Configure camera-lidar fusion

- Multi YOLOx launch is enabled with unique node names - Define 3 cameras and fix correct camera topics
ipab-rad · Jun 6, 2024 · 9089da5 · 9089da5
1 parent 2022fc9
commit 9089da5
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Showing 6 changed files with 51 additions and 40 deletions.
diff --git a/...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -38,7 +38,7 @@
   <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
 
   <!-- Jetson AGX -->
-  <!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/multiple_yolox.launch.xml">
+  <include file="$(find-pkg-share tensorrt_yolox)/launch/multiple_yolox.launch.xml">
     <arg name="image_raw0" value="$(var image_raw0)"/>
     <arg name="image_raw1" value="$(var image_raw1)"/>
     <arg name="image_raw2" value="$(var image_raw2)"/>
@@ -48,7 +48,7 @@
     <arg name="image_raw6" value="$(var image_raw6)"/>
     <arg name="image_raw7" value="$(var image_raw7)"/>
     <arg name="image_number" value="$(var image_number)"/>
-  </include> -->
+  </include>
 
   <!-- PointPainting -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='pointpainting'&quot;)">

diff --git a/...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -1,12 +1,13 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Lidar parameters -->
-  <arg name="input/pointcloud"/>
+  <arg name="input/pointcloud" default="/sensor/lidar/top/points"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `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="$(var data_path)/lidar_centerpoint"/>
+  <arg name="centerpoint_model_path" default="/autoware/autoware_data/lidar_centerpoint"/>
   <arg name="lidar_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config"/>
 
   <!-- CenterPoint -->
@@ -22,7 +23,7 @@
         <arg name="ml_package_param_path" value="$(var centerpoint_model_path)/$(var centerpoint_model_name)_ml_package.param.yaml"/>
         <arg name="class_remapper_param_path" value="$(var centerpoint_model_path)/detection_class_remapper.param.yaml"/>
 
-        <arg name="use_pointcloud_container" value="true"/>
+        <arg name="use_pointcloud_container" value="false"/>
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>

diff --git a/...rception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/...rception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
@@ -117,7 +117,8 @@
     <let name="filter/input/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var use_detection_by_tracker)"/>
     <include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml" if="$(var use_object_filter)">
       <arg name="input/object" value="$(var filter/input/objects)"/>
-      <arg name="output/object" value="$(var output/objects)"/>
+      <!-- <arg name="output/object" value="$(var output/objects)"/> -->
+      <arg name="output/object" value="objects"/>
       <arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
     </include>
   </group>

diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -22,7 +22,6 @@
   <arg name="object_recognition_detection_object_range_splitter_radar_param_path"/>
   <arg name="object_recognition_detection_object_range_splitter_radar_fusion_param_path"/>
   <arg name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"/>
-  <arg name="object_recognition_tracking_multi_object_tracker_input_channels_param_path"/>
   <arg name="object_recognition_tracking_multi_object_tracker_node_param_path"/>
   <arg name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"/>
   <arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path"/>
@@ -37,44 +36,47 @@
   <arg name="traffic_light_arbiter_param_path"/>
 
   <!-- CenterPoint model parameters -->
-  <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint`, `centerpoint_tiny` or `centerpoint_sigma`"/>
+  <arg name="centerpoint_model_name" default="centerpoint" description="options: `centerpoint`, `centerpoint_tiny` or `centerpoint_sigma`"/>
   <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
 
   <!-- PointPainting model parameters -->
   <arg name="pointpainting_model_path" default="$(var data_path)/image_projection_based_fusion"/>
 
   <!-- Common parameters -->
-  <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
+  <!--USED: /sensing/lidar/concatenated/pointcloud -->
+  <arg name="input/pointcloud" default="/sensor/lidar/top/points" description="The topic will be used in the detection module"/>
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
-  <arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
+  <!-- Ideally this images topic should be the rectifed version -->
+  <arg name="image_raw0" default="/sensor/camera/lspf_r/image_raw" description="image raw topic name"/>
+  <arg name="camera_info0" default="/sensor/camera/lspf_r/camera_info" description="camera info topic name"/>
   <arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
-  <arg name="image_raw1" default="/sensing/camera/camera1/image_rect_color"/>
-  <arg name="camera_info1" default="/sensing/camera/camera1/camera_info"/>
+  <arg name="image_raw1" default="/sensor/camera/fsp_l/image_raw"/>
+  <arg name="camera_info1" default="/sensor/camera/fsp_l/camera_info"/>
   <arg name="detection_rois1" default="/perception/object_recognition/detection/rois1"/>
-  <arg name="image_raw2" default="/sensing/camera/camera2/image_rect_color"/>
-  <arg name="camera_info2" default="/sensing/camera/camera2/camera_info"/>
+  <arg name="image_raw2" default="/sensor/camera/rspf_l/image_raw"/>
+  <arg name="camera_info2" default="/sensor/camera/rspf_l/camera_info"/>
   <arg name="detection_rois2" default="/perception/object_recognition/detection/rois2"/>
-  <arg name="image_raw3" default="/sensing/camera/camera3/image_rect_color"/>
-  <arg name="camera_info3" default="/sensing/camera/camera3/camera_info"/>
+  <arg name="image_raw3" default="/sensor/camera/DEFINE/image_raw"/>
+  <arg name="camera_info3" default="/sensor/camera/DEFINE/camera_info"/>
   <arg name="detection_rois3" default="/perception/object_recognition/detection/rois3"/>
-  <arg name="image_raw4" default="/sensing/camera/camera4/image_rect_color"/>
-  <arg name="camera_info4" default="/sensing/camera/camera4/camera_info"/>
+  <arg name="image_raw4" default="/sensor/camera/DEFINE/image_raw"/>
+  <arg name="camera_info4" default="/sensor/camera/DEFINE/camera_info"/>
   <arg name="detection_rois4" default="/perception/object_recognition/detection/rois4"/>
-  <arg name="image_raw5" default="/sensing/camera/camera5/image_rect_color"/>
-  <arg name="camera_info5" default="/sensing/camera/camera5/camera_info"/>
+  <arg name="image_raw5" default="/sensor/camera/DEFINE/image_raw"/>
+  <arg name="camera_info5" default="/sensor/camera/DEFINE/camera_info"/>
   <arg name="detection_rois5" default="/perception/object_recognition/detection/rois5"/>
-  <arg name="image_raw6" default="/sensing/camera/camera6/image_rect_color"/>
-  <arg name="camera_info6" default="/sensing/camera/camera6/camera_info"/>
+  <arg name="image_raw6" default="/sensor/camera/DEFINE/image_raw"/>
+  <arg name="camera_info6" default="/sensor/camera/DEFINE/camera_info"/>
   <arg name="detection_rois6" default="/perception/object_recognition/detection/rois6"/>
-  <arg name="image_raw7" default="/sensing/camera/camera7/image_rect_color"/>
-  <arg name="camera_info7" default="/sensing/camera/camera7/camera_info"/>
+  <arg name="image_raw7" default="/sensor/camera/DEFINE/image_raw"/>
+  <arg name="camera_info7" default="/sensor/camera/DEFINE/camera_info"/>
   <arg name="detection_rois7" default="/perception/object_recognition/detection/rois7"/>
-  <arg name="image_number" default="6" description="choose image raw number(1-8)"/>
-  <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
-  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
+  <arg name="image_number" default="3" description="choose image raw number(1-8)"/>
+
+  <arg name="use_vector_map" default="false" description="use vector map in prediction"/>
+  <arg name="use_pointcloud_map" default="false" description="use pointcloud map in detection"/>
   <arg name="use_low_height_cropbox" default="true" description="use low height crop filter in clustering"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_roi_based_cluster" default="true" description="use roi_based_cluster in clustering"/>
@@ -90,7 +92,7 @@
   <arg name="use_perception_online_evaluator" default="false" description="use perception online evaluator"/>
 
   <!-- Traffic light recognition parameters -->
-  <arg name="use_traffic_light_recognition" default="true"/>
+  <arg name="use_traffic_light_recognition" default="false"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true"/>
   <arg name="traffic_light_recognition/fusion_only" default="false"/>
   <arg name="traffic_light_image_number" default="1" description="choose traffic light image raw number(1-2)"/>
@@ -113,7 +115,7 @@
   />
 
   <!-- Whether to use detection by tracker -->
-  <arg name="use_detection_by_tracker" default="true"/>
+  <arg name="use_detection_by_tracker" default="false"/>
 
   <!-- Radar long range integration methods -->
   <arg
@@ -162,7 +164,7 @@
     </group>
 
     <!-- Occupancy grid map module -->
-    <group>
+    <group if="true">
       <push-ros-namespace namespace="occupancy_grid_map"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
         <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud"/>
@@ -226,7 +228,7 @@
       </group>
 
       <!-- Tracking module -->
-      <group>
+      <group if="false">
         <push-ros-namespace namespace="tracking"/>
         <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
           <arg name="mode" value="$(var mode)"/>
@@ -242,7 +244,7 @@
       </group>
 
       <!-- Prediction module -->
-      <group>
+      <group if="false">
         <push-ros-namespace namespace="prediction"/>
         <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
           <arg name="use_vector_map" value="$(var use_vector_map)"/>

diff --git a/perception/tensorrt_yolox/launch/multiple_yolox.launch.xml b/perception/tensorrt_yolox/launch/multiple_yolox.launch.xml
@@ -1,11 +1,11 @@
 <launch>
-  <arg name="image_raw0" default="/image_raw0"/>
+  <arg name="image_raw0" default="/sensor/camera/lspf_r/image_raw"/>
   <arg name="gpu_id_image_raw0" default="0"/>
 
-  <arg name="image_raw1" default=""/>
+  <arg name="image_raw1" default="/sensor/camera/fsp_l/image_raw"/>
   <arg name="gpu_id_image_raw1" default="0"/>
 
-  <arg name="image_raw2" default=""/>
+  <arg name="image_raw2" default="/sensor/camera/rspf_l/image_raw"/>
   <arg name="gpu_id_image_raw2" default="0"/>
 
   <arg name="image_raw3" default=""/>
@@ -23,33 +23,38 @@
   <arg name="image_raw7" default=""/>
   <arg name="gpu_id_image_raw7" default="0"/>
 
-  <arg name="image_number" default="1"/>
+  <arg name="image_number" default="3"/>
   <arg name="output_topic" default="rois"/>
 
   <include if="$(eval &quot;'$(var image_number)'>='1'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw0)"/>
     <arg name="output/objects" value="rois0"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw0)"/>
+    <arg name="img_id" value="0"/>
   </include>
   <include if="$(eval &quot;'$(var image_number)'>='2'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw1)"/>
     <arg name="output/objects" value="rois1"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw1)"/>
+    <arg name="img_id" value="1"/>
   </include>
   <include if="$(eval &quot;'$(var image_number)'>='3'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw2)"/>
     <arg name="output/objects" value="rois2"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw2)"/>
+    <arg name="img_id" value="2"/>
   </include>
   <include if="$(eval &quot;'$(var image_number)'>='4'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw3)"/>
     <arg name="output/objects" value="rois3"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw3)"/>
+    <arg name="img_id" value="3"/>
   </include>
   <include if="$(eval &quot;'$(var image_number)'>='5'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw4)"/>
     <arg name="output/objects" value="rois4"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw4)"/>
+    <arg name="img_id" value="4"/>
   </include>
   <include if="$(eval &quot;'$(var image_number)'>='6'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw5)"/>

diff --git a/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml b/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
@@ -1,23 +1,25 @@
 <?xml version="1.0"?>
 <launch>
   <!-- cspell:ignore finetune -->
-  <arg name="input/image" default="/sensing/camera/camera0/image_rect_color"/>
+  <arg name="input/image" default="/sensor/camera/fsp_l/image_raw"/>
   <arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
   <arg name="model_name" default="yolox-sPlus-T4-960x960-pseudo-finetune"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="yolox_param_path" default="$(find-pkg-share tensorrt_yolox)/config/yolox_s_plus_opt.param.yaml"/>
-  <arg name="use_decompress" default="true" description="use image decompress"/>
+  <arg name="use_decompress" default="false" description="use image decompress"/>
   <arg name="build_only" default="false" description="exit after trt engine is built"/>
+  <arg name="img_id" default="0" description="camera_id"/>
 
   <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor_node" if="$(var use_decompress)">
     <remap from="~/input/compressed_image" to="$(var input/image)/compressed"/>
     <remap from="~/output/raw_image" to="$(var input/image)"/>
   </node>
 
-  <node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
+  <node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox_$(var img_id)" output="screen">
     <remap from="~/in/image" to="$(var input/image)"/>
     <remap from="~/out/objects" to="$(var output/objects)"/>
     <param from="$(var yolox_param_path)" allow_substs="true"/>
     <param name="build_only" value="$(var build_only)"/>
+    <!-- <param name="use_sim_time" value="true"/> -->
   </node>
 </launch>