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chore(tier4_perception_launch): enable to receive argument centerpoint_model_name from autoware_launch #9003

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chore(tier4_perception_launch): enable to receive argument centerpoint_model_name from autoware_launch #9003

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517dc61
enable to receive arguments
MasatoSaeki Oct 2, 2024
1789662
adopt transfusion
MasatoSaeki Oct 2, 2024
c12df64
add lidar_detection_model_type
MasatoSaeki Oct 3, 2024
a75c74c
style(pre-commit): autofix
pre-commit-ci[bot] Oct 3, 2024
2db27fc
integrate all in lidar_detection_model
MasatoSaeki Oct 3, 2024
3281249
fix conflict
MasatoSaeki Oct 3, 2024
177a7fa
Merge branch 'main' into chore/use_centerpoint_model_name
MasatoSaeki Oct 3, 2024
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2 changes: 1 addition & 1 deletion launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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Expand Up @@ -5,7 +5,7 @@

<!-- Pipeline junctions -->
<arg name="mode" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
<arg name="lidar_detection_model" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="lidar_detection_model" description="options: `centerpoint*`, `transfusion*`, `apollo*`, `pointpainting*`, `clustering*`"/>
<arg name="use_object_filter" description="use object filter"/>
<arg name="objects_filter_method" description="options: `lanelet_filter` or `position_filter`"/>
<arg name="use_pointcloud_map" description="use pointcloud map filter"/>
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8 changes: 4 additions & 4 deletions ...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<launch>
<!-- Lidar + Camera detector parameters -->
<arg name="lidar_detection_model" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="lidar_detection_model" description="options: `centerpoint*`, `transfusion*`, `apollo*`, `pointpainting*`, `clustering*`"/>
<arg name="use_roi_based_cluster"/>
<arg name="use_low_intensity_cluster_filter"/>
<arg name="use_image_segmentation_based_filter"/>
Expand Down Expand Up @@ -55,7 +55,7 @@
</include> -->

<!-- PointPainting -->
<group if="$(eval &quot;'$(var lidar_detection_model)'=='pointpainting'&quot;)">
<group if="$(eval &quot;'pointpainting' in '$(var lidar_detection_model)'&quot;)">
<push-ros-namespace namespace="pointpainting"/>
<include file="$(find-pkg-share autoware_image_projection_based_fusion)/launch/pointpainting_fusion.launch.xml">
<arg name="input/rois_number" value="$(var number_of_cameras)"/>
Expand Down Expand Up @@ -88,8 +88,8 @@

<arg name="model_name" value="$(var lidar_detection_model)"/>
<arg name="model_path" value="$(var pointpainting_model_path)"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/pointpainting.param.yaml"/>
<arg name="ml_package_param_path" value="$(var model_path)/pointpainting_ml_package.param.yaml"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
<arg name="ml_package_param_path" value="$(var model_path)/$(var lidar_detection_model)_ml_package.param.yaml"/>
<arg name="class_remapper_param_path" value="$(var model_path)/detection_class_remapper.param.yaml"/>
<arg name="use_pointcloud_container" value="true"/>
<arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
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25 changes: 11 additions & 14 deletions ...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
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@@ -1,12 +1,9 @@
<?xml version="1.0"?>
<launch>
<!-- Lidar parameters -->
<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="lidar_detection_model" default="centerpoint" description="options: `centerpoint*`, `transfusion*`, `apollo*`, `pointpainting*`, `clustering*`"/>
<!-- Lidar detector parameters -->
<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 -->
Expand All @@ -15,18 +12,18 @@
<arg name="output/objects"/>

<!-- TransFusion -->
<group if="$(eval &quot;'$(var lidar_detection_model)'=='transfusion'&quot;)">
<group if="$(eval &quot;'transfusion' in '$(var lidar_detection_model)'&quot;)">
<push-ros-namespace namespace="transfusion"/>
<arg name="lidar_model_param_path" default="$(find-pkg-share autoware_lidar_transfusion)/config"/>

<group>
<include file="$(find-pkg-share autoware_lidar_transfusion)/launch/lidar_transfusion.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="$(var output/objects)"/>
<arg name="model_name" value="$(var transfusion_model_name)"/>
<arg name="model_name" value="$(var lidar_detection_model)"/>
<arg name="model_path" value="$(var transfusion_model_path)"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var transfusion_model_name).param.yaml"/>
<arg name="ml_package_param_path" value="$(var transfusion_model_path)/$(var transfusion_model_name)_ml_package.param.yaml"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
<arg name="ml_package_param_path" value="$(var transfusion_model_path)/$(var lidar_detection_model)_ml_package.param.yaml"/>
<arg name="class_remapper_param_path" value="$(var transfusion_model_path)/detection_class_remapper.param.yaml"/>

<arg name="use_pointcloud_container" value="true"/>
Expand All @@ -36,18 +33,18 @@
</group>

<!-- CenterPoint -->
<group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
<group if="$(eval &quot;'centerpoint' in '$(var lidar_detection_model)'&quot;)">
<push-ros-namespace namespace="centerpoint"/>
<arg name="lidar_model_param_path" default="$(find-pkg-share autoware_lidar_centerpoint)/config"/>

<group>
<include file="$(find-pkg-share autoware_lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="$(var output/objects)"/>
<arg name="model_name" value="$(var centerpoint_model_name)"/>
<arg name="model_name" value="$(var lidar_detection_model)"/>
<arg name="model_path" value="$(var centerpoint_model_path)"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
<arg name="ml_package_param_path" value="$(var centerpoint_model_path)/$(var centerpoint_model_name)_ml_package.param.yaml"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
<arg name="ml_package_param_path" value="$(var centerpoint_model_path)/$(var lidar_detection_model)_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"/>
Expand All @@ -57,7 +54,7 @@
</group>

<!-- Lidar Apollo Instance Segmentation -->
<group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
<group if="$(eval &quot;'apollo' in '$(var lidar_detection_model)'&quot;)">
<push-ros-namespace namespace="apollo"/>
<group>
<include file="$(find-pkg-share autoware_lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
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9 changes: 4 additions & 5 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -35,19 +35,18 @@
<arg name="occupancy_grid_map_updater"/>
<arg name="occupancy_grid_map_updater_param_path"/>
<arg name="traffic_light_arbiter_param_path"/>
<arg name="lidar_detection_model"/>

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

<!-- PointPainting model parameters -->
<arg name="transfusion_model_path" default="$(var data_path)/lidar_transfusion"/>
<arg name="pointpainting_model_path" default="$(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"/>
<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="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="lidar_detection_model" default="$(var lidar_detection_model)" description="options: `centerpoint*`, `transfusion*`, `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"/>
<arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
Expand Down
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