + public Vector2[] bounds; + public Classification classification; + } + + public class OutputData + { + public DetectedObject[] objects; + } + + /// + /// Data output hz. + /// Sensor processing and callbacks are called in this hz. + /// + [Range(0, 10)] + public int OutputHz = 10; // Autoware's ObjectSensor basically output at 1hz. + + /// + /// Delegate used in callbacks. + /// + /// Data output for each hz + public delegate void OnOutputDataDelegate(OutputData outputData); + + /// + /// Called each time data is output. + /// + public OnOutputDataDelegate OnOutputData; + float timer = 0; + OutputData outputData = new OutputData(); + Transform m_transform; + GameObject[] gameObjects; + + // This method generates a footprint for the vehicle based on its dimensions, position, and rotation. + Vector2[] GenerateFootprint(Vector3 dimensions, Rigidbody vehicleRb) + { + Vector2[] footprint = new Vector2[4]; + + // Retrieve the vehicle's position and rotation + Vector3 position = vehicleRb.position; + Quaternion rotation = vehicleRb.rotation; + + // Calculate half of the dimensions for easier calculation + float halfLength = dimensions.x * 0.5f; + float halfWidth = dimensions.y * 0.5f; + + // Define the vehicle's corner points relative to its center + Vector3[] localCorners = { + new Vector3(-halfLength, 0, halfWidth), // Front left + new Vector3(-halfLength, 0, -halfWidth), // Rear left + new Vector3(halfLength, 0, -halfWidth), // Rear right + new Vector3(halfLength, 0, halfWidth) // Front right + }; + + // Rotate and translate each corner point to get the footprint + for (int i = 0; i < 4; i++) + { + Vector3 globalCorner = position + rotation * localCorners[i]; + footprint[i] = new Vector2(globalCorner.x, globalCorner.z); // Using X and Z axes as Unity is left-handed and Y is up. + } + + return footprint; + } + + void Start() + { + m_transform = transform; + // TODO to adjust in a better way + gameObjects = GameObject.FindGameObjectsWithTag("CAR"); + outputData = new OutputData(); + outputData.objects = new DetectedObject[gameObjects.Length]; + for (int i = 0; i < gameObjects.Length; i++) + { + var gameObject = gameObjects[i]; + outputData.objects[i] = new DetectedObject(); + outputData.objects[i].rigidBody = gameObject.GetComponent(); + Vector3 minBounds = new Vector3(float.MaxValue, float.MaxValue, float.MaxValue); + Vector3 maxBounds = new Vector3(float.MinValue, float.MinValue, float.MinValue); + MeshRenderer[] renderers = gameObject.GetComponentsInChildren(); + foreach (MeshRenderer renderer in renderers) + { + Bounds bounds = renderer.bounds; + minBounds = Vector3.Min(minBounds, bounds.min); + maxBounds = Vector3.Max(maxBounds, bounds.max); + } + // add dimension + Vector3 totalSize = maxBounds - minBounds; + outputData.objects[i].dimension = totalSize; + outputData.objects[i].bounds = GenerateFootprint(totalSize,outputData.objects[i].rigidBody); + // add classification + outputData.objects[i].classification = Classification.CAR; + } + } + + void FixedUpdate() + { + // Matching output to hz. + timer += Time.deltaTime; + var interval = 1.0f / OutputHz; + interval -= 0.00001f; // Allow for accuracy errors. + if (timer < interval) + return; + timer = 0; + for (int i = 0; i < outputData.objects.Length; i++) + { + var o = outputData.objects[i]; + outputData.objects[i].bounds = GenerateFootprint(o.dimension,o.rigidBody); + } + + // Calls registered callbacks + OnOutputData.Invoke(outputData); + } + } +} \ No newline at end of file diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs.meta 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+ - target: {fileID: 918164463061557423, guid: 0ce669864a1d9865996f5d7da68eab85, type: 3} + propertyPath: m_LocalEulerAnglesHint.y + value: 0 + objectReference: {fileID: 0} + - target: {fileID: 918164463061557423, guid: 0ce669864a1d9865996f5d7da68eab85, type: 3} + propertyPath: m_LocalEulerAnglesHint.z + value: 0 + objectReference: {fileID: 0} + m_RemovedComponents: [] + m_SourcePrefab: {fileID: 100100000, guid: 0ce669864a1d9865996f5d7da68eab85, type: 3} --- !u!1001 &2465439770829660650 PrefabInstance: m_ObjectHideFlags: 0 @@ -4252,15 +4314,14 @@ PrefabInstance: m_Modification: m_TransformParent: {fileID: 1416174297} m_Modifications: +- target: {fileID: 2019290181275176336, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3} + propertyPath: EnableGravity + value: 1 - target: {fileID: 1195138626504501105, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3} propertyPath: Topic value: /awsim/ground_truth/localization/kinematic_state objectReference: {fileID: 0} - - target: {fileID: 2019290181275176336, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3} - propertyPath: EnableGravity - value: 1 - objectReference: {fileID: 0} - - target: {fileID: 2963106999894261215, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3} + - target: {fileID: 2963106999894261215, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3} propertyPath: m_Radius value: 0.368 objectReference: {fileID: 0} From 08c2658bb089445b14c0689626099753e1e2e411 Mon Sep 17 00:00:00 2001 From: taikitanaka3 Date: Fri, 29 Sep 2023 01:54:43 +0900 Subject: [PATCH 05/17] feat: add classifier --- .../Sensors/ObjectSensor/Classification.cs | 22 +++++++++ .../ObjectSensor/Classification.cs.meta | 11 +++++ .../ObjectSensor/ObjectRos2Publisher.cs | 32 ++++++++++++- .../Sensors/ObjectSensor/ObjectSensor.cs | 48 ++++++++++++------- 4 files changed, 94 insertions(+), 19 deletions(-) create mode 100644 Assets/AWSIM/Scripts/Sensors/ObjectSensor/Classification.cs create mode 100644 Assets/AWSIM/Scripts/Sensors/ObjectSensor/Classification.cs.meta diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/Classification.cs b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/Classification.cs new file mode 100644 index 000000000..799be4346 --- /dev/null +++ b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/Classification.cs @@ -0,0 +1,22 @@ +using UnityEngine; + +namespace AWSIM +{ +public class Classification : MonoBehaviour +{ + // use this for object sensor + public enum ObjectType + { + UNKNOWN, + CAR, + TRUCK, + BUS, + TRAILER, + MOTORCYCLE, + BICYCLE, + PEDESTRIAN + } + + public ObjectType objectType; +} +} \ No newline at end of file diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/Classification.cs.meta b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/Classification.cs.meta new file mode 100644 index 000000000..35bbc53b8 --- /dev/null +++ b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/Classification.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: a2941ad59a6585815a5d85bb4d5b35e9 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs index 5c0ed9a77..eca7d94a8 100644 --- a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs +++ b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs @@ -63,10 +63,38 @@ void Publish(ObjectSensor.OutputData outputData) var bou = detectedObject.bounds; var obj = new autoware_auto_perception_msgs.msg.DetectedObject(); obj.Existence_probability = 1.0f; - // TODO(tanaka): add more classes var classification = new autoware_auto_perception_msgs.msg.ObjectClassification(); { - classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.CAR; + switch (detectedObject.classification) + { + case Classification.ObjectType.UNKNOWN: + classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.UNKNOWN; + break; + case Classification.ObjectType.CAR: + classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.CAR; + break; + case Classification.ObjectType.TRUCK: + classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.TRUCK; + break; + case Classification.ObjectType.BUS: + classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.BUS; + break; + case Classification.ObjectType.TRAILER: + classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.TRAILER; + break; + case Classification.ObjectType.MOTORCYCLE: + classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.MOTORCYCLE; + break; + case Classification.ObjectType.BICYCLE: + classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.BICYCLE; + break; + case Classification.ObjectType.PEDESTRIAN: + classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.PEDESTRIAN; + break; + default: + Debug.LogWarning("Unknown classification type"); + break; + } classification.Probability = 1.0f; } obj.Classification = new List{classification}.ToArray(); diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs index 8451d8960..4a4d6f47d 100644 --- a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs +++ b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs @@ -17,19 +17,15 @@ public class ObjectSensor : MonoBehaviour /// This data is output from ObjectSensor at the OutputHz cycle. /// /// - public enum Classification - { - CAR, - TRUCK, - BUS, - Pedestrian - } + + public Classification classification; + public class DetectedObject { public Rigidbody rigidBody; public Vector3 dimension; public Vector2[] bounds; - public Classification classification; + public Classification.ObjectType classification; } public class OutputData @@ -42,7 +38,9 @@ public class OutputData /// Sensor processing and callbacks are called in this hz. /// [Range(0, 10)] - public int OutputHz = 10; // Autoware's ObjectSensor basically output at 1hz. + public int OutputHz = 10; // Autoware's ObjectSensor basically output at 10hz. + [Range(0, 200)] + public float maxDistance = 200f; /// /// Delegate used in callbacks. @@ -93,15 +91,31 @@ Vector2[] GenerateFootprint(Vector3 dimensions, Rigidbody vehicleRb) void Start() { m_transform = transform; - // TODO to adjust in a better way - gameObjects = GameObject.FindGameObjectsWithTag("CAR"); + Classification[] objectsWithClassification = FindObjectsOfType(); + List filteredObjects = new List(); outputData = new OutputData(); - outputData.objects = new DetectedObject[gameObjects.Length]; - for (int i = 0; i < gameObjects.Length; i++) + int i = 0; + // limit to possible detected object + foreach (Classification obj in objectsWithClassification) + { + float distance = Vector3.Distance(transform.position, obj.transform.position); + if (distance < maxDistance && obj.gameObject.GetComponent() != null) + { + filteredObjects.Add(obj); + } + } + outputData.objects = new DetectedObject[filteredObjects.Count]; + foreach (Classification obj in filteredObjects) { - var gameObject = gameObjects[i]; outputData.objects[i] = new DetectedObject(); - outputData.objects[i].rigidBody = gameObject.GetComponent(); + Debug.Log(obj.objectType); + // add classification + outputData.objects[i].classification = obj.objectType; + Debug.Log(obj.gameObject.name); + var gameObject = obj.gameObject; + // Note: object without rigidbody is considered above + var rb = gameObject.GetComponent(); + outputData.objects[i].rigidBody = rb; Vector3 minBounds = new Vector3(float.MaxValue, float.MaxValue, float.MaxValue); Vector3 maxBounds = new Vector3(float.MinValue, float.MinValue, float.MinValue); MeshRenderer[] renderers = gameObject.GetComponentsInChildren(); @@ -115,8 +129,8 @@ void Start() Vector3 totalSize = maxBounds - minBounds; outputData.objects[i].dimension = totalSize; outputData.objects[i].bounds = GenerateFootprint(totalSize,outputData.objects[i].rigidBody); - // add classification - outputData.objects[i].classification = Classification.CAR; + i++; + } } From 4337b7300019272a86974813a3bcbac10bfefe18 Mon Sep 17 00:00:00 2001 From: taikitanaka3 Date: Sun, 1 Oct 2023 23:13:58 +0900 Subject: [PATCH 06/17] feat: add cache check and local bound --- .../Sensors/ObjectSensor/ObjectSensor.cs | 52 +++++++++++++------ 1 file changed, 35 insertions(+), 17 deletions(-) diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs index 4a4d6f47d..c0ef25c32 100644 --- a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs +++ b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs @@ -54,8 +54,8 @@ public class OutputData public OnOutputDataDelegate OnOutputData; float timer = 0; OutputData outputData = new OutputData(); - Transform m_transform; - GameObject[] gameObjects; + private Classification[] cachedObjectsWithClassification; + private bool isDataChanged = true; // This method generates a footprint for the vehicle based on its dimensions, position, and rotation. Vector2[] GenerateFootprint(Vector3 dimensions, Rigidbody vehicleRb) @@ -88,9 +88,7 @@ Vector2[] GenerateFootprint(Vector3 dimensions, Rigidbody vehicleRb) return footprint; } - void Start() - { - m_transform = transform; + void CreateDetectedObjectData(){ Classification[] objectsWithClassification = FindObjectsOfType(); List filteredObjects = new List(); outputData = new OutputData(); @@ -116,22 +114,30 @@ void Start() // Note: object without rigidbody is considered above var rb = gameObject.GetComponent(); outputData.objects[i].rigidBody = rb; - Vector3 minBounds = new Vector3(float.MaxValue, float.MaxValue, float.MaxValue); - Vector3 maxBounds = new Vector3(float.MinValue, float.MinValue, float.MinValue); - MeshRenderer[] renderers = gameObject.GetComponentsInChildren(); - foreach (MeshRenderer renderer in renderers) + + Vector3 localMinBounds = new Vector3(float.MaxValue, float.MaxValue, float.MaxValue); + Vector3 localMaxBounds = new Vector3(float.MinValue, float.MinValue, float.MinValue); + MeshFilter[] meshFilters = gameObject.GetComponentsInChildren(); + // mesh filter bounds is in local coordinate + foreach (MeshFilter meshFilter in meshFilters) { - Bounds bounds = renderer.bounds; - minBounds = Vector3.Min(minBounds, bounds.min); - maxBounds = Vector3.Max(maxBounds, bounds.max); + Bounds localBounds = meshFilter.sharedMesh.bounds; + localMinBounds = Vector3.Min(localMinBounds, localBounds.min); + localMaxBounds = Vector3.Max(localMaxBounds, localBounds.max); } - // add dimension - Vector3 totalSize = maxBounds - minBounds; - outputData.objects[i].dimension = totalSize; - outputData.objects[i].bounds = GenerateFootprint(totalSize,outputData.objects[i].rigidBody); + + Vector3 localTotalSize = ROS2Utility.UnityToRosScale(localMaxBounds - localMinBounds); + outputData.objects[i].dimension = localTotalSize; + outputData.objects[i].bounds = GenerateFootprint(localTotalSize,outputData.objects[i].rigidBody); i++; - } + } + } + + void Start() + { + cachedObjectsWithClassification = FindObjectsOfType(); + CreateDetectedObjectData(); } void FixedUpdate() @@ -143,6 +149,18 @@ void FixedUpdate() if (timer < interval) return; timer = 0; + var currentObjectsWithClassification = FindObjectsOfType(); + if (!Enumerable.SequenceEqual(cachedObjectsWithClassification, currentObjectsWithClassification)) + { + cachedObjectsWithClassification = currentObjectsWithClassification; + isDataChanged = true; + } + + if (isDataChanged) + { + CreateDetectedObjectData(); + isDataChanged = false; + } for (int i = 0; i < outputData.objects.Length; i++) { var o = outputData.objects[i]; From 551719ee5a54fae0332302090b38e075841efced Mon Sep 17 00:00:00 2001 From: taikitanaka3 Date: Sun, 1 Oct 2023 23:53:18 +0900 Subject: [PATCH 07/17] feat: calc as local coord --- .../Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs | 4 ++-- Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs | 5 ++++- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs index eca7d94a8..fd1304240 100644 --- a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs +++ b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs @@ -102,11 +102,11 @@ void Publish(ObjectSensor.OutputData outputData) var kinematics = new autoware_auto_perception_msgs.msg.DetectedObjectKinematics(); // Add pose { - var p = ROS2Utility.UnityToRosPosition(rb.transform.position)+ Environment.Instance.MgrsOffsetPosition; + var p = ROS2Utility.UnityToRosPosition(rb.transform.position - outputData.origin.position); kinematics.Pose_with_covariance.Pose.Position.X = p.x; kinematics.Pose_with_covariance.Pose.Position.Y = p.y; kinematics.Pose_with_covariance.Pose.Position.Z = p.z; - var r = ROS2Utility.UnityToRosRotation(rb.transform.rotation); + var r = ROS2Utility.UnityToRosRotation(Quaternion.Inverse(outputData.origin.rotation)*rb.transform.rotation); kinematics.Pose_with_covariance.Pose.Orientation.X = r.x; kinematics.Pose_with_covariance.Pose.Orientation.Y = r.y; kinematics.Pose_with_covariance.Pose.Orientation.Z = r.z; diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs index c0ef25c32..0cd71b0a0 100644 --- a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs +++ b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs @@ -25,12 +25,13 @@ public class DetectedObject public Rigidbody rigidBody; public Vector3 dimension; public Vector2[] bounds; - public Classification.ObjectType classification; + public Classification.ObjectType classification; } public class OutputData { public DetectedObject[] objects; + public Transform origin; } /// @@ -136,6 +137,7 @@ void CreateDetectedObjectData(){ void Start() { + outputData.origin = this.transform; cachedObjectsWithClassification = FindObjectsOfType(); CreateDetectedObjectData(); } @@ -149,6 +151,7 @@ void FixedUpdate() if (timer < interval) return; timer = 0; + outputData.origin = this.transform; var currentObjectsWithClassification = FindObjectsOfType(); if (!Enumerable.SequenceEqual(cachedObjectsWithClassification, currentObjectsWithClassification)) { From b61e3b3c79d05035832e3213a0033add82d69e97 Mon Sep 17 00:00:00 2001 From: taikitanaka3 Date: Mon, 2 Oct 2023 18:34:25 +0900 Subject: [PATCH 08/17] feat: add null check --- .../ObjectSensor/ObjectRos2Publisher.cs | 28 +++++-- .../Sensors/ObjectSensor/ObjectSensor.cs | 79 +++++++------------ 2 files changed, 51 insertions(+), 56 deletions(-) diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs index fd1304240..4f0273c00 100644 --- a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs +++ b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs @@ -21,6 +21,12 @@ public class ObjectRos2Publisher : MonoBehaviour /// Object sensor frame id. /// public string frameId = "base_link"; + + /// + /// max distance that lidar can detect + /// + [Range(0, 200)] + public float maxDistance = 200f; /// /// QoS settings. @@ -55,12 +61,18 @@ void Start() void Publish(ObjectSensor.OutputData outputData) { + if (outputData == null || outputData.objects == null || outputData.origin == null) return; var objectsList = new List(); foreach (var detectedObject in outputData.objects) { + if(detectedObject ==null || detectedObject.rigidBody == null || detectedObject.dimension == null || detectedObject.bounds == null) continue; var rb = detectedObject.rigidBody; var dim = detectedObject.dimension; var bou = detectedObject.bounds; + // Check if detectedObject.dimension and detectedObject.bounds are null + float distance = Vector3.Distance(outputData.origin.position, rb.transform.position); + if (distance > maxDistance) continue; + var obj = new autoware_auto_perception_msgs.msg.DetectedObject(); obj.Existence_probability = 1.0f; var classification = new autoware_auto_perception_msgs.msg.ObjectClassification(); @@ -102,7 +114,9 @@ void Publish(ObjectSensor.OutputData outputData) var kinematics = new autoware_auto_perception_msgs.msg.DetectedObjectKinematics(); // Add pose { - var p = ROS2Utility.UnityToRosPosition(rb.transform.position - outputData.origin.position); + Vector3 relativePosition = rb.transform.position - outputData.origin.position; + Vector3 transformedPosition = Quaternion.Inverse(outputData.origin.rotation) * relativePosition; + var p = ROS2Utility.UnityToRosPosition(transformedPosition); kinematics.Pose_with_covariance.Pose.Position.X = p.x; kinematics.Pose_with_covariance.Pose.Position.Y = p.y; kinematics.Pose_with_covariance.Pose.Position.Z = p.z; @@ -147,11 +161,13 @@ void Publish(ObjectSensor.OutputData outputData) shape.Dimensions.Z = dim.z; var footprints = new geometry_msgs.msg.Polygon(); // Assuming Point32 has X, Y, Z properties - var point1 = new geometry_msgs.msg.Point32() { X = bou[0].x, Y = bou[0].y, Z = 0 }; - var point2 = new geometry_msgs.msg.Point32() { X = bou[1].x, Y = bou[1].y, Z = 0 }; - var point3 = new geometry_msgs.msg.Point32() { X = bou[2].x, Y = bou[2].y, Z = 0 }; - var point4 = new geometry_msgs.msg.Point32() { X = bou[3].x, Y = bou[3].y, Z = 0 }; - footprints.Points = new[] { point1, point2, point3, point4 }; + if(bou.Length > 0){ + var point1 = new geometry_msgs.msg.Point32() { X = bou[0].x, Y = bou[0].y, Z = 0 }; + var point2 = new geometry_msgs.msg.Point32() { X = bou[1].x, Y = bou[1].y, Z = 0 }; + var point3 = new geometry_msgs.msg.Point32() { X = bou[2].x, Y = bou[2].y, Z = 0 }; + var point4 = new geometry_msgs.msg.Point32() { X = bou[3].x, Y = bou[3].y, Z = 0 }; + footprints.Points = new[] { point1, point2, point3, point4 }; + } shape.Footprint = footprints; obj.Shape = shape; } diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs index 0cd71b0a0..af2b0a19a 100644 --- a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs +++ b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs @@ -18,8 +18,6 @@ public class ObjectSensor : MonoBehaviour /// /// - public Classification classification; - public class DetectedObject { public Rigidbody rigidBody; @@ -40,8 +38,7 @@ public class OutputData /// [Range(0, 10)] public int OutputHz = 10; // Autoware's ObjectSensor basically output at 10hz. - [Range(0, 200)] - public float maxDistance = 200f; + /// /// Delegate used in callbacks. @@ -54,9 +51,9 @@ public class OutputData /// public OnOutputDataDelegate OnOutputData; float timer = 0; - OutputData outputData = new OutputData(); + public OutputData outputData = new OutputData(); + private List filteredObjects = new List(); private Classification[] cachedObjectsWithClassification; - private bool isDataChanged = true; // This method generates a footprint for the vehicle based on its dimensions, position, and rotation. Vector2[] GenerateFootprint(Vector3 dimensions, Rigidbody vehicleRb) @@ -64,7 +61,6 @@ Vector2[] GenerateFootprint(Vector3 dimensions, Rigidbody vehicleRb) Vector2[] footprint = new Vector2[4]; // Retrieve the vehicle's position and rotation - Vector3 position = vehicleRb.position; Quaternion rotation = vehicleRb.rotation; // Calculate half of the dimensions for easier calculation @@ -82,7 +78,7 @@ Vector2[] GenerateFootprint(Vector3 dimensions, Rigidbody vehicleRb) // Rotate and translate each corner point to get the footprint for (int i = 0; i < 4; i++) { - Vector3 globalCorner = position + rotation * localCorners[i]; + Vector3 globalCorner = rotation * localCorners[i]; footprint[i] = new Vector2(globalCorner.x, globalCorner.z); // Using X and Z axes as Unity is left-handed and Y is up. } @@ -90,48 +86,37 @@ Vector2[] GenerateFootprint(Vector3 dimensions, Rigidbody vehicleRb) } void CreateDetectedObjectData(){ - Classification[] objectsWithClassification = FindObjectsOfType(); - List filteredObjects = new List(); - outputData = new OutputData(); - int i = 0; - // limit to possible detected object - foreach (Classification obj in objectsWithClassification) - { - float distance = Vector3.Distance(transform.position, obj.transform.position); - if (distance < maxDistance && obj.gameObject.GetComponent() != null) - { - filteredObjects.Add(obj); - } - } - outputData.objects = new DetectedObject[filteredObjects.Count]; - foreach (Classification obj in filteredObjects) - { + outputData.objects = new DetectedObject[cachedObjectsWithClassification.Length]; + for (int i = 0; i < cachedObjectsWithClassification.Length; i++) { + Classification obj = cachedObjectsWithClassification[i]; outputData.objects[i] = new DetectedObject(); - Debug.Log(obj.objectType); // add classification outputData.objects[i].classification = obj.objectType; - Debug.Log(obj.gameObject.name); var gameObject = obj.gameObject; // Note: object without rigidbody is considered above var rb = gameObject.GetComponent(); + if(rb == null){ + Debug.Log("Please Attach RigidBody to NPC"); + } outputData.objects[i].rigidBody = rb; - - Vector3 localMinBounds = new Vector3(float.MaxValue, float.MaxValue, float.MaxValue); - Vector3 localMaxBounds = new Vector3(float.MinValue, float.MinValue, float.MinValue); MeshFilter[] meshFilters = gameObject.GetComponentsInChildren(); - // mesh filter bounds is in local coordinate - foreach (MeshFilter meshFilter in meshFilters) - { - Bounds localBounds = meshFilter.sharedMesh.bounds; - localMinBounds = Vector3.Min(localMinBounds, localBounds.min); - localMaxBounds = Vector3.Max(localMaxBounds, localBounds.max); - } - - Vector3 localTotalSize = ROS2Utility.UnityToRosScale(localMaxBounds - localMinBounds); - outputData.objects[i].dimension = localTotalSize; - outputData.objects[i].bounds = GenerateFootprint(localTotalSize,outputData.objects[i].rigidBody); + if(meshFilters.Length > 0){ + Vector3 localMinBounds = new Vector3(float.MaxValue, float.MaxValue, float.MaxValue); + Vector3 localMaxBounds = new Vector3(float.MinValue, float.MinValue, float.MinValue); + // mesh filter bounds is in local coordinate + foreach (MeshFilter meshFilter in meshFilters) + { + Bounds localBounds = meshFilter.sharedMesh.bounds; + localMinBounds = Vector3.Min(localMinBounds, localBounds.min); + localMaxBounds = Vector3.Max(localMaxBounds, localBounds.max); + } + outputData.objects[i].dimension = ROS2Utility.UnityToRosScale(localMaxBounds - localMinBounds); + outputData.objects[i].bounds = GenerateFootprint(outputData.objects[i].dimension, outputData.objects[i].rigidBody); + } else { + outputData.objects[i].dimension = new Vector3(0.5f, 0.5f, 1.5f); + outputData.objects[i].bounds = new Vector2[]{}; + } i++; - } } @@ -153,20 +138,14 @@ void FixedUpdate() timer = 0; outputData.origin = this.transform; var currentObjectsWithClassification = FindObjectsOfType(); - if (!Enumerable.SequenceEqual(cachedObjectsWithClassification, currentObjectsWithClassification)) - { + if (!Enumerable.SequenceEqual(cachedObjectsWithClassification, currentObjectsWithClassification)) { cachedObjectsWithClassification = currentObjectsWithClassification; - isDataChanged = true; - } - - if (isDataChanged) - { CreateDetectedObjectData(); - isDataChanged = false; } - for (int i = 0; i < outputData.objects.Length; i++) + for (int i = 0; i < cachedObjectsWithClassification.Length; i++) { var o = outputData.objects[i]; + if(o == null) continue; outputData.objects[i].bounds = GenerateFootprint(o.dimension,o.rigidBody); } From 26b0c0bd00ba188073d82cc7e07aa0cc6354c9bd Mon Sep 17 00:00:00 2001 From: taikitanaka3 Date: Mon, 2 Oct 2023 19:28:54 +0900 Subject: [PATCH 09/17] chore: remove tag --- ProjectSettings/TagManager.asset | 1 - 1 file changed, 1 deletion(-) diff --git a/ProjectSettings/TagManager.asset b/ProjectSettings/TagManager.asset index c713921a1..a7114ca57 100644 --- a/ProjectSettings/TagManager.asset +++ b/ProjectSettings/TagManager.asset @@ -5,7 +5,6 @@ TagManager: serializedVersion: 2 tags: - Ego - - CAR layers: - Default - TransparentFX From 2292c21c946661f8b1cd39575f06ea1d10dea047 Mon Sep 17 00:00:00 2001 From: taikitanaka3 Date: Wed, 4 Oct 2023 19:52:01 +0900 Subject: [PATCH 10/17] fix: orientation --- .../ObjectSensor/ObjectRos2Publisher.cs | 18 +++++++++------- .../Sensors/ObjectSensor/ObjectSensor.cs | 21 ++++++++++++------- 2 files changed, 24 insertions(+), 15 deletions(-) diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs index 4f0273c00..0129c4ca8 100644 --- a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs +++ b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs @@ -120,21 +120,23 @@ void Publish(ObjectSensor.OutputData outputData) kinematics.Pose_with_covariance.Pose.Position.X = p.x; kinematics.Pose_with_covariance.Pose.Position.Y = p.y; kinematics.Pose_with_covariance.Pose.Position.Z = p.z; - var r = ROS2Utility.UnityToRosRotation(Quaternion.Inverse(outputData.origin.rotation)*rb.transform.rotation); + // add initial rotation of object + var r = ROS2Utility.UnityToRosRotation(Quaternion.Inverse(outputData.origin.rotation) *rb.transform.rotation); kinematics.Pose_with_covariance.Pose.Orientation.X = r.x; kinematics.Pose_with_covariance.Pose.Orientation.Y = r.y; kinematics.Pose_with_covariance.Pose.Orientation.Z = r.z; + kinematics.Pose_with_covariance.Pose.Orientation.W = r.w; + Debug.Log(rb.transform.rotation); } // Add twist { - var t = ROS2Utility.UnityToRosPosition(rb.velocity); - kinematics.Twist_with_covariance.Twist.Linear.X = t.x; - kinematics.Twist_with_covariance.Twist.Linear.Y = t.y; - kinematics.Twist_with_covariance.Twist.Linear.Z = t.z; + kinematics.Twist_with_covariance.Twist.Linear.X = rb.velocity.magnitude; + kinematics.Twist_with_covariance.Twist.Linear.Y = 0.0; + kinematics.Twist_with_covariance.Twist.Linear.Z = 0.0; var a = ROS2Utility.UnityToRosPosition(rb.angularVelocity); - kinematics.Twist_with_covariance.Twist.Angular.X = t.x; - kinematics.Twist_with_covariance.Twist.Angular.Y = t.y; - kinematics.Twist_with_covariance.Twist.Angular.Z = t.z; + kinematics.Twist_with_covariance.Twist.Angular.X = 0.0; + kinematics.Twist_with_covariance.Twist.Angular.Y = 0.0; + kinematics.Twist_with_covariance.Twist.Angular.Z = a.z; } // Add covariance { diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs index af2b0a19a..72c7a004d 100644 --- a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs +++ b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs @@ -53,7 +53,8 @@ public class OutputData float timer = 0; public OutputData outputData = new OutputData(); private List filteredObjects = new List(); - private Classification[] cachedObjectsWithClassification; + public Classification[] cachedObjectsWithClassification; + private bool manuallyCached = true; // This method generates a footprint for the vehicle based on its dimensions, position, and rotation. Vector2[] GenerateFootprint(Vector3 dimensions, Rigidbody vehicleRb) @@ -123,7 +124,12 @@ void CreateDetectedObjectData(){ void Start() { outputData.origin = this.transform; - cachedObjectsWithClassification = FindObjectsOfType(); + // Check if cachedObjectsWithClassification is empty + if(cachedObjectsWithClassification == null || cachedObjectsWithClassification.Length == 0) + { + cachedObjectsWithClassification = FindObjectsOfType(); + manuallyCached = false; + } CreateDetectedObjectData(); } @@ -137,10 +143,12 @@ void FixedUpdate() return; timer = 0; outputData.origin = this.transform; - var currentObjectsWithClassification = FindObjectsOfType(); - if (!Enumerable.SequenceEqual(cachedObjectsWithClassification, currentObjectsWithClassification)) { - cachedObjectsWithClassification = currentObjectsWithClassification; - CreateDetectedObjectData(); + if(!manuallyCached){ + var currentObjectsWithClassification = FindObjectsOfType(); + if (!Enumerable.SequenceEqual(cachedObjectsWithClassification, currentObjectsWithClassification)) { + cachedObjectsWithClassification = currentObjectsWithClassification; + CreateDetectedObjectData(); + } } for (int i = 0; i < cachedObjectsWithClassification.Length; i++) { @@ -148,7 +156,6 @@ void FixedUpdate() if(o == null) continue; outputData.objects[i].bounds = GenerateFootprint(o.dimension,o.rigidBody); } - // Calls registered callbacks OnOutputData.Invoke(outputData); } From 1fd4f348297366f0e35e56afce7ec091afbce747 Mon Sep 17 00:00:00 2001 From: taikitanaka3 Date: Wed, 4 Oct 2023 22:18:46 +0900 Subject: [PATCH 11/17] fix: remove increment --- .../AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs | 1 - Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs | 3 +-- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs index 0129c4ca8..6ecc9e603 100644 --- a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs +++ b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs @@ -126,7 +126,6 @@ void Publish(ObjectSensor.OutputData outputData) kinematics.Pose_with_covariance.Pose.Orientation.Y = r.y; kinematics.Pose_with_covariance.Pose.Orientation.Z = r.z; kinematics.Pose_with_covariance.Pose.Orientation.W = r.w; - Debug.Log(rb.transform.rotation); } // Add twist { diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs index 72c7a004d..9e5692e94 100644 --- a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs +++ b/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs @@ -116,8 +116,7 @@ void CreateDetectedObjectData(){ } else { outputData.objects[i].dimension = new Vector3(0.5f, 0.5f, 1.5f); outputData.objects[i].bounds = new Vector2[]{}; - } - i++; + } } } From e4a13e1215fdae494ce441ca581084e8ce66f6d6 Mon Sep 17 00:00:00 2001 From: taikitanaka3 Date: Fri, 6 Oct 2023 11:22:12 +0900 Subject: [PATCH 12/17] chore: apply comments for PerceptionResultSensor --- ...r.prefab => PerceptionResultSensor.prefab} | 2 +- ...eta => PerceptionResultSensor.prefab.meta} | 0 .../Lexus RX450h 2015 Sample Sensor.prefab | 63 ------------------- ...ensor.meta => PerceptionResultSensor.meta} | 0 .../Classification.cs | 0 .../Classification.cs.meta | 0 .../PerceptionResultRos2Publisher.cs} | 14 ++--- .../PerceptionResultRos2Publisher.cs.meta} | 0 .../PerceptionResultSensor.cs} | 8 +-- .../PerceptionResultSensor.cs.meta} | 0 10 files changed, 12 insertions(+), 75 deletions(-) rename Assets/AWSIM/Prefabs/Sensors/{ObjectSensor.prefab => PerceptionResultSensor.prefab} (98%) rename Assets/AWSIM/Prefabs/Sensors/{ObjectSensor.prefab.meta => PerceptionResultSensor.prefab.meta} (100%) rename Assets/AWSIM/Scripts/Sensors/{ObjectSensor.meta => PerceptionResultSensor.meta} (100%) rename Assets/AWSIM/Scripts/Sensors/{ObjectSensor => PerceptionResultSensor}/Classification.cs (100%) rename Assets/AWSIM/Scripts/Sensors/{ObjectSensor => PerceptionResultSensor}/Classification.cs.meta (100%) rename Assets/AWSIM/Scripts/Sensors/{ObjectSensor/ObjectRos2Publisher.cs => PerceptionResultSensor/PerceptionResultRos2Publisher.cs} (95%) rename Assets/AWSIM/Scripts/Sensors/{ObjectSensor/ObjectRos2Publisher.cs.meta => PerceptionResultSensor/PerceptionResultRos2Publisher.cs.meta} (100%) rename Assets/AWSIM/Scripts/Sensors/{ObjectSensor/ObjectSensor.cs => PerceptionResultSensor/PerceptionResultSensor.cs} (94%) rename Assets/AWSIM/Scripts/Sensors/{ObjectSensor/ObjectSensor.cs.meta => PerceptionResultSensor/PerceptionResultSensor.cs.meta} (100%) diff --git a/Assets/AWSIM/Prefabs/Sensors/ObjectSensor.prefab b/Assets/AWSIM/Prefabs/Sensors/PerceptionResultSensor.prefab similarity index 98% rename from Assets/AWSIM/Prefabs/Sensors/ObjectSensor.prefab rename to Assets/AWSIM/Prefabs/Sensors/PerceptionResultSensor.prefab index c68eee8e0..efd0d86d0 100644 --- a/Assets/AWSIM/Prefabs/Sensors/ObjectSensor.prefab +++ b/Assets/AWSIM/Prefabs/Sensors/PerceptionResultSensor.prefab @@ -12,7 +12,7 @@ GameObject: - component: {fileID: 918164463061557393} - component: {fileID: 918164463061557392} m_Layer: 6 - m_Name: ObjectSensor + m_Name: PerceptionResultSensor m_TagString: Untagged m_Icon: {fileID: 0} m_NavMeshLayer: 0 diff --git a/Assets/AWSIM/Prefabs/Sensors/ObjectSensor.prefab.meta b/Assets/AWSIM/Prefabs/Sensors/PerceptionResultSensor.prefab.meta similarity index 100% rename from Assets/AWSIM/Prefabs/Sensors/ObjectSensor.prefab.meta rename to Assets/AWSIM/Prefabs/Sensors/PerceptionResultSensor.prefab.meta diff --git a/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab b/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab index 87fe624df..663f43550 100644 --- a/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab +++ b/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab @@ -1742,7 +1742,6 @@ Transform: - {fileID: 4843604171253800091} - {fileID: 2465439771431800668} - {fileID: 1195138626504501104} - - {fileID: 2465439770435285749} m_Father: {fileID: 635807138616992815} m_RootOrder: 1 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} @@ -4052,68 +4051,6 @@ Transform: m_CorrespondingSourceObject: {fileID: 3068494487180298279, guid: 9351c3661d105f12f9fe2819a1203053, type: 3} m_PrefabInstance: {fileID: 2465439771711446011} m_PrefabAsset: {fileID: 0} ---- !u!1001 &3353767605646234202 -PrefabInstance: - m_ObjectHideFlags: 0 - serializedVersion: 2 - m_Modification: - m_TransformParent: {fileID: 5512666411487739948} - m_Modifications: - - target: {fileID: 918164463061557422, guid: 0ce669864a1d9865996f5d7da68eab85, type: 3} - propertyPath: m_Name - value: ObjectSensor - objectReference: {fileID: 0} - - target: {fileID: 918164463061557423, guid: 0ce669864a1d9865996f5d7da68eab85, 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Assets/AWSIM/Scripts/Sensors/ObjectSensor/Classification.cs.meta rename to Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/Classification.cs.meta diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs b/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultRos2Publisher.cs similarity index 95% rename from Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs rename to Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultRos2Publisher.cs index 6ecc9e603..7cc55e258 100644 --- a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs +++ b/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultRos2Publisher.cs @@ -7,13 +7,13 @@ namespace AWSIM { /// - /// Convert the data output from ObjectSensor to ROS2 msg and Publish. + /// Convert the data output from PerceptionResultSensor to ROS2 msg and Publish. /// - [RequireComponent(typeof(ObjectSensor))] - public class ObjectRos2Publisher : MonoBehaviour + [RequireComponent(typeof(PerceptionResultSensor))] + public class PerceptionResultRos2Publisher : MonoBehaviour { /// - /// Topic name in pose msg. + /// Topic name in DetectedObject msg. /// public string objectTopic = "/awsim/ground_truth/perception/object_recognition/detection/objects"; @@ -41,12 +41,12 @@ public class ObjectRos2Publisher : MonoBehaviour IPublisher objectPublisher; autoware_auto_perception_msgs.msg.DetectedObjects objectsMsg; - ObjectSensor objectSensor; + PerceptionResultSensor objectSensor; void Start() { // Get ObjectSensor component. - objectSensor = GetComponent(); + objectSensor = GetComponent(); // Set callback. objectSensor.OnOutputData += Publish; @@ -59,7 +59,7 @@ void Start() objectPublisher = SimulatorROS2Node.CreatePublisher(objectTopic, qos); } - void Publish(ObjectSensor.OutputData outputData) + void Publish(PerceptionResultSensor.OutputData outputData) { if (outputData == null || outputData.objects == null || outputData.origin == null) return; var objectsList = new List(); diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs.meta b/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultRos2Publisher.cs.meta similarity index 100% rename from Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectRos2Publisher.cs.meta rename to Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultRos2Publisher.cs.meta diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs b/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultSensor.cs similarity index 94% rename from Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs rename to Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultSensor.cs index 9e5692e94..b69d15d45 100644 --- a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs +++ b/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultSensor.cs @@ -8,10 +8,10 @@ namespace AWSIM { /// /// ObjectSensor sensor. - /// Need to set the MgrsReference of the Environment for the MGRS coordinate system. + /// Need to attach classification script to the objects. /// - /// TODO: To improve the reproducibility of ObjectSensor sensors, make it possible to output rotation and covariance. - public class ObjectSensor : MonoBehaviour + /// TODO: To improve the performance of ObjectSensor sensors, cached objects should be attached first. + public class PerceptionResultSensor : MonoBehaviour { /// /// This data is output from ObjectSensor at the OutputHz cycle. @@ -37,7 +37,7 @@ public class OutputData /// Sensor processing and callbacks are called in this hz. /// [Range(0, 10)] - public int OutputHz = 10; // Autoware's ObjectSensor basically output at 10hz. + public int OutputHz = 10; // Autoware's DetectedObject basically output at 10hz. /// diff --git a/Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs.meta b/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultSensor.cs.meta similarity index 100% rename from Assets/AWSIM/Scripts/Sensors/ObjectSensor/ObjectSensor.cs.meta rename to Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultSensor.cs.meta From 14329226ea0426b8a767a97b5ad8d45fd440850d Mon Sep 17 00:00:00 2001 From: taikitanaka3 Date: Fri, 6 Oct 2023 11:36:41 +0900 Subject: [PATCH 13/17] chore: add description --- .../Scripts/Sensors/PerceptionResultSensor/Classification.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/Classification.cs b/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/Classification.cs index 799be4346..faaef56c2 100644 --- a/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/Classification.cs +++ b/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/Classification.cs @@ -4,7 +4,7 @@ namespace AWSIM { public class Classification : MonoBehaviour { - // use this for object sensor + // Attach this script to target object to enable perception result sensor public enum 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15:40:05 +0900 Subject: [PATCH 17/17] chore: change to ObjectClassification Class --- ...Classification.cs => ObjectClassification.cs} | 2 +- ...tion.cs.meta => ObjectClassification.cs.meta} | 0 .../PerceptionResultRos2Publisher.cs | 16 ++++++++-------- .../PerceptionResultSensor.cs | 12 ++++++------ 4 files changed, 15 insertions(+), 15 deletions(-) rename Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/{Classification.cs => ObjectClassification.cs} (86%) rename Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/{Classification.cs.meta => ObjectClassification.cs.meta} (100%) diff --git a/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/Classification.cs b/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/ObjectClassification.cs similarity index 86% rename from Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/Classification.cs rename to Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/ObjectClassification.cs index faaef56c2..0d42019b6 100644 --- a/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/Classification.cs +++ b/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/ObjectClassification.cs @@ -2,7 +2,7 @@ namespace AWSIM { -public class Classification : MonoBehaviour +public class ObjectClassification : MonoBehaviour { // Attach this script to target object to enable perception result sensor public enum ObjectType diff --git a/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/Classification.cs.meta b/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/ObjectClassification.cs.meta similarity index 100% rename from Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/Classification.cs.meta rename to Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/ObjectClassification.cs.meta diff --git a/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultRos2Publisher.cs b/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultRos2Publisher.cs index 7cc55e258..c30221269 100644 --- a/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultRos2Publisher.cs +++ b/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultRos2Publisher.cs @@ -79,28 +79,28 @@ void Publish(PerceptionResultSensor.OutputData outputData) { switch (detectedObject.classification) { - case Classification.ObjectType.UNKNOWN: + case ObjectClassification.ObjectType.UNKNOWN: classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.UNKNOWN; break; - case Classification.ObjectType.CAR: + case ObjectClassification.ObjectType.CAR: classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.CAR; break; - case Classification.ObjectType.TRUCK: + case ObjectClassification.ObjectType.TRUCK: classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.TRUCK; break; - case Classification.ObjectType.BUS: + case ObjectClassification.ObjectType.BUS: classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.BUS; break; - case Classification.ObjectType.TRAILER: + case ObjectClassification.ObjectType.TRAILER: classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.TRAILER; break; - case Classification.ObjectType.MOTORCYCLE: + case ObjectClassification.ObjectType.MOTORCYCLE: classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.MOTORCYCLE; break; - case Classification.ObjectType.BICYCLE: + case ObjectClassification.ObjectType.BICYCLE: classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.BICYCLE; break; - case Classification.ObjectType.PEDESTRIAN: + case ObjectClassification.ObjectType.PEDESTRIAN: classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.PEDESTRIAN; break; default: diff --git a/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultSensor.cs b/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultSensor.cs index cd017f679..989ef50ec 100644 --- a/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultSensor.cs +++ b/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultSensor.cs @@ -23,7 +23,7 @@ public class DetectedObject public Rigidbody rigidBody; public Vector3 dimension; public Vector2[] bounds; - public Classification.ObjectType classification; + public ObjectClassification.ObjectType classification; } public class OutputData @@ -52,11 +52,11 @@ public class OutputData public OnOutputDataDelegate OnOutputData; float timer = 0; public OutputData outputData = new OutputData(); - private List filteredObjects = new List(); + private List filteredObjects = new List(); [Header("Hint: Manually attaching classification objects is quicker.")] [Header("Warning: Objects without a rigidbody are not supported for classification.")] - public Classification[] cachedObjectsWithClassification; + public ObjectClassification[] cachedObjectsWithClassification; private bool manuallyCached = true; // This method generates a footprint for the vehicle based on its dimensions, position, and rotation. @@ -92,7 +92,7 @@ Vector2[] GenerateFootprint(Vector3 dimensions, Rigidbody vehicleRb) void CreateDetectedObjectData(){ outputData.objects = new DetectedObject[cachedObjectsWithClassification.Length]; for (int i = 0; i < cachedObjectsWithClassification.Length; i++) { - Classification obj = cachedObjectsWithClassification[i]; + ObjectClassification obj = cachedObjectsWithClassification[i]; outputData.objects[i] = new DetectedObject(); // add classification outputData.objects[i].classification = obj.objectType; @@ -129,7 +129,7 @@ void Start() // Check if cachedObjectsWithClassification is empty if(cachedObjectsWithClassification == null || cachedObjectsWithClassification.Length == 0) { - cachedObjectsWithClassification = FindObjectsOfType(); + cachedObjectsWithClassification = FindObjectsOfType(); manuallyCached = false; } CreateDetectedObjectData(); @@ -146,7 +146,7 @@ void FixedUpdate() timer = 0; outputData.origin = this.transform; if(!manuallyCached){ - var currentObjectsWithClassification = FindObjectsOfType(); + var currentObjectsWithClassification = FindObjectsOfType(); if (!Enumerable.SequenceEqual(cachedObjectsWithClassification, currentObjectsWithClassification)) { cachedObjectsWithClassification = currentObjectsWithClassification; CreateDetectedObjectData();