From c21cd101d102a9be47b58734c3dc77717657a5be Mon Sep 17 00:00:00 2001 From: mitsudome-r Date: Sun, 3 Mar 2019 03:55:41 +0900 Subject: [PATCH 001/139] changed signal identifier from linkId to plId --- .../trafficlight_recognizer/lib/Context.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/lib/Context.cpp b/ros/src/computing/perception/detection/trafficlight_recognizer/lib/Context.cpp index 22992f565b4..55226711599 100644 --- a/ros/src/computing/perception/detection/trafficlight_recognizer/lib/Context.cpp +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/lib/Context.cpp @@ -22,7 +22,7 @@ Context::Context(cv::Point aRedCenter, cv::Point aYellowCenter, cv::Point aGreen bool Context::CompareContext(const Context in_context_a, const Context in_context_b) { /* if lampRadius is bigger, context is smaller */ - return in_context_a.lampRadius >= in_context_b.lampRadius; + return in_context_a.lampRadius > in_context_b.lampRadius; } /* static bool compareContext() */ @@ -35,7 +35,7 @@ void Context::SetContexts(std::vector &out_signal_contexts, std::vector signals_lamps; std::vector::iterator lamp_iterator; - std::vector lane_id_vector; + std::vector pole_id_vector; for (unsigned int i = 0; i < in_lamp_signals_positions->Signals.size(); i++) { @@ -52,18 +52,18 @@ void Context::SetContexts(std::vector &out_signal_contexts, tmp_lamp_position.plId = in_lamp_signals_positions->Signals.at(i).plId; signals_lamps.push_back(tmp_lamp_position); - lane_id_vector.push_back(tmp_lamp_position.linkId); //store lanes ids, to later identify signals contexts + pole_id_vector.push_back(tmp_lamp_position.plId); //store lanes ids, to later identify signals contexts } //get unique lane ids - std::sort(lane_id_vector.begin(), lane_id_vector.end()); - std::vector::iterator new_end = std::unique(lane_id_vector.begin(), lane_id_vector.end()); - lane_id_vector.erase(new_end, lane_id_vector.end()); + std::sort(pole_id_vector.begin(), pole_id_vector.end()); + std::vector::iterator new_end = std::unique(pole_id_vector.begin(), pole_id_vector.end()); + pole_id_vector.erase(new_end, pole_id_vector.end()); std::vector final_signal_contexts; //one traffic signal per lane, check each lane and find the bulb belonging to this lane (this signal Context) - for (unsigned int ctx_idx = 0; ctx_idx < lane_id_vector.size(); ctx_idx++) + for (unsigned int ctx_idx = 0; ctx_idx < pole_id_vector.size(); ctx_idx++) { Context current_signal_context; int min_radius = INT_MAX; @@ -83,7 +83,7 @@ void Context::SetContexts(std::vector &out_signal_contexts, double map_y = lamp_iterator->y; double map_z = lamp_iterator->z; int radius = lamp_iterator->radius; - if (lamp_iterator->linkId == lane_id_vector.at(ctx_idx) && + if (lamp_iterator->plId == pole_id_vector.at(ctx_idx) && 0 < img_x - radius - 1.5 * radius && img_x + radius + 1.5 * radius < in_image_width && 0 < img_y - radius - 1.5 * radius && img_y + radius + 1.5 * radius < in_image_height) { From b1fb634bf8413ed1a27c3f6b40a11b1556bd5f78 Mon Sep 17 00:00:00 2001 From: dimethylether Date: Wed, 6 Mar 2019 08:28:16 -0600 Subject: [PATCH 002/139] fix calibration publisher in runtime manager --- .../packages/runtime_manager/scripts/runtime_manager_dialog.py | 1 + 1 file changed, 1 insertion(+) diff --git a/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py b/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py index 5431991ac40..9fc0d945d32 100755 --- a/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py +++ b/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py @@ -1266,6 +1266,7 @@ def OnCalibrationPublisher(self, event): for cam_id in ids: (pdic_a, gdic_a, _) = self.name_to_pdic_gdic_prm(cam_id) pdic = pdic_a if pdic_a else self.load_dic_pdic_setup(cam_id, {}) + pdic['camera_id'] = cam_id pdic_baks[cam_id] = pdic.copy() gdic = gdic_a if gdic_a else gdic_org.copy() gdic['flags'] = flags From e38de7f29a7dddd445183619ed8ffc3652541168 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Thu, 21 Feb 2019 23:18:29 +0900 Subject: [PATCH 003/139] Add prototype of plugin file editor --- .../src/autoware_launcher/tool/editor.py | 163 ++---------------- 1 file changed, 17 insertions(+), 146 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py index 99f03a6551a..c06d4c38785 100644 --- a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py @@ -1,157 +1,28 @@ -from autoware_launcher.core import plugin -from autoware_launcher.core import myutils +#import xml.etree.ElementTree as xmltree + +import rospkg from python_qt_binding import QtCore from python_qt_binding import QtWidgets -import argparse -import collections -import re -import rospkg -import yaml -import xml.etree.ElementTree as xtree - - -def represent_ordered_dict(dumper, instance): - return dumper.represent_mapping('tag:yaml.org,2002:map', instance.items()) -yaml.add_representer(collections.OrderedDict, represent_ordered_dict) - def main(sys_argv): - if len(sys_argv) < 2: - print("missing plugin file path") - return 2 application = QtWidgets.QApplication(sys_argv) - widget = PluginEditWidget() - ynode = plugin.AwPluginNode(None, sys_argv[1]) - ynode.load(myutils.package("plugins")) - xnode = load_launch_xml(ynode.rosxml()) - - fields = [PluginEditField(child.attrib) for child in xnode if child.tag == "arg"] - for field in fields: widget.add_field(field) - widget.add_button() - for field in ynode.args(): widget.set_yaml(field) + rospack = rospkg.RosPack() + combo = QtWidgets.QComboBox() + for package in sorted(rospack.list()): + combo.addItem(package) + combo.setEditable(True) + combo.setCurrentIndex(combo.findText("autoware_launcher")) + + widget = QtWidgets.QWidget() + widget.setLayout(QtWidgets.QHBoxLayout()) + widget.layout().addWidget(QtWidgets.QLabel("Package")) + widget.layout().addWidget(combo) + widget.layout().addWidget(QtWidgets.QLabel("File")) + widget.layout().addWidget(QtWidgets.QLineEdit()) + widget.layout().addWidget(QtWidgets.QPushButton()) widget.show() return application.exec_() - - -def load_launch_xml(rosxml): - - rospack = rospkg.RosPack() - regex = re.compile("\$\(find (.*?)\)") - match = regex.match(rosxml) - xpath = regex.sub(rospack.get_path(match.group(1)), rosxml) - return xtree.parse(xpath).getroot() - - -class PluginEditWidget(QtWidgets.QWidget): - - header = ["Field Name", "Field Type", "Array Type", "Default Value"] - - def __init__(self): - - super(PluginEditWidget, self).__init__() - self.fields = collections.OrderedDict() - self.setLayout(QtWidgets.QGridLayout()) - for col,text in enumerate(PluginEditWidget.header): - self.layout().addWidget(QtWidgets.QLabel(text), 0, col) - self.export = QtWidgets.QPushButton("Export") - self.export.clicked.connect(self.export_yaml) - - def add_field(self, field): - - row = self.layout().rowCount() - self.layout().addWidget(field.name, row, 0) - self.layout().addWidget(field.type, row, 1) - self.layout().addWidget(field.list, row, 2) - self.layout().addWidget(field.default, row, 3) - self.fields[field.name.text()] = field - - def add_button(self): - - row = self.layout().rowCount() - self.layout().addWidget(self.export, row, 0, 1, 4) - - def set_yaml(self, data): - - self.fields[data.name].set_yaml(data) - - def export_yaml(self): - - views = [field.export_view() for field in self.fields.values()] - fields = [field.export_dict() for field in self.fields.values()] - data = collections.OrderedDict() - data["args"] = fields - data["panel"] = collections.OrderedDict() - data["panel"]["widget"] = "node.panel" - data["panel"]["frames"] = views - text = yaml.dump(data, default_flow_style=None) - print(text) - clipboard = QtWidgets.QApplication.clipboard() - clipboard.setText(text) - - -class PluginEditField(object): - - viewtypes = {"str":"text", "int":"int", "real":"real", "bool":"bool"} - - def __init__(self, attr): - - self.name = QtWidgets.QLabel() - self.type = QtWidgets.QComboBox() - self.list = QtWidgets.QComboBox() - self.default = QtWidgets.QLineEdit() - - self.name.setText(attr["name"]) - self.type.addItems(["str", "int", "real", "bool"]) - self.list.addItems(["none", "space", "yaml"]) - self.default.setText(attr.get("default")) - - self.type.setCurrentIndex(-1) - if attr.get("default"): - itype = self.type_inference(attr["default"]) - self.type.setCurrentIndex(self.type.findText(itype)) - - def type_inference(self, value): - - if value.lower() in ["true", "false"]: return "bool" - if value.isdigit(): return "int" - if value.replace('.','',1).isdigit(): return "real" - return "str" - - def set_yaml(self, data): - - self.type.setCurrentIndex(self.type.findText(data.type)) - if data.list: - self.list.setCurrentIndex(self.list.findText(data.list)) - if data.rest.get("default"): - self.default.setText(str(data.rest["default"])) - - def export_dict(self): - - data = collections.OrderedDict() - data["name"] = str(self.name.text()) - data["type"] = str(self.type.currentText()) - if self.list.currentText() != "none": - data["list"] = str(self.list.currentText()) - if self.default.text(): - data["default"] = self.export_default(data, self.default.text()) - return data - - def export_default(self, data, value): - - if data.get("list") is None: - if data["type"] == "str" : return str(value) - if data["type"] == "int" : return int(value) - if data["type"] == "real": return float(value) - if data["type"] == "bool": return (value.lower() == "true") - raise NotImplementedError("Unkown Type: " + str(data)) - - def export_view(self): - - data = collections.OrderedDict() - data["target"] = "args." + str(self.name.text()) - data["widget"] = "basic." + PluginEditField.viewtypes[self.type.currentText()] - return data \ No newline at end of file From d03ecd2472bec5b507ef6262353183acba1c81aa Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Tue, 26 Feb 2019 15:24:42 +0900 Subject: [PATCH 004/139] Change logger level --- ros/src/util/packages/autoware_launcher/scripts/main | 9 +-------- .../src/autoware_launcher/gui/guimgr.py | 12 +++++++----- 2 files changed, 8 insertions(+), 13 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/scripts/main b/ros/src/util/packages/autoware_launcher/scripts/main index 7efb1b5ed47..3976c95a727 100755 --- a/ros/src/util/packages/autoware_launcher/scripts/main +++ b/ros/src/util/packages/autoware_launcher/scripts/main @@ -7,14 +7,7 @@ import argparse from autoware_launcher.core import AwLaunchServer from autoware_launcher.gui import AwQtGuiClient -parser = argparse.ArgumentParser(description='Autoware Launcher') -parser.add_argument("-v", "--verbose", dest="verbose", action="store_true", help="show debug log message") -parser.add_argument("-p", "--profile", dest="profile", action="store", help="name of profile") -parser.add_argument("-s", "--skin", dest="skin", action="store", help="name of style sheet") -args = parser.parse_args() - -loglevel = logging.INFO if not args.verbose else logging.DEBUG -logging.basicConfig(level=loglevel, format="%(levelname)-5s: %(name)s: %(message)s") +logging.basicConfig(level=logging.INFO, format="%(levelname)-5s: %(name)s: %(message)s") server = AwLaunchServer(sys.argv) client = AwQtGuiClient(sys.argv, server) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py index 60d73cfada2..4db24ac8ebd 100644 --- a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py @@ -19,11 +19,13 @@ def __init__(self, client): self.__client = client self.__widgets = {} - import autoware_launcher.gui.plugins as plugins - for modkey, modcls in plugins.modules.items(): - for guikey, guicls in modcls.plugin_widgets().items(): - logger.debug("load plugin module: " + modkey + "." + guikey) - self.__widgets[modkey + "." + guikey] = guicls + for filepath in os.listdir(myutils.package("src/autoware_launcher/gui/plugins")): + fkey, fext = os.path.splitext(os.path.basename(filepath)) + if (fkey != "__init__") and (fext == ".py"): + logger.debug("load plugin module: " + fkey) + module = importlib.import_module("autoware_launcher.gui.plugins." + fkey) + for wkey, wcls in module.plugin_widgets().items(): + self.__widgets[fkey + "." + wkey] = wcls def client(self): return self.__client From 4edd5a73d2242b60a7ae1d72abd9b3c9dec71ab0 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Tue, 26 Feb 2019 16:14:35 +0900 Subject: [PATCH 005/139] Support command line options --- ros/src/util/packages/autoware_launcher/scripts/main | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/ros/src/util/packages/autoware_launcher/scripts/main b/ros/src/util/packages/autoware_launcher/scripts/main index 3976c95a727..d00692af767 100755 --- a/ros/src/util/packages/autoware_launcher/scripts/main +++ b/ros/src/util/packages/autoware_launcher/scripts/main @@ -7,7 +7,15 @@ import argparse from autoware_launcher.core import AwLaunchServer from autoware_launcher.gui import AwQtGuiClient -logging.basicConfig(level=logging.INFO, format="%(levelname)-5s: %(name)s: %(message)s") +parser = argparse.ArgumentParser(description='Autoware Launcher') +parser.add_argument("-v", "--verbose", dest="verbose", action="store_true", help="show debug log message") +parser.add_argument("-p", "--profile", dest="profile", action="store", help="name of profile") +parser.add_argument("-s", "--skin", dest="skin", action="store", help="name of style sheet") +args = parser.parse_args() + +loglevel = logging.INFO if not args.verbose else logging.DEBUG +logging.basicConfig(level=loglevel, format="%(levelname)-5s: %(name)s: %(message)s") + server = AwLaunchServer(sys.argv) client = AwQtGuiClient(sys.argv, server) From b98bcc39978f8cf375a796d72892e671d38cbce1 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Tue, 26 Feb 2019 19:03:33 +0900 Subject: [PATCH 006/139] Update gazebo simulator panel --- ros/src/util/packages/autoware_launcher/scripts/main | 1 - 1 file changed, 1 deletion(-) diff --git a/ros/src/util/packages/autoware_launcher/scripts/main b/ros/src/util/packages/autoware_launcher/scripts/main index d00692af767..7efb1b5ed47 100755 --- a/ros/src/util/packages/autoware_launcher/scripts/main +++ b/ros/src/util/packages/autoware_launcher/scripts/main @@ -16,7 +16,6 @@ args = parser.parse_args() loglevel = logging.INFO if not args.verbose else logging.DEBUG logging.basicConfig(level=loglevel, format="%(levelname)-5s: %(name)s: %(message)s") - server = AwLaunchServer(sys.argv) client = AwQtGuiClient(sys.argv, server) sys.exit(client.start(profile=args.profile, skin=args.skin)) From 43791a3a334a7d6f6a8a98e9f9fc316e24be72a5 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Fri, 1 Mar 2019 17:29:21 +0900 Subject: [PATCH 007/139] Add plugin edit tool and update plugins --- .../src/autoware_launcher/tool/editor.py | 163 ++++++++++++++++-- .../src/autoware_launcher/tool/wizard.py | 2 +- .../autoware_launcher/tests/test_plugins.py | 2 +- 3 files changed, 148 insertions(+), 19 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py index c06d4c38785..c691b1543a6 100644 --- a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py @@ -1,28 +1,157 @@ -#import xml.etree.ElementTree as xmltree - -import rospkg +from autoware_launcher.core import plugin +from autoware_launcher.core import myutils from python_qt_binding import QtCore from python_qt_binding import QtWidgets +import argparse +import collections +import re +import rospkg +import yaml +import xml.etree.ElementTree as xtree + + +def represent_ordered_dict(dumper, instance): + return dumper.represent_mapping('tag:yaml.org,2002:map', instance.items()) +yaml.add_representer(collections.OrderedDict, represent_ordered_dict) + def main(sys_argv): + if len(sys_argv) < 2: + print("missing plugin file path") + return 2 application = QtWidgets.QApplication(sys_argv) + widget = PluginEditWidget() + ynode = plugin.AwPluginNode(None, sys_argv[1]) + ynode.load(myutils.package("plugins")) + xnode = load_launch_xml(ynode.rosxml()) + + fields = [PluginEditField(child.attrib) for child in xnode if child.tag == "arg"] + for field in fields: widget.add_field(field) + widget.add_button() + for field in ynode.args(): widget.set_yaml(field) - rospack = rospkg.RosPack() - combo = QtWidgets.QComboBox() - for package in sorted(rospack.list()): - combo.addItem(package) - combo.setEditable(True) - combo.setCurrentIndex(combo.findText("autoware_launcher")) - - widget = QtWidgets.QWidget() - widget.setLayout(QtWidgets.QHBoxLayout()) - widget.layout().addWidget(QtWidgets.QLabel("Package")) - widget.layout().addWidget(combo) - widget.layout().addWidget(QtWidgets.QLabel("File")) - widget.layout().addWidget(QtWidgets.QLineEdit()) - widget.layout().addWidget(QtWidgets.QPushButton()) widget.show() return application.exec_() + + +def load_launch_xml(rosxml): + + rospack = rospkg.RosPack() + regex = re.compile("\$\(find (.*?)\)") + match = regex.match(rosxml) + xpath = regex.sub(rospack.get_path(match.group(1)), rosxml) + return xtree.parse(xpath).getroot() + + +class PluginEditWidget(QtWidgets.QWidget): + + header = ["Field Name", "Field Type", "Array Type", "Default Value"] + + def __init__(self): + + super(PluginEditWidget, self).__init__() + self.fields = collections.OrderedDict() + self.setLayout(QtWidgets.QGridLayout()) + for col,text in enumerate(PluginEditWidget.header): + self.layout().addWidget(QtWidgets.QLabel(text), 0, col) + self.export = QtWidgets.QPushButton("Export") + self.export.clicked.connect(self.export_yaml) + + def add_field(self, field): + + row = self.layout().rowCount() + self.layout().addWidget(field.name, row, 0) + self.layout().addWidget(field.type, row, 1) + self.layout().addWidget(field.list, row, 2) + self.layout().addWidget(field.default, row, 3) + self.fields[field.name.text()] = field + + def add_button(self): + + row = self.layout().rowCount() + self.layout().addWidget(self.export, row, 0, 1, 4) + + def set_yaml(self, data): + + self.fields[data.name].set_yaml(data) + + def export_yaml(self): + + views = [field.export_view() for field in self.fields.values()] + fields = [field.export_dict() for field in self.fields.values()] + data = collections.OrderedDict() + data["args"] = fields + data["panel"] = collections.OrderedDict() + data["panel"]["widget"] = "node.panel" + data["panel"]["frames"] = views + text = yaml.dump(data, default_flow_style=None) + print text + clipboard = QtWidgets.QApplication.clipboard() + clipboard.setText(text) + + +class PluginEditField(object): + + viewtypes = {"str":"text", "int":"int", "real":"real", "bool":"bool"} + + def __init__(self, attr): + + self.name = QtWidgets.QLabel() + self.type = QtWidgets.QComboBox() + self.list = QtWidgets.QComboBox() + self.default = QtWidgets.QLineEdit() + + self.name.setText(attr["name"]) + self.type.addItems(["str", "int", "real", "bool"]) + self.list.addItems(["none", "space", "yaml"]) + self.default.setText(attr.get("default")) + + self.type.setCurrentIndex(-1) + if attr.get("default"): + itype = self.type_inference(attr["default"]) + self.type.setCurrentIndex(self.type.findText(itype)) + + def type_inference(self, value): + + if value.lower() in ["true", "false"]: return "bool" + if value.isdigit(): return "int" + if value.replace('.','',1).isdigit(): return "real" + return "str" + + def set_yaml(self, data): + + self.type.setCurrentIndex(self.type.findText(data.type)) + if data.list: + self.list.setCurrentIndex(self.list.findText(data.list)) + if data.rest.get("default"): + self.default.setText(str(data.rest["default"])) + + def export_dict(self): + + data = collections.OrderedDict() + data["name"] = str(self.name.text()) + data["type"] = str(self.type.currentText()) + if self.list.currentText() != "none": + data["list"] = str(self.list.currentText()) + if self.default.text(): + data["default"] = self.export_default(data, self.default.text()) + return data + + def export_default(self, data, value): + + if data.get("list") is None: + if data["type"] == "str" : return str(value) + if data["type"] == "int" : return int(value) + if data["type"] == "real": return float(value) + if data["type"] == "bool": return (value.lower() == "true") + raise NotImplementedError("Unkown Type: " + str(data)) + + def export_view(self): + + data = collections.OrderedDict() + data["target"] = "args." + str(self.name.text()) + data["widget"] = "basic." + PluginEditField.viewtypes[self.type.currentText()] + return data \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/wizard.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/wizard.py index 88358720b82..945cf14c9bf 100644 --- a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/wizard.py +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/wizard.py @@ -57,4 +57,4 @@ def package_updated(self, pkgname): if self.pkgname != pkgname: self.pkgname = pkgname pkgpath = self.rospack.get_path(pkgname) - print("Update: " + pkgpath) \ No newline at end of file + print("Update: " + pkgpath) diff --git a/ros/src/util/packages/autoware_launcher/tests/test_plugins.py b/ros/src/util/packages/autoware_launcher/tests/test_plugins.py index 4663aa7b131..c441fa58872 100644 --- a/ros/src/util/packages/autoware_launcher/tests/test_plugins.py +++ b/ros/src/util/packages/autoware_launcher/tests/test_plugins.py @@ -36,4 +36,4 @@ def test_plugin_field(): print(ymlargs) print(xmlargs) except: - print(result.group(1) + " is not built") \ No newline at end of file + print(result.group(1) + " is not built") From a865a08b9ec023856b546ebbf14e8c227f628d7f Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Sun, 3 Mar 2019 16:52:21 +0900 Subject: [PATCH 008/139] Update the code for compatibility with python3 --- .../autoware_launcher/src/autoware_launcher/tool/editor.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py index c691b1543a6..99f03a6551a 100644 --- a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py @@ -88,7 +88,7 @@ def export_yaml(self): data["panel"]["widget"] = "node.panel" data["panel"]["frames"] = views text = yaml.dump(data, default_flow_style=None) - print text + print(text) clipboard = QtWidgets.QApplication.clipboard() clipboard.setText(text) From 5c2270b77ed491b5cb73cd73c5ef7581f9638f41 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Sun, 3 Mar 2019 18:39:01 +0900 Subject: [PATCH 009/139] Update the code for colcon build --- .../src/autoware_launcher/gui/guimgr.py | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py index 4db24ac8ebd..60d73cfada2 100644 --- a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py @@ -19,13 +19,11 @@ def __init__(self, client): self.__client = client self.__widgets = {} - for filepath in os.listdir(myutils.package("src/autoware_launcher/gui/plugins")): - fkey, fext = os.path.splitext(os.path.basename(filepath)) - if (fkey != "__init__") and (fext == ".py"): - logger.debug("load plugin module: " + fkey) - module = importlib.import_module("autoware_launcher.gui.plugins." + fkey) - for wkey, wcls in module.plugin_widgets().items(): - self.__widgets[fkey + "." + wkey] = wcls + import autoware_launcher.gui.plugins as plugins + for modkey, modcls in plugins.modules.items(): + for guikey, guicls in modcls.plugin_widgets().items(): + logger.debug("load plugin module: " + modkey + "." + guikey) + self.__widgets[modkey + "." + guikey] = guicls def client(self): return self.__client From bebfc881352e607c054a654bfd8278266bfb6099 Mon Sep 17 00:00:00 2001 From: dimethylether Date: Mon, 4 Mar 2019 12:32:28 +0900 Subject: [PATCH 010/139] updated plugin for lane_rule, lane_stop, and voxel_grid_filter --- .../plugins/leaf/lane_stop.xml | 30 ++++++++----------- 1 file changed, 12 insertions(+), 18 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml index 070517f7453..d19954f3ddb 100644 --- a/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml @@ -1,29 +1,23 @@ - + - + - + - + + From 0a9ac7077ae1088ae00d1e254acdc92c2ca8949b Mon Sep 17 00:00:00 2001 From: dimethylether Date: Tue, 5 Mar 2019 06:37:30 -0600 Subject: [PATCH 011/139] added avt_vimba_mako plugins --- .../plugins/driver/camera/avt_vimba_mako.xml | 6 +++ .../plugins/driver/camera/avt_vimba_mako.yaml | 34 +++++++++++++++ .../plugins/node/camera_node.yaml | 4 +- .../scripts/avt_camera_script.launch | 41 +++++++++++++++++++ 4 files changed, 83 insertions(+), 2 deletions(-) create mode 100644 ros/src/util/packages/autoware_launcher/plugins/driver/camera/avt_vimba_mako.xml create mode 100644 ros/src/util/packages/autoware_launcher/plugins/driver/camera/avt_vimba_mako.yaml create mode 100644 ros/src/util/packages/runtime_manager/scripts/avt_camera_script.launch diff --git a/ros/src/util/packages/autoware_launcher/plugins/driver/camera/avt_vimba_mako.xml b/ros/src/util/packages/autoware_launcher/plugins/driver/camera/avt_vimba_mako.xml new file mode 100644 index 00000000000..da7a45d2081 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/driver/camera/avt_vimba_mako.xml @@ -0,0 +1,6 @@ + + + + + + diff --git a/ros/src/util/packages/autoware_launcher/plugins/driver/camera/avt_vimba_mako.yaml b/ros/src/util/packages/autoware_launcher/plugins/driver/camera/avt_vimba_mako.yaml new file mode 100644 index 00000000000..222e60a25ca --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/driver/camera/avt_vimba_mako.yaml @@ -0,0 +1,34 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find runtime_manager)/scripts/avt_camera_script.launch +args: +- {name: guid, type: str} +- {name: ip, type: str} +- {name: camera_info_url, type: str} +- {name: frame_id, type: str, default: avt_camera} +- {name: show_debug_prints, type: bool, default: true} +- {name: acquisition_rate, type: int, default: 20} +- {name: pixel_format, type: str, default: BayerRG8} +- {name: exposure, type: int, default: 10000} +- {name: gain, type: int, default: 15} +- {name: exposure_auto, type: str, default: Continuous} +- {name: gain_auto, type: str, default: Continuous} +- {name: whitebalance_auto, type: str, default: Continuous} +- {name: exposure_auto_max, type: int, default: 50000} +- {name: gain_auto_max, type: int, default: 50} +panel: + widget: node.panel + frames: + - {target: args.guid, widget: basic.text} + - {target: args.ip, widget: basic.text} + - {target: args.camera_info_url, widget: basic.text} + - {target: args.frame_id, widget: basic.text} + - {target: args.show_debug_prints, widget: basic.bool} + - {target: args.acquisition_rate, widget: basic.int} + - {target: args.pixel_format, widget: basic.text} + - {target: args.exposure, widget: basic.int} + - {target: args.gain, widget: basic.int} + - {target: args.exposure_auto, widget: basic.text} + - {target: args.gain_auto, widget: basic.text} + - {target: args.whitebalance_auto, widget: basic.text} + - {target: args.exposure_auto_max, widget: basic.int} + - {target: args.gain_auto_max, widget: basic.int} diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/camera_node.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/camera_node.yaml index 1b0601f01e8..f2f11991601 100644 --- a/ros/src/util/packages/autoware_launcher/plugins/node/camera_node.yaml +++ b/ros/src/util/packages/autoware_launcher/plugins/node/camera_node.yaml @@ -1,4 +1,4 @@ format: Autoware Launcher Plugin Version 0.1 rules: -- { name: driver, plugin: { scan: driver/camera } } -- { name: calibration, plugin: leaf/calibration } \ No newline at end of file +- { name: driver, plugin: [scan: driver/camera, driver/avt_vimba_mako ] } +- { name: calibration, plugin: leaf/calibration } diff --git a/ros/src/util/packages/runtime_manager/scripts/avt_camera_script.launch b/ros/src/util/packages/runtime_manager/scripts/avt_camera_script.launch new file mode 100644 index 00000000000..e32861ab4e6 --- /dev/null +++ b/ros/src/util/packages/runtime_manager/scripts/avt_camera_script.launch @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From dcf897e84b977320ee38cd07e93724f7bee346eb Mon Sep 17 00:00:00 2001 From: dimethylether Date: Tue, 5 Mar 2019 06:46:49 -0600 Subject: [PATCH 012/139] added wayarea2grid plugin --- .../plugins/node/detect_obj.yaml | 3 ++- .../plugins/refs/wayarea2grid.yaml | 20 +++++++++++++++++++ 2 files changed, 22 insertions(+), 1 deletion(-) create mode 100644 ros/src/util/packages/autoware_launcher/plugins/refs/wayarea2grid.yaml diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/detect_obj.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/detect_obj.yaml index bd7c8703ad5..7dbb4c0cedb 100644 --- a/ros/src/util/packages/autoware_launcher/plugins/node/detect_obj.yaml +++ b/ros/src/util/packages/autoware_launcher/plugins/node/detect_obj.yaml @@ -1,7 +1,8 @@ format: Autoware Launcher Plugin Version 0.1 rules: - { name: points_preproc, plugin: refs/ray_ground_filter } +- { name: wayarea2grid, plugin: refs/wayarea2grid } - { name: points_detect, plugin: refs/euclidean_cluster } - { name: images_detect, plugin: refs/yolov3 } - { name: fusion, plugin: refs/range_vision_fusion } -- { name: tracking, plugin: refs/imm_ukf_pda_track } \ No newline at end of file +- { name: tracking, plugin: refs/imm_ukf_pda_track } diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/wayarea2grid.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/wayarea2grid.yaml new file mode 100644 index 00000000000..9a26604747b --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/wayarea2grid.yaml @@ -0,0 +1,20 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find object_map)/launch/wayarea2grid.launch +args: +- {name: sensor_frame, type: str, default: velodyne} +- {name: grid_frame, type: str, default: map} +- {name: grid_resolution, type: real, default: 0.3} +- {name: grid_length_x, type: int, default: 150} +- {name: grid_length_y, type: int, default: 150} +- {name: grid_position_x, type: int, default: 0} +- {name: grid_position_y, type: int, default: 0} +panel: + widget: node.panel + frames: + - {target: args.sensor_frame, widget: basic.text} + - {target: args.grid_frame, widget: basic.text} + - {target: args.grid_resolution, widget: basic.real} + - {target: args.grid_length_x, widget: basic.int} + - {target: args.grid_length_y, widget: basic.int} + - {target: args.grid_position_x, widget: basic.int} + - {target: args.grid_position_y, widget: basic.int} From 3f0a0c014b5cfbd2beb46e887aecb562b96bcb77 Mon Sep 17 00:00:00 2001 From: dimethylether Date: Tue, 5 Mar 2019 07:06:51 -0600 Subject: [PATCH 013/139] removed unnecessary xml --- .../plugins/driver/camera/avt_vimba_mako.xml | 6 ------ .../autoware_launcher/plugins/node/camera_node.yaml | 2 +- 2 files changed, 1 insertion(+), 7 deletions(-) delete mode 100644 ros/src/util/packages/autoware_launcher/plugins/driver/camera/avt_vimba_mako.xml diff --git a/ros/src/util/packages/autoware_launcher/plugins/driver/camera/avt_vimba_mako.xml b/ros/src/util/packages/autoware_launcher/plugins/driver/camera/avt_vimba_mako.xml deleted file mode 100644 index da7a45d2081..00000000000 --- a/ros/src/util/packages/autoware_launcher/plugins/driver/camera/avt_vimba_mako.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/camera_node.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/camera_node.yaml index f2f11991601..3dfe6de9d34 100644 --- a/ros/src/util/packages/autoware_launcher/plugins/node/camera_node.yaml +++ b/ros/src/util/packages/autoware_launcher/plugins/node/camera_node.yaml @@ -1,4 +1,4 @@ format: Autoware Launcher Plugin Version 0.1 rules: -- { name: driver, plugin: [scan: driver/camera, driver/avt_vimba_mako ] } +- { name: driver, plugin: [scan: driver/camera, scan: driver/avt_vimba_mako ] } - { name: calibration, plugin: leaf/calibration } From ae7d05151ab566c6f9acea1c5242bfdcc96ecabe Mon Sep 17 00:00:00 2001 From: dimethylether Date: Tue, 5 Mar 2019 07:26:23 -0600 Subject: [PATCH 014/139] added ssc_interface plugin --- .../plugins/node/motion.yaml | 3 ++- .../plugins/refs/ssc_interface.yaml | 24 +++++++++++++++++++ 2 files changed, 26 insertions(+), 1 deletion(-) create mode 100644 ros/src/util/packages/autoware_launcher/plugins/refs/ssc_interface.yaml diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/motion.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/motion.yaml index b6741866828..0dc9667e95c 100644 --- a/ros/src/util/packages/autoware_launcher/plugins/node/motion.yaml +++ b/ros/src/util/packages/autoware_launcher/plugins/node/motion.yaml @@ -4,4 +4,5 @@ rules: - { name: velocity_set, plugin: refs/velocity_set } - { name: waypoint_loader, plugin: leaf/waypoint_loader } - { name: pure_pursuit, plugin: leaf/pure_pursuit } -- { name: twist_filter, plugin: refs/twist_filter } \ No newline at end of file +- { name: twist_filter, plugin: refs/twist_filter } +- { name: ssc_interface, plugin: refs/ssc_interface} diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/ssc_interface.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/ssc_interface.yaml new file mode 100644 index 00000000000..87d4578d90f --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/ssc_interface.yaml @@ -0,0 +1,24 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find as)/launch/ssc_interface.launch +args: +- {name: use_rear_wheel_speed, type: bool, default: true} +- {name: use_adaptive_gear_ratio, type: bool, default: true} +- {name: command_timeout, type: int, default: 1000} +- {name: loop_rate, type: real, default: 30.0} +- {name: wheel_base, type: real, default: 2.79} +- {name: tire_radius, type: real, default: 0.39} +- {name: acceleration_limit, type: real, default: 3.0} +- {name: deceleration_limit, type: real, default: 6.0} +- {name: max_curvature_rate, type: real, default: 0.75} +panel: + widget: node.panel + frames: + - {target: args.use_rear_wheel_speed, widget: basic.bool} + - {target: args.use_adaptive_gear_ratio, widget: basic.bool} + - {target: args.command_timeout, widget: basic.int} + - {target: args.loop_rate, widget: basic.real} + - {target: args.wheel_base, widget: basic.real} + - {target: args.tire_radius, widget: basic.real} + - {target: args.acceleration_limit, widget: basic.real} + - {target: args.deceleration_limit, widget: basic.real} + - {target: args.max_curvature_rate, widget: basic.real} From a34e71f99b4a8097dd88d63870be673187402c0f Mon Sep 17 00:00:00 2001 From: dimethylether Date: Tue, 5 Mar 2019 07:42:08 -0600 Subject: [PATCH 015/139] fixed lane_stop.xml --- .../plugins/leaf/lane_stop.xml | 28 +++++++++++-------- 1 file changed, 16 insertions(+), 12 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml index d19954f3ddb..b3be15d70a7 100644 --- a/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml @@ -3,21 +3,25 @@ - + - + - - - From cf7b735fea3c06b76724cda260d755a5f4b522ac Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Thu, 21 Feb 2019 23:18:29 +0900 Subject: [PATCH 016/139] Add prototype of plugin file editor --- .../src/autoware_launcher/tool/editor.py | 163 ++---------------- 1 file changed, 17 insertions(+), 146 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py index 99f03a6551a..c06d4c38785 100644 --- a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py @@ -1,157 +1,28 @@ -from autoware_launcher.core import plugin -from autoware_launcher.core import myutils +#import xml.etree.ElementTree as xmltree + +import rospkg from python_qt_binding import QtCore from python_qt_binding import QtWidgets -import argparse -import collections -import re -import rospkg -import yaml -import xml.etree.ElementTree as xtree - - -def represent_ordered_dict(dumper, instance): - return dumper.represent_mapping('tag:yaml.org,2002:map', instance.items()) -yaml.add_representer(collections.OrderedDict, represent_ordered_dict) - def main(sys_argv): - if len(sys_argv) < 2: - print("missing plugin file path") - return 2 application = QtWidgets.QApplication(sys_argv) - widget = PluginEditWidget() - ynode = plugin.AwPluginNode(None, sys_argv[1]) - ynode.load(myutils.package("plugins")) - xnode = load_launch_xml(ynode.rosxml()) - - fields = [PluginEditField(child.attrib) for child in xnode if child.tag == "arg"] - for field in fields: widget.add_field(field) - widget.add_button() - for field in ynode.args(): widget.set_yaml(field) + rospack = rospkg.RosPack() + combo = QtWidgets.QComboBox() + for package in sorted(rospack.list()): + combo.addItem(package) + combo.setEditable(True) + combo.setCurrentIndex(combo.findText("autoware_launcher")) + + widget = QtWidgets.QWidget() + widget.setLayout(QtWidgets.QHBoxLayout()) + widget.layout().addWidget(QtWidgets.QLabel("Package")) + widget.layout().addWidget(combo) + widget.layout().addWidget(QtWidgets.QLabel("File")) + widget.layout().addWidget(QtWidgets.QLineEdit()) + widget.layout().addWidget(QtWidgets.QPushButton()) widget.show() return application.exec_() - - -def load_launch_xml(rosxml): - - rospack = rospkg.RosPack() - regex = re.compile("\$\(find (.*?)\)") - match = regex.match(rosxml) - xpath = regex.sub(rospack.get_path(match.group(1)), rosxml) - return xtree.parse(xpath).getroot() - - -class PluginEditWidget(QtWidgets.QWidget): - - header = ["Field Name", "Field Type", "Array Type", "Default Value"] - - def __init__(self): - - super(PluginEditWidget, self).__init__() - self.fields = collections.OrderedDict() - self.setLayout(QtWidgets.QGridLayout()) - for col,text in enumerate(PluginEditWidget.header): - self.layout().addWidget(QtWidgets.QLabel(text), 0, col) - self.export = QtWidgets.QPushButton("Export") - self.export.clicked.connect(self.export_yaml) - - def add_field(self, field): - - row = self.layout().rowCount() - self.layout().addWidget(field.name, row, 0) - self.layout().addWidget(field.type, row, 1) - self.layout().addWidget(field.list, row, 2) - self.layout().addWidget(field.default, row, 3) - self.fields[field.name.text()] = field - - def add_button(self): - - row = self.layout().rowCount() - self.layout().addWidget(self.export, row, 0, 1, 4) - - def set_yaml(self, data): - - self.fields[data.name].set_yaml(data) - - def export_yaml(self): - - views = [field.export_view() for field in self.fields.values()] - fields = [field.export_dict() for field in self.fields.values()] - data = collections.OrderedDict() - data["args"] = fields - data["panel"] = collections.OrderedDict() - data["panel"]["widget"] = "node.panel" - data["panel"]["frames"] = views - text = yaml.dump(data, default_flow_style=None) - print(text) - clipboard = QtWidgets.QApplication.clipboard() - clipboard.setText(text) - - -class PluginEditField(object): - - viewtypes = {"str":"text", "int":"int", "real":"real", "bool":"bool"} - - def __init__(self, attr): - - self.name = QtWidgets.QLabel() - self.type = QtWidgets.QComboBox() - self.list = QtWidgets.QComboBox() - self.default = QtWidgets.QLineEdit() - - self.name.setText(attr["name"]) - self.type.addItems(["str", "int", "real", "bool"]) - self.list.addItems(["none", "space", "yaml"]) - self.default.setText(attr.get("default")) - - self.type.setCurrentIndex(-1) - if attr.get("default"): - itype = self.type_inference(attr["default"]) - self.type.setCurrentIndex(self.type.findText(itype)) - - def type_inference(self, value): - - if value.lower() in ["true", "false"]: return "bool" - if value.isdigit(): return "int" - if value.replace('.','',1).isdigit(): return "real" - return "str" - - def set_yaml(self, data): - - self.type.setCurrentIndex(self.type.findText(data.type)) - if data.list: - self.list.setCurrentIndex(self.list.findText(data.list)) - if data.rest.get("default"): - self.default.setText(str(data.rest["default"])) - - def export_dict(self): - - data = collections.OrderedDict() - data["name"] = str(self.name.text()) - data["type"] = str(self.type.currentText()) - if self.list.currentText() != "none": - data["list"] = str(self.list.currentText()) - if self.default.text(): - data["default"] = self.export_default(data, self.default.text()) - return data - - def export_default(self, data, value): - - if data.get("list") is None: - if data["type"] == "str" : return str(value) - if data["type"] == "int" : return int(value) - if data["type"] == "real": return float(value) - if data["type"] == "bool": return (value.lower() == "true") - raise NotImplementedError("Unkown Type: " + str(data)) - - def export_view(self): - - data = collections.OrderedDict() - data["target"] = "args." + str(self.name.text()) - data["widget"] = "basic." + PluginEditField.viewtypes[self.type.currentText()] - return data \ No newline at end of file From d133806eda3879d3432e6e1738f2d94f2518ad4c Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Tue, 26 Feb 2019 15:24:42 +0900 Subject: [PATCH 017/139] Change logger level --- ros/src/util/packages/autoware_launcher/scripts/main | 9 +-------- .../src/autoware_launcher/gui/guimgr.py | 12 +++++++----- 2 files changed, 8 insertions(+), 13 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/scripts/main b/ros/src/util/packages/autoware_launcher/scripts/main index 7efb1b5ed47..3976c95a727 100755 --- a/ros/src/util/packages/autoware_launcher/scripts/main +++ b/ros/src/util/packages/autoware_launcher/scripts/main @@ -7,14 +7,7 @@ import argparse from autoware_launcher.core import AwLaunchServer from autoware_launcher.gui import AwQtGuiClient -parser = argparse.ArgumentParser(description='Autoware Launcher') -parser.add_argument("-v", "--verbose", dest="verbose", action="store_true", help="show debug log message") -parser.add_argument("-p", "--profile", dest="profile", action="store", help="name of profile") -parser.add_argument("-s", "--skin", dest="skin", action="store", help="name of style sheet") -args = parser.parse_args() - -loglevel = logging.INFO if not args.verbose else logging.DEBUG -logging.basicConfig(level=loglevel, format="%(levelname)-5s: %(name)s: %(message)s") +logging.basicConfig(level=logging.INFO, format="%(levelname)-5s: %(name)s: %(message)s") server = AwLaunchServer(sys.argv) client = AwQtGuiClient(sys.argv, server) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py index 60d73cfada2..4db24ac8ebd 100644 --- a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py @@ -19,11 +19,13 @@ def __init__(self, client): self.__client = client self.__widgets = {} - import autoware_launcher.gui.plugins as plugins - for modkey, modcls in plugins.modules.items(): - for guikey, guicls in modcls.plugin_widgets().items(): - logger.debug("load plugin module: " + modkey + "." + guikey) - self.__widgets[modkey + "." + guikey] = guicls + for filepath in os.listdir(myutils.package("src/autoware_launcher/gui/plugins")): + fkey, fext = os.path.splitext(os.path.basename(filepath)) + if (fkey != "__init__") and (fext == ".py"): + logger.debug("load plugin module: " + fkey) + module = importlib.import_module("autoware_launcher.gui.plugins." + fkey) + for wkey, wcls in module.plugin_widgets().items(): + self.__widgets[fkey + "." + wkey] = wcls def client(self): return self.__client From a40cfda49481d8d9c964b0d06c38d92d4f337ad7 Mon Sep 17 00:00:00 2001 From: cirpue49 Date: Tue, 26 Feb 2019 15:42:25 +0900 Subject: [PATCH 018/139] Add PointPillars --- .../lidar_point_pillars/CMakeLists.txt | 63 +- .../include/anchor_mask_cuda.h | 84 +++ .../lidar_point_pillars/include/common.h | 45 ++ .../lidar_point_pillars/include/nms_cuda.h | 60 ++ .../include/point_pillars.h | 290 +++++++++ .../include/point_pillars_ros.h | 141 ++++ .../include/postprocess_cuda.h | 94 +++ .../include/preprocess_points.h | 118 ++++ .../include/preprocess_points_cuda.h | 116 ++++ .../include/scatter_cuda.h | 58 ++ .../launch/lidar_point_pillars.launch | 4 +- .../nodes/anchor_mask_cuda.cu | 8 +- .../nodes/lidar_point_pillars_node.cpp | 6 +- .../lidar_point_pillars/nodes/nms_cuda.cu | 32 +- .../nodes/point_pillars.cpp | 614 +++++++++--------- .../nodes/point_pillars_ros.cpp | 121 ++-- .../nodes/postprocess_cuda.cu | 123 ++-- .../nodes/preprocess_points.cpp | 146 +++-- .../nodes/preprocess_points_cuda.cu | 38 +- .../lidar_point_pillars/nodes/scatter_cuda.cu | 2 +- .../packages/lidar_point_pillars/package.xml | 9 +- .../test/src/test_point_pillars.cpp | 439 ++++--------- .../runtime_manager/scripts/computing.yaml | 2 + 23 files changed, 1722 insertions(+), 891 deletions(-) create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/anchor_mask_cuda.h create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/common.h create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/nms_cuda.h create mode 100755 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h create mode 100755 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points.h create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points_cuda.h create mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/scatter_cuda.h diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt index 87d2a5728b8..fad7f1a04c6 100755 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt @@ -1,7 +1,7 @@ cmake_minimum_required(VERSION 2.8.3) project(lidar_point_pillars) -# set flags for CUDA availability +# set flags for CUDA and TensorRT availability option(CUDA_AVAIL "CUDA available" OFF) find_package(CUDA) if (CUDA_FOUND) @@ -14,46 +14,26 @@ else() set(CUDA_AVAIL OFF) endif (CUDA_FOUND) -# set flags for TensorRT availability -option(TRT_AVAIL "TensorRT available" OFF) # try to find the tensorRT modules +option(TRT_AVAIL "TensorRT available" OFF) find_library(NVINFER NAMES nvinfer) find_library(NVPARSERS NAMES nvparsers) -find_library(NVONNXPARSERS NAMES nvonnxparser) -if(NVINFER AND NVPARSERS AND NVONNXPARSERS) - message("TensorRT is available!") - message("NVINFER: ${NVINFER}") - message("NVPARSERS: ${NVPARSERS}") - message("NVONNXPARSERS: ${NVONNXPARSERS}") - set(TRT_AVAIL ON) +if(NVINFER AND NVPARSERS) + message("TensorRT is available!") + message("NVINFER: ${NVINFER}") + message("NVPARSERS: ${NVPARSERS}") + set(TRT_AVAIL ON) + add_definitions(-DTRT_AVAIL) else() message("TensorRT is NOT Available") set(TRT_AVAIL OFF) endif() -# set flags for CUDNN availability -option(CUDNN_AVAIL "CUDNN available" OFF) -# try to find the CUDNN module -find_library(CUDNN_LIBRARY -NAMES libcudnn.so${__cudnn_ver_suffix} libcudnn${__cudnn_ver_suffix}.dylib ${__cudnn_lib_win_name} -PATHS $ENV{LD_LIBRARY_PATH} ${__libpath_cudart} ${CUDNN_ROOT_DIR} ${PC_CUDNN_LIBRARY_DIRS} ${CMAKE_INSTALL_PREFIX} -PATH_SUFFIXES lib lib64 bin -DOC "CUDNN library." ) -if(CUDNN_LIBRARY) - message("CUDNN is available!") - message("CUDNN_LIBRARY: ${CUDNN_LIBRARY}") - set(CUDNN_AVAIL ON) -else() - message("CUDNN is NOT Available") - set(CUDNN_AVAIL OFF) -endif() - -if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) +if(TRT_AVAIL AND CUDA_AVAIL) find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp - roslib pcl_ros autoware_msgs ) @@ -63,7 +43,6 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) catkin_package( CATKIN_DEPENDS roscpp - roslib pcl_ros autoware_msgs ) @@ -101,14 +80,10 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) nodes/point_pillars.cpp nodes/preprocess_points.cpp ) - - target_link_libraries(point_pillars_lib - ${NVINFER} - ${NVONNXPARSERS} - ${CUDA_LIBRARIES} - ${CUDA_CUBLAS_LIBRARIES} - ${CUDA_curand_LIBRARY} - ${CUDNN_LIBRARY} + target_link_libraries(point_pillars_lib + ${catkin_LIBRARIES} + nvinfer + nvonnxparser gpu_point_pillars_lib ) @@ -119,12 +94,10 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) install(TARGETS - gpu_point_pillars_lib - point_pillars_lib lidar_point_pillars ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} ) install(DIRECTORY launch/ @@ -132,7 +105,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) PATTERN ".svn" EXCLUDE) install(DIRECTORY include/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} PATTERN ".svn" EXCLUDE ) @@ -141,8 +114,6 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) catkin_add_gtest(test-point_pillars test/src/test_point_pillars.cpp) target_link_libraries(test-point_pillars ${catkin_LIBRARIES} point_pillars_lib) endif() -else() - find_package(catkin REQUIRED) - catkin_package() +ELSE() message("PointPillars won't be built, CUDA and/or TensorRT were not found.") -endif() +ENDIF () diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/anchor_mask_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/anchor_mask_cuda.h new file mode 100644 index 00000000000..ccca5cb6b6d --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/anchor_mask_cuda.h @@ -0,0 +1,84 @@ +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + + /** + * @file anchor_mask_cuda.h + * @brief Make anchor mask for filtering output + * @author Kosuke Murakami + * @date 2019/02/26 + */ + +#ifndef ANCHOR_MASK_CUDA_H +#define ANCHOR_MASK_CUDA_H + +class AnchorMaskCuda +{ +private: + const int NUM_INDS_FOR_SCAN_; + const int NUM_ANCHOR_X_INDS_; + const int NUM_ANCHOR_Y_INDS_; + const int NUM_ANCHOR_R_INDS_; + const float MIN_X_RANGE_; + const float MIN_Y_RANGE_; + const float PILLAR_X_SIZE_; + const float PILLAR_Y_SIZE_; + const int GRID_X_SIZE_; + const int GRID_Y_SIZE_; +public: + /** + * @brief Constructor + * @param[in] NUM_INDS_FOR_SCAN Number of indexes for scan(cumsum) + * @param[in] NUM_ANCHOR_X_INDS Number of x-indexes for anchors + * @param[in] NUM_ANCHOR_Y_INDS Number of y-indexes for anchors + * @param[in] NUM_ANCHOR_R_INDS Number of rotation-indexes for anchors + * @param[in] MIN_X_RANGE Minimum x value for pointcloud + * @param[in] MIN_Y_RANGE Minimum y value for pointcloud + * @param[in] PILLAR_X_SIZE Size of x-dimension for a pillar + * @param[in] PILLAR_Y_SIZE Size of y-dimension for a pillar + * @param[in] GRID_X_SIZE Number of pillars in x-coordinate + * @param[in] GRID_Y_SIZE Number of pillars in y-coordinate + * @details Captital variables never change after the compile + */ + AnchorMaskCuda(const int NUM_INDS_FOR_SCAN, + const int NUM_ANCHOR_X_INDS, + const int NUM_ANCHOR_Y_INDS, + const int NUM_ANCHOR_R_INDS, + const float MIN_X_RANGE, + const float MIN_Y_RANGE, + const float PILLAR_X_SIZE, + const float PILLAR_Y_SIZE, + const int GRID_X_SIZE, + const int GRID_Y_SIZE); + + /** + * @brief call cuda code for making anchor mask + * @param[in] dev_sparse_pillar_map Grid map representation for pillar occupancy + * @param[in] dev_cumsum_along_x Cumsum dev_sparse_pillar_map along x axis + * @param[in] dev_cumsum_along_y Cumsum dev_cumsum_along_x along y axis + * @param[in] dev_box_anchors_min_x Array for storng min x value for each anchor + * @param[in] dev_box_anchors_min_y Array for storng min y value for each anchor + * @param[in] dev_box_anchors_max_x Array for storng max x value for each anchor + * @param[in] dev_box_anchors_max_y Array for storng max y value for each anchor + * @param[in] dev_box_anchors_max_y Array for storng max y value for each anchor + * @param[out] dev_anchor_mask Anchor mask for filtering output + * @details dev_* means device memory. Make a mask for activating pillar occupancy area + */ + void doAnchorMaskCuda(int* dev_sparse_pillar_map, int* dev_cumsum_along_x, int* dev_cumsum_along_y, + const float* dev_box_anchors_min_x, const float* dev_box_anchors_min_y, + const float* dev_box_anchors_max_x, const float* dev_box_anchors_max_y, int* dev_anchor_mask); +}; + +#endif // ANCHOR_MASK_CUDA_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/common.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/common.h new file mode 100644 index 00000000000..7cf02333b4d --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/common.h @@ -0,0 +1,45 @@ +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + + /** + * @file common.h + * @brief MACRO for CUDA codes + * @author Kosuke Murakami + * @date 2019/02/26 + */ + +#ifndef COMMON_H +#define COMMON_H + +//headers in STL +#include + +//headers in CUDA +#include + +#define DIVUP(m, n) ((m) / (n) + ((m) % (n) > 0)) + +#define GPU_CHECK(ans) { GPUAssert((ans), __FILE__, __LINE__); } +inline void GPUAssert(cudaError_t code, const char *file, int line, bool abort=true) +{ + if (code != cudaSuccess) + { + fprintf(stderr,"GPUassert: %s %s %d\n", cudaGetErrorString(code), file, line); + if (abort) exit(code); + } +} + +#endif // COMMON_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/nms_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/nms_cuda.h new file mode 100644 index 00000000000..7a34abf498b --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/nms_cuda.h @@ -0,0 +1,60 @@ +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +/** +* @file nms_cuda.h +* @brief Non-maximum suppresion for network output +* @author Modified by Kosuke Murakami +* @date 2019/02/26 +*/ + +#ifndef NMS_CUDA_H +#define NMS_CUDA_H + +//heders in STL +#include +#include + +//headers in local files +#include "common.h" + +class NMSCuda +{ +private: + const int NUM_THREADS_; + const float nms_overlap_threshold_; + +public: + /** + * @brief Constructor + * @param[in] NUM_THRESD Number of threads for launching cuda kernel + * @param[in] nms_overlap_threshold IOU threshold for NMS + * @details Captital variables never change after the compile, Non-captital variables could be chaned through rosparam + */ + NMSCuda(const int NUM_THREADS, const float nms_overlap_threshold); + + /** + * @brief GPU Non-Maximum Suppresion for network output + * @param[in] host_filter_count Number of filtered output + * @param[in] dev_sorted_box_for_nms Bounding box output sorted by score + * @param[out] out_keep_inds Indexes for selected bounding box + * @param[out] out_num_to_keep Number of keep bounding box + * @details Includes CUDA NMS and postprocessing for selecting box in CPU + */ + void doNMSCuda(const int host_filter_count, float* dev_sorted_box_for_nms, int* out_keep_inds, int& out_num_to_keep); +}; + +#endif // NMS_CUDA_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h new file mode 100755 index 00000000000..c58fc5e58d7 --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h @@ -0,0 +1,290 @@ +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + + /** + * @file point_pillars.h + * @brief Algorithm for PointPillars + * @author Kosuke Murakami + * @date 2019/02/26 + */ + + +#ifndef POINTS_PILLAR_H +#define POINTS_PILLAR_H + +//headers in STL +#include +#include +#include +#include +#include +#include +#include + +//headers in TensorRT +#include "NvInfer.h" +#include "NvOnnxParser.h" + +//headers in local files +#include "common.h" +#include "preprocess_points.h" +#include "preprocess_points_cuda.h" +#include "anchor_mask_cuda.h" +#include "scatter_cuda.h" +#include "postprocess_cuda.h" + + +// Logger for TensorRT info/warning/errors +class Logger : public nvinfer1::ILogger +{ +public: + Logger(Severity severity = Severity::kWARNING) + : reportableSeverity(severity) + { + } + + void log(Severity severity, const char* msg) override + { + // suppress messages with severity enum value greater than the reportable + if (severity > reportableSeverity) + return; + + switch (severity) + { + case Severity::kINTERNAL_ERROR: std::cerr << "INTERNAL_ERROR: "; break; + case Severity::kERROR: std::cerr << "ERROR: "; break; + case Severity::kWARNING: std::cerr << "WARNING: "; break; + case Severity::kINFO: std::cerr << "INFO: "; break; + default: std::cerr << "UNKNOWN: "; break; + } + std::cerr << msg << std::endl; + } + + Severity reportableSeverity; +}; + +class PointPillars +{ +private: + //initize in initializer list + const bool reproduce_result_mode_; + const float score_threshold_; + const float nms_overlap_threshold_; + const std::string pfe_onnx_file_; + const std::string rpn_onnx_file_; + const int MAX_NUM_PILLARS_; + const int MAX_NUM_POINTS_PER_PILLAR_; + const int PFE_OUTPUT_SIZE_; + const int GRID_X_SIZE_; + const int GRID_Y_SIZE_; + const int GRID_Z_SIZE_; + const int RPN_INPUT_SIZE_; + const int NUM_ANCHOR_X_INDS_; + const int NUM_ANCHOR_Y_INDS_; + const int NUM_ANCHOR_R_INDS_; + const int NUM_ANCHOR_; + const int RPN_BOX_OUTPUT_SIZE_; + const int RPN_CLS_OUTPUT_SIZE_; + const int RPN_DIR_OUTPUT_SIZE_; + const float PILLAR_X_SIZE_; + const float PILLAR_Y_SIZE_; + const float PILLAR_Z_SIZE_; + const float MIN_X_RANGE_; + const float MIN_Y_RANGE_; + const float MIN_Z_RANGE_; + const float MAX_X_RANGE_; + const float MAX_Y_RANGE_; + const float MAX_Z_RANGE_; + const int BATCH_SIZE_; + const int NUM_INDS_FOR_SCAN_; + const int NUM_THREADS_; + const float SENSOR_HEIGHT_; + const float ANCHOR_DX_SIZE_; + const float ANCHOR_DY_SIZE_; + const float ANCHOR_DZ_SIZE_; + //end initializer list + + + int host_pillar_count_[1]; + + float* anchors_px_; + float* anchors_py_; + float* anchors_pz_; + float* anchors_dx_; + float* anchors_dy_; + float* anchors_dz_; + float* anchors_ro_; + + float* box_anchors_min_x_; + float* box_anchors_min_y_; + float* box_anchors_max_x_; + float* box_anchors_max_y_; + + // cuda malloc + float* dev_pillar_x_in_coors_; + float* dev_pillar_y_in_coors_; + float* dev_pillar_z_in_coors_; + float* dev_pillar_i_in_coors_; + int* dev_pillar_count_histo_; + + int* dev_x_coors_; + int* dev_y_coors_; + float* dev_num_points_per_pillar_; + int* dev_sparse_pillar_map_; + int* dev_cumsum_along_x_; + int* dev_cumsum_along_y_; + + float* dev_pillar_x_; + float* dev_pillar_y_; + float* dev_pillar_z_; + float* dev_pillar_i_; + + float* dev_x_coors_for_sub_shaped_; + float* dev_y_coors_for_sub_shaped_; + float* dev_pillar_feature_mask_; + + float* dev_box_anchors_min_x_; + float* dev_box_anchors_min_y_; + float* dev_box_anchors_max_x_; + float* dev_box_anchors_max_y_; + int* dev_anchor_mask_; + + void* pfe_buffers_[9]; + void* rpn_buffers_[4]; + + float* dev_scattered_feature_; + + float* dev_anchors_px_; + float* dev_anchors_py_; + float* dev_anchors_pz_; + float* dev_anchors_dx_; + float* dev_anchors_dy_; + float* dev_anchors_dz_; + float* dev_anchors_ro_; + float* dev_filtered_box_; + float* dev_filtered_score_; + int* dev_filtered_dir_; + float* dev_box_for_nms_; + int* dev_filter_count_; + + + std::unique_ptr preprocess_points_ptr_; + std::unique_ptr preprocess_points_cuda_ptr_; + std::unique_ptr anchor_mask_cuda_ptr_; + std::unique_ptr scatter_cuda_ptr_; + std::unique_ptr postprocess_cuda_ptr_; + + Logger g_logger_; + nvinfer1::IExecutionContext* pfe_context_; + nvinfer1::IExecutionContext* rpn_context_; + nvinfer1::IRuntime* pfe_runtime_; + nvinfer1::IRuntime* rpn_runtime_; + nvinfer1::ICudaEngine* pfe_engine_; + nvinfer1::ICudaEngine* rpn_engine_; + + /** + * @brief Memory allocation for device memory + * @details Call in the constructor + */ + void deviceMemoryMalloc(); + + /** + * @brief Initialize anchor + * @details Call in the constructor + */ + void initAnchors(); + + /** + * @brief Initialize TensorRT isntances + * @details Call in the constructor + */ + void initTRT(); + + /** + * @brief Convert ONNX to TensorRT model + * @param[in] model_file ONNX model file path + * @param[out] trt_model_stream TensorRT model made out of ONNX model + * @details Load ONNX model, and convert it to TensorRT model + */ + void onnxToTRTModel(const std::string& model_file, nvinfer1::IHostMemory*& trt_model_stream); + + /** + * @brief Preproces points + * @param[in] in_points_array pointcloud array + * @param[in] in_num_points Number of points + * @details Call CPU or GPU preprocess + */ + void preprocess(const float* in_points_array, const int in_num_points); + + /** + * @brief Preproces by CPU + * @param[in] in_points_array pointcloud array + * @param[in] in_num_points Number of points + * @details The output from CPU preprocess is reproducible + */ + void preprocessCPU(const float* in_points_array, const int in_num_points); + + /** + * @brief Preproces by GPU + * @param[in] in_points_array pointcloud array + * @param[in] in_num_points Number of points + * @details Fast preprocess comapared with CPU preprocess + */ + void preprocessGPU(const float* in_points_array, const int in_num_points); + + /** + * @brief Convert anchors to box form like min_x, min_y, max_x, max_y anchors + * @param[in] anchors_px Represents x-coordinate value for corresponding anchor + * @param[in] anchors_py Represents y-coordinate value for corresponding anchor + * @param[in] anchors_dx Represents x-dimension value for corresponding anchor + * @param[in] anchors_dy Represents y-dimension value for corresponding anchor + * @details Make box anchors for nms + */ + void convertAnchors2BoxAnchors(float* anchors_px, float* anchors_py, float* anchors_dx, float* anchors_dy); + + /** + * @brief Memory allocation for anchors + * @details Memory allocation for anchors + */ + void putAnchorsInDeviceMemory(); + +public: + /** + * @brief Constructor + * @param[in] reproduce_result_mode Boolean, if true, the output is reproducible for the same input + * @param[in] score_threshold Score threshold for filtering output + * @param[in] nms_overlap_threshold IOU threshold for NMS + * @param[in] pfe_onnx_file Pillar Feature Extractor ONNX file path + * @param[in] rpn_onnx_file Region Proposal Network ONNX file path + * @details Variables could be chaned through rosparam + */ + PointPillars(const bool reproduce_result_mode, const float score_threshold, const float nms_overlap_threshold, + const std::string pfe_onnx_file, const std::string rpn_onnx_file); + ~PointPillars(); + + /** + * @brief Call PointPillars for the inference + * @param[in] in_points_array pointcloud array + * @param[in] in_num_points Number of points + * @param[in] out_detections Network output bounding box + * @param[in] out_num_objects Number of output bounding box + * @details This is interface for the algorithm + */ + void doInference(const float* in_points_array, const int in_num_points, + std::vector& out_detection, int& out_num_objects); +}; + +#endif // POINTS_PILLAR_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h new file mode 100755 index 00000000000..e0b1e1bd53c --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h @@ -0,0 +1,141 @@ +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + + /** + * @file point_pillars_ros.h + * @brief ROS interface for PointPillars + * @author Kosuke Murakami + * @date 2019/02/26 + */ + +#ifndef POINTS_PILLAR_ROS_H +#define POINTS_PILLAR_ROS_H + +//headers in STL +#include +#include + +//headers in ROS +#include +#include +#include + +//headers in PCL +#include + +//headers in local files +#include "point_pillars.h" + + +class PointPillarsROS +{ +private: + friend class TestClass; + + //initializer list + ros::NodeHandle private_nh_; + bool has_subscribed_baselink_; + const int NUM_POINT_FEATURE_; + const int OUTPUT_NUM_BOX_FEATURE_; + const float TRAINED_SENSOR_HEIGHT_; + const float NORMALIZING_INTENSITY_VALUE_; + const std::string BASELINK_FRAME_; + //end initializer list + + //rosparam + bool baselink_support_; + bool reproduce_result_mode_; + float score_threshold_; + float nms_overlap_threshold_; + std::string pfe_onnx_file_; + std::string rpn_onnx_file_; + //end rosparam + + ros::NodeHandle nh_; + ros::Subscriber sub_points_; + ros::Publisher pub_objects_; + + tf::TransformListener tf_listener_; + tf::StampedTransform baselink2lidar_; + tf::Transform angle_transform_; + tf::Transform angle_transform_inversed_; + + + + float offset_z_from_trained_data_; + + std::unique_ptr point_pillars_ptr_; + + /** + * @brief Get base_link to lidar transformation + * @param[in] target_frameid target lidar frame_id + * @details Get transformation info + */ + void getBaselinkToLidarTF(const std::string& target_frameid); + + /** + * @brief Analyze tf information + * @param[in] lidar2baselink transofomation info + * @details Calculate z offset compared with trained sensor height and get rotation matrix + */ + void getTFInfo(tf::StampedTransform lidar2baselink); + + /** + * @brief Transform pose based on tf stamp info + * @param[in] in_pose Target pose to be transformed + * @param[in] tf TF stamp contains rotation matrix and translation matrix + * @return geometry_msgs::Pose Transformed pose + * @details Calculate transformed pose + */ + geometry_msgs::Pose getTransformedPose(const geometry_msgs::Pose& in_pose, + const tf::Transform& tf); + + /** + * @brief callback for pointcloud + * @param[in] input pointcloud from lidar sensor + * @details Call point_pillars to get 3D bounding box + */ + void pointsCallback(const sensor_msgs::PointCloud2::ConstPtr& input); + + /** + * @brief convert pcl point to c++ array + * @param[in] in_pcl_pc_ptr pointcloud in pcl format + * @param[out] out_points_array converted pointcloud in c++ array format + * @param[in] offset_z (default: 1.0) when using baselink_support, offset height based on current sensor configuration + * @details convert pcl points to c++ array, plus offset z if it is necessary + */ + void pclToArray(const pcl::PointCloud::Ptr & in_pcl_pc_ptr, float* out_points_array, const float offset_z = 0); + + /** + * @brief publish DetectedObject + * @param[in] detections Network output bounding box + * @param[in] num_objects Number of objects + * @param[in] pc_header Header from pointcloud + * @details Convert std::vector to DetectedObject, and publish them + */ + void pubDetectedObject(const std::vector& detections, const int num_objects, const std_msgs::Header& pc_header); + +public: + PointPillarsROS(); + + /** + * @brief Create ROS pub/sub obejct + * @details Create/Initializing ros pub/sub object + */ + void createROSPubSub(); +}; + +#endif // POINTS_PILLAR_ROS_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h new file mode 100644 index 00000000000..261cdd19ed1 --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h @@ -0,0 +1,94 @@ +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + + /** + * @file postprocess_cuda.h + * @brief Postprocess for network output + * @author Kosuke Murakami + * @date 2019/02/26 + */ + +#ifndef POSTPROCESS_CUDA_H +#define POSTPROCESS_CUDA_H + +//headers in STL +#include +#include + +//headers in local files +#include "nms_cuda.h" + +class PostprocessCuda +{ +private: + const float FLOAT_MIN_; + const float FLOAT_MAX_; + const int NUM_ANCHOR_X_INDS_; + const int NUM_ANCHOR_Y_INDS_; + const int NUM_ANCHOR_R_INDS_; + const float score_threshold_; + const int NUM_THREADS_; + const float nms_overlap_threshold_; + + std::unique_ptr nms_cuda_ptr_; + +public: + /** + * @brief Constructor + * @param[in] FLOAT_MIN the lowest float value + * @param[in] FLOAT_MAX the maximum float value + * @param[in] NUM_ANCHOR_X_INDS Number of x-indexes for anchors + * @param[in] NUM_ANCHOR_Y_INDS Number of y-indexes for anchors + * @param[in] NUM_ANCHOR_R_INDS Number of rotation-indexes for anchors + * @param[in] score_threshold Score threshold for filtering output + * @param[in] NUM_THREDS Number of threads for launching cuda kernel + * @param[in] nms_overlap_threshold IOU threshold for NMS + * @details Captital variables never change after the compile, non-capital variables could be chaned through rosparam + */ + PostprocessCuda(const float FLOAT_MIN, const float FLOAT_MAX, + const int NUM_ANCHOR_X_INDS, const int NUM_ANCHOR_Y_INDS, const int NUM_ANCHOR_R_INDS, + const float score_threshold, const int NUM_THREADS, const float nms_overlap_threshold); + + /** + * @brief Postprocessing for the network output + * @param[in] rpn_box_output Box prediction from the network output + * @param[in] rpn_cls_output Class prediction from the network output + * @param[in] rpn_dir_output Direction prediction from the network output + * @param[in] dev_anchor_mask Anchor mask for filtering + * @param[in] dev_anchors_px X-coordinate value for corresponding anchor + * @param[in] dev_anchors_py Y-coordinate value for corresponding anchor + * @param[in] dev_anchors_pz Z-coordinate value for corresponding anchor + * @param[in] dev_anchors_dx X-dimension value for corresponding anchor + * @param[in] dev_anchors_dy Y-dimension value for corresponding anchor + * @param[in] dev_anchors_dz Z-dimension value for corresponding anchor + * @param[in] dev_anchors_ro Rotation value for corresponding anchor + * @param[in] dev_filtered_box Filtered box prediction + * @param[in] dev_filtered_score Filtered score prediction + * @param[in] dev_filtered_dir Filtered direction prediction + * @param[in] dev_box_for_nms Decoded box from pose and dimension to min_x min_y max_x max_y represenation for nms + * @param[in] dev_filter_count The number of filtered output + * @param[out] out_detection Output bounding boxes + * @param[out] out_num_objects The number of output bounding boxes + * @details dev_* represents device memory allocated variables + */ + void doPostprocessCuda(const float* rpn_box_output, const float* rpn_cls_output, const float* rpn_dir_output, + int* dev_anchor_mask, const float* dev_anchors_px, const float* dev_anchors_py, const float* dev_anchors_pz, + const float* dev_anchors_dx, const float* dev_anchors_dy, const float* dev_anchors_dz, const float* dev_anchors_ro, + float* dev_filtered_box, float* dev_filtered_score, int* dev_filtered_dir, float* dev_box_for_nms, int* dev_filter_count, + std::vector& out_detection, int& out_num_objects); +}; + +#endif // POSTPROCESS_CUDA_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points.h new file mode 100644 index 00000000000..bd0b54720f2 --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points.h @@ -0,0 +1,118 @@ +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + + /** + * @file preprocess_points.h + * @brief CPU version of preprocess points + * @author Kosuke Murakami + * @date 2019/02/26 + */ + +#ifndef PREPROCESS_POINTS_H +#define PREPROCESS_POINTS_H + + + +class PreprocessPoints +{ +private: + friend class TestClass; + const int MAX_NUM_PILLARS_; + const int MAX_NUM_POINTS_PER_PILLAR_; + const int GRID_X_SIZE_; + const int GRID_Y_SIZE_; + const int GRID_Z_SIZE_; + const float PILLAR_X_SIZE_; + const float PILLAR_Y_SIZE_; + const float PILLAR_Z_SIZE_; + const float MIN_X_RANGE_; + const float MIN_Y_RANGE_; + const float MIN_Z_RANGE_; + const int NUM_INDS_FOR_SCAN_; + + +public: + /** + * @brief Constructor + * @param[in] MAX_NUM_PILLARS Maximum number of pillars + * @param[in] MAX_POINTS_PER_PILLAR Maximum number of points per pillar + * @param[in] GRID_X_SIZE Number of pillars in x-coordinate + * @param[in] GRID_Y_SIZE Number of pillars in y-coordinate + * @param[in] GRID_Z_SIZE Number of pillars in z-coordinate + * @param[in] PILLAR_X_SIZE Size of x-dimension for a pillar + * @param[in] PILLAR_Y_SIZE Size of y-dimension for a pillar + * @param[in] PILLAR_Z_SIZE Size of z-dimension for a pillar + * @param[in] MIN_X_RANGE Minimum x value for pointcloud + * @param[in] MIN_Y_RANGE Minimum y value for pointcloud + * @param[in] MIN_Z_RANGE Minimum z value for pointcloud + * @param[in] NUM_INDS_FOR_SCAN Number of indexes for scan(cumsum) + * @details Captital variables never change after the compile + */ + PreprocessPoints(const int MAX_NUM_PILLARS, + const int MAX_POINTS_PER_PILLAR, + const int GRID_X_SIZE, + const int GRID_Y_SIZE, + const int GRID_Z_SIZE, + const float PILLAR_X_SIZE, + const float PILLAR_Y_SIZE, + const float PILLAR_Z_SIZE, + const float MIN_X_RANGE, + const float MIN_Y_RANGE, + const float MIN_Z_RANGE, + const int NUM_INDS_FOR_SCAN); + + /** + * @brief CPU preprocessing for input pointcloud + * @param[in] in_points_array Pointcloud array + * @param[in] in_num_points The number of points + * @param[in] x_coors X-coordinate indexes for corresponding pillars + * @param[in] y_coors Y-coordinate indexes for corresponding pillars + * @param[in] num_points_per_pillar Number of points in corresponding pillars + * @param[in] pillar_x X-coordinate value for points in each pillar + * @param[in] pillar_y Y-coordinate value for points in each pillar + * @param[in] pillar_z Z-coordinate value for points in each pillar + * @param[in] pillar_i Intensity value for points in each pillar + * @param[in] x_coors_for_sub_shaped Used for x substraction in the network + * @param[in] y_coors_for_sub_shaped Used for y substraction in the network + * @param[in] pillar_feature_mask Mask to make sure pillars' feature equal to zero where no points in the pillars + * @param[in] sparse_pillar_map Grid map represents occupancy pillars + * @param[in] host_pillar_count The numnber of valid pillars for the input pointcloud + * @details Convert pointcloud to pillar representation + */ + void preprocess(const float* in_points_array, int in_num_points, + int* x_coors, int* y_coors, float* num_points_per_pillar, + float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, + float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, + float* pillar_feature_mask, float* sparse_pillar_map, int* host_pillar_count); + + /** + * @brief Initializing variables for preprocessing + * @param[in] coor_to_pillaridx Map for converting from one set of coordinate to a pillar + * @param[in] sparse_pillar_map Grid map represents occupancy pillars + * @param[in] pillar_x X-coordinate value for points in each pillar + * @param[in] pillar_y Y-coordinate value for points in each pillar + * @param[in] pillar_z Z-coordinate value for points in each pillar + * @param[in] pillar_i Intensity value for points in each pillar + * @param[in] x_coors_for_sub_shaped Used for x substraction in the network + * @param[in] y_coors_for_sub_shaped Used for y substraction in the network + * @details Initializeing input arguments with certain values + */ + void initializeVariables(int* coor_to_pillaridx, float* sparse_pillar_map, + float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, + float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped); +}; + +#endif // PREPROCESS_POINTS_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points_cuda.h new file mode 100644 index 00000000000..7a4dd8420d2 --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points_cuda.h @@ -0,0 +1,116 @@ +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + + /** + * @file preprocess_points_cuda.h + * @brief GPU version of preprocess points + * @author Kosuke Murakami + * @date 2019/02/26 + */ + + +#ifndef PREPROCESS_POINTS_CUDA_H +#define PREPROCESS_POINTS_CUDA_H + + +class PreprocessPointsCuda +{ +private: + //initialzer list + const int NUM_THREADS_; + const int MAX_NUM_PILLARS_; + const int MAX_NUM_POINTS_PER_PILLAR_; + const int NUM_INDS_FOR_SCAN_; + const int GRID_X_SIZE_; + const int GRID_Y_SIZE_; + const int GRID_Z_SIZE_; + const float PILLAR_X_SIZE_; + const float PILLAR_Y_SIZE_; + const float PILLAR_Z_SIZE_; + const float MIN_X_RANGE_; + const float MIN_Y_RANGE_; + const float MIN_Z_RANGE_; + //end initalizer list + + float* dev_pillar_x_in_coors_; + float* dev_pillar_y_in_coors_; + float* dev_pillar_z_in_coors_; + float* dev_pillar_i_in_coors_; + int* dev_pillar_count_histo_; + + int* dev_counter_; + int* dev_pillar_count_; + float* dev_x_coors_for_sub_; + float* dev_y_coors_for_sub_; + +public: + /** + * @brief Constructor + * @param[in] NUM_THREDS Number of threads for launching cuda kernel + * @param[in] MAX_NUM_PILLARS Maximum number of pillars + * @param[in] MAX_POINTS_PER_PILLAR Maximum number of points per pillar + * @param[in] NUM_INDS_FOR_SCAN Number of indexes for scan(cumsum) + * @param[in] GRID_X_SIZE Number of pillars in x-coordinate + * @param[in] GRID_Y_SIZE Number of pillars in y-coordinate + * @param[in] GRID_Z_SIZE Number of pillars in z-coordinate + * @param[in] PILLAR_X_SIZE Size of x-dimension for a pillar + * @param[in] PILLAR_Y_SIZE Size of y-dimension for a pillar + * @param[in] PILLAR_Z_SIZE Size of z-dimension for a pillar + * @param[in] MIN_X_RANGE Minimum x value for pointcloud + * @param[in] MIN_Y_RANGE Minimum y value for pointcloud + * @param[in] MIN_Z_RANGE Minimum z value for pointcloud + * @details Captital variables never change after the compile + */ + PreprocessPointsCuda(const int NUM_THREADS, + const int MAX_NUM_PILLARS, + const int MAX_POINTS_PER_PILLAR, + const int NUM_INDS_FOR_SCAN, + const int GRID_X_SIZE, + const int GRID_Y_SIZE, + const int GRID_Z_SIZE, + const float PILLAR_X_SIZE, + const float PILLAR_Y_SIZE, + const float PILLAR_Z_SIZE, + const float MIN_X_RANGE, + const float MIN_Y_RANGE, + const float MIN_Z_RANGE); + ~PreprocessPointsCuda(); + + /** + * @brief CUDA preprocessing for input pointcloud + * @param[in] dev_points Pointcloud array + * @param[in] in_num_points The number of points + * @param[in] dev_x_coors X-coordinate indexes for corresponding pillars + * @param[in] dev_y_coors Y-coordinate indexes for corresponding pillars + * @param[in] dev_num_points_per_pillar Number of points in corresponding pillars + * @param[in] dev_pillar_x X-coordinate value for points in each pillar + * @param[in] dev_pillar_y Y-coordinate value for points in each pillar + * @param[in] dev_pillar_z Z-coordinate value for points in each pillar + * @param[in] dev_pillar_i Intensity value for points in each pillar + * @param[in] dev_x_coors_for_sub_shaped Used for x substraction in the network + * @param[in] dev_y_coors_for_sub_shaped Used for y substraction in the network + * @param[in] dev_pillar_feature_mask Mask to make sure pillars' feature equal to zero where no points in the pillars + * @param[in] dev_sparse_pillar_map Grid map represents occupancy pillars + * @param[in] host_pillar_count The numnber of valid pillars for the input pointcloud + * @details Convert pointcloud to pillar representation + */ + void doPreprocessPointsCuda(const float* dev_points, const int in_num_points, int* dev_x_coors, int* dev_y_coors, + float* dev_num_points_per_pillar, float* dev_pillar_x, float* dev_pillar_y, float* dev_pillar_z, float* dev_pillar_i, + float* dev_x_coors_for_sub_shaped, float* dev_y_coors_for_sub_shaped, + float* dev_pillar_feature_mask, int* dev_sparse_pillar_map, int* host_pillar_count); +}; + +#endif // PREPROCESS_POINTS_CUDA_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/scatter_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/scatter_cuda.h new file mode 100644 index 00000000000..24e4f0b79dc --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/scatter_cuda.h @@ -0,0 +1,58 @@ +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + + /** + * @file scatter_cuda.h + * @brief CUDA code for scatter operation + * @author Kosuke Murakami + * @date 2019/02/26 + */ + +#ifndef SCATTERCUDA_H +#define SCATTERCUDA_H + +class ScatterCuda +{ +private: + const int NUM_THREADS_; + const int MAX_NUM_PILLARS_; + const int GRID_X_SIZE_; + const int GRID_Y_SIZE_; + +public: + /** + * @brief Constructor + * @param[in] NUM_THREADS The number of threads to launch cuda kernel + * @param[in] MAX_NUM_PILLARS Maximum number of pillars + * @param[in] GRID_X_SIZE Number of pillars in x-coordinate + * @param[in] GRID_Y_SIZE Number of pillars in y-coordinate + * @details Captital variables never change after the compile + */ + ScatterCuda(const int NUM_THREADS, const int MAX_NUM_PILLARS, const int GRID_X_SIZE, const int GRID_Y_SIZE); + + /** + * @brief Call scatter cuda kernel + * @param[in] pillar_count The valid number of pillars + * @param[in] x_coors X-coordinate indexes for corresponding pillars + * @param[in] y_coors Y-coordinate indexes for corresponding pillars + * @param[in] pfe_output Output from Pillar Feature Extractor + * @param[out] scattered_feature Gridmap representation for pillars' feature + * @details Allocate pillars in gridmap based on index(coordinates) information + */ + void doScatterCuda(const int pillar_count, int *x_coors, int *y_coors, float *pfe_output, float *scattered_feature); +}; + +#endif // SCATTERCUDA_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/launch/lidar_point_pillars.launch b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/launch/lidar_point_pillars.launch index 9bf500fc6e8..4a7618eacc8 100755 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/launch/lidar_point_pillars.launch +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/launch/lidar_point_pillars.launch @@ -4,8 +4,8 @@ - - + + diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/anchor_mask_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/anchor_mask_cuda.cu index 6b58021cbc4..4383c1ae63c 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/anchor_mask_cuda.cu +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/anchor_mask_cuda.cu @@ -15,10 +15,9 @@ */ //headers in local files -#include "lidar_point_pillars/common.h" -#include "lidar_point_pillars/anchor_mask_cuda.h" +#include "common.h" +#include "anchor_mask_cuda.h" -//modified prefix sum code from https://www.mimuw.edu.pl/~ps209291/kgkp/slides/scan.pdf __global__ void scan_x(int *g_odata, int *g_idata, int n) { extern __shared__ int temp[]; // allocated on invocation @@ -66,7 +65,6 @@ __global__ void scan_x(int *g_odata, int *g_idata, int n) } } -//modified prefix sum code from https://www.mimuw.edu.pl/~ps209291/kgkp/slides/scan.pdf __global__ void scan_y(int *g_odata, int *g_idata, int n) { extern __shared__ int temp[]; // allocated on invocation @@ -127,7 +125,7 @@ __global__ void make_anchor_mask_kernel(const float* dev_box_anchors_min_x, cons const int NUM_INDS_FOR_SCAN) { int tid = threadIdx.x + blockIdx.x * blockDim.x; - int anchor_coor[NUM_2D_BOX_CORNERS_MACRO] = {0}; + int anchor_coor[4] = {0}; const int GRID_X_SIZE_1 = GRID_X_SIZE - 1;//grid_x_size - 1 const int GRID_Y_SIZE_1 = GRID_Y_SIZE - 1;//grid_y_size - 1 diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/lidar_point_pillars_node.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/lidar_point_pillars_node.cpp index 001933b8197..36617dd472b 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/lidar_point_pillars_node.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/lidar_point_pillars_node.cpp @@ -14,11 +14,11 @@ * limitations under the License. */ -// headers in STL +//headers in STL #include -// headers in local files -#include "lidar_point_pillars/point_pillars_ros.h" +//headers in local files +#include "point_pillars_ros.h" int main(int argc, char** argv) { diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/nms_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/nms_cuda.cu index 4bb01ecac3d..7680a44ad87 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/nms_cuda.cu +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/nms_cuda.cu @@ -6,7 +6,7 @@ //headers in local files -#include "lidar_point_pillars/nms_cuda.h" +#include "nms_cuda.h" __device__ inline float devIoU(float const *const a, float const *const b) @@ -21,36 +21,35 @@ __device__ inline float devIoU(float const *const a, float const *const b) } __global__ void nms_kernel(const int n_boxes, const float nms_overlap_thresh, - const float *dev_boxes, unsigned long long *dev_mask, - const int NUM_BOX_CORNERS) + const float *dev_boxes, unsigned long long *dev_mask) { const int row_start = blockIdx.y; const int col_start = blockIdx.x; + // if (row_start > col_start) return; const int block_threads = blockDim.x; const int row_size = min(n_boxes - row_start * block_threads, block_threads); const int col_size = min(n_boxes - col_start * block_threads, block_threads); - - __shared__ float block_boxes[NUM_THREADS_MACRO * NUM_2D_BOX_CORNERS_MACRO]; + __shared__ float block_boxes[64 * 4]; if (threadIdx.x < col_size) { - block_boxes[threadIdx.x * NUM_BOX_CORNERS + 0] = dev_boxes[(block_threads * col_start + threadIdx.x) * NUM_BOX_CORNERS + 0]; - block_boxes[threadIdx.x * NUM_BOX_CORNERS + 1] = dev_boxes[(block_threads * col_start + threadIdx.x) * NUM_BOX_CORNERS + 1]; - block_boxes[threadIdx.x * NUM_BOX_CORNERS + 2] = dev_boxes[(block_threads * col_start + threadIdx.x) * NUM_BOX_CORNERS + 2]; - block_boxes[threadIdx.x * NUM_BOX_CORNERS + 3] = dev_boxes[(block_threads * col_start + threadIdx.x) * NUM_BOX_CORNERS + 3]; + block_boxes[threadIdx.x * 4 + 0] = dev_boxes[(block_threads * col_start + threadIdx.x) * 4 + 0]; + block_boxes[threadIdx.x * 4 + 1] = dev_boxes[(block_threads * col_start + threadIdx.x) * 4 + 1]; + block_boxes[threadIdx.x * 4 + 2] = dev_boxes[(block_threads * col_start + threadIdx.x) * 4 + 2]; + block_boxes[threadIdx.x * 4 + 3] = dev_boxes[(block_threads * col_start + threadIdx.x) * 4 + 3]; } __syncthreads(); if (threadIdx.x < row_size) { const int cur_box_idx = block_threads * row_start + threadIdx.x; - const float cur_box[NUM_2D_BOX_CORNERS_MACRO] = {dev_boxes[cur_box_idx*NUM_BOX_CORNERS + 0], - dev_boxes[cur_box_idx*NUM_BOX_CORNERS + 1], - dev_boxes[cur_box_idx*NUM_BOX_CORNERS + 2], - dev_boxes[cur_box_idx*NUM_BOX_CORNERS + 3]}; + const float cur_box[4] = {dev_boxes[cur_box_idx*4 + 0], + dev_boxes[cur_box_idx*4 + 1], + dev_boxes[cur_box_idx*4 + 2], + dev_boxes[cur_box_idx*4 + 3]}; unsigned long long t = 0; int start = 0; if (row_start == col_start) @@ -59,7 +58,7 @@ __global__ void nms_kernel(const int n_boxes, const float nms_overlap_thresh, } for (int i = start; i < col_size; i++) { - if (devIoU(cur_box, block_boxes + i * NUM_BOX_CORNERS) > nms_overlap_thresh) + if (devIoU(cur_box, block_boxes + i * 4) > nms_overlap_thresh) { t |= 1ULL << i; } @@ -69,9 +68,8 @@ __global__ void nms_kernel(const int n_boxes, const float nms_overlap_thresh, } } -NMSCuda::NMSCuda(const int NUM_THREADS, const int NUM_BOX_CORNERS ,const float nms_overlap_threshold): +NMSCuda::NMSCuda(const int NUM_THREADS, const float nms_overlap_threshold): NUM_THREADS_(NUM_THREADS), -NUM_BOX_CORNERS_(NUM_BOX_CORNERS), nms_overlap_threshold_(nms_overlap_threshold) { } @@ -85,7 +83,7 @@ void NMSCuda::doNMSCuda(const int host_filter_count, float* dev_sorted_box_for_n unsigned long long *dev_mask = NULL; GPU_CHECK(cudaMalloc(&dev_mask, host_filter_count * col_blocks * sizeof(unsigned long long))); - nms_kernel<<>>(host_filter_count, nms_overlap_threshold_, dev_sorted_box_for_nms, dev_mask, NUM_BOX_CORNERS_); + nms_kernel<<>>(host_filter_count, nms_overlap_threshold_, dev_sorted_box_for_nms, dev_mask); // postprocess for nms output std::vector host_mask(host_filter_count * col_blocks); diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp index 52fa314bf85..4035f399ffa 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp @@ -14,89 +14,144 @@ * limitations under the License. */ -// headers in STL + +//headers in STL #include #include -// headers in local files -#include "lidar_point_pillars/point_pillars.h" - -// clang-format off -PointPillars::PointPillars(const bool reproduce_result_mode, const float score_threshold, - const float nms_overlap_threshold, const std::string pfe_onnx_file, - const std::string rpn_onnx_file) - : reproduce_result_mode_(reproduce_result_mode) - , score_threshold_(score_threshold) - , nms_overlap_threshold_(nms_overlap_threshold) - , pfe_onnx_file_(pfe_onnx_file) - , rpn_onnx_file_(rpn_onnx_file) - , MAX_NUM_PILLARS_(12000) - , MAX_NUM_POINTS_PER_PILLAR_(100) - , PFE_OUTPUT_SIZE_(MAX_NUM_PILLARS_ * 64) - , GRID_X_SIZE_(432) - , GRID_Y_SIZE_(496) - , GRID_Z_SIZE_(1) - , RPN_INPUT_SIZE_(64 * GRID_X_SIZE_ * GRID_Y_SIZE_) - , NUM_ANCHOR_X_INDS_(GRID_X_SIZE_ * 0.5) - , NUM_ANCHOR_Y_INDS_(GRID_Y_SIZE_ * 0.5) - , NUM_ANCHOR_R_INDS_(2) - , NUM_ANCHOR_(NUM_ANCHOR_X_INDS_ * NUM_ANCHOR_Y_INDS_ * NUM_ANCHOR_R_INDS_) - , RPN_BOX_OUTPUT_SIZE_(NUM_ANCHOR_ * 7) - , RPN_CLS_OUTPUT_SIZE_(NUM_ANCHOR_) - , RPN_DIR_OUTPUT_SIZE_(NUM_ANCHOR_ * 2) - , PILLAR_X_SIZE_(0.16f) - , PILLAR_Y_SIZE_(0.16f) - , PILLAR_Z_SIZE_(4.0f) - , MIN_X_RANGE_(0.0f) - , MIN_Y_RANGE_(-39.68f) - , MIN_Z_RANGE_(-3.0f) - , MAX_X_RANGE_(69.12f) - , MAX_Y_RANGE_(39.68f) - , MAX_Z_RANGE_(1) - , BATCH_SIZE_(1) - , NUM_INDS_FOR_SCAN_(512) - , NUM_THREADS_(64) // if you change NUM_THREADS_, need to modify NUM_THREADS_MACRO in common.h - , SENSOR_HEIGHT_(1.73f) - , ANCHOR_DX_SIZE_(1.6f) - , ANCHOR_DY_SIZE_(3.9f) - , ANCHOR_DZ_SIZE_(1.56f) - , NUM_BOX_CORNERS_(4) - , NUM_OUTPUT_BOX_FEATURE_(7) +//headers in ROS +#include + +//headers in local files +#include "point_pillars.h" + + +PointPillars::PointPillars(const bool reproduce_result_mode, const float score_threshold, const float nms_overlap_threshold, + const std::string pfe_onnx_file, const std::string rpn_onnx_file): +reproduce_result_mode_(reproduce_result_mode), +score_threshold_(score_threshold), +nms_overlap_threshold_(nms_overlap_threshold), +pfe_onnx_file_(pfe_onnx_file), +rpn_onnx_file_(rpn_onnx_file), +MAX_NUM_PILLARS_(12000), +MAX_NUM_POINTS_PER_PILLAR_(100), +PFE_OUTPUT_SIZE_(MAX_NUM_PILLARS_*64), +GRID_X_SIZE_(432), +GRID_Y_SIZE_(496), +GRID_Z_SIZE_(1), +RPN_INPUT_SIZE_(64*GRID_X_SIZE_*GRID_Y_SIZE_), +NUM_ANCHOR_X_INDS_(GRID_X_SIZE_*0.5), +NUM_ANCHOR_Y_INDS_(GRID_Y_SIZE_*0.5), +NUM_ANCHOR_R_INDS_(2), +NUM_ANCHOR_(NUM_ANCHOR_X_INDS_*NUM_ANCHOR_Y_INDS_*NUM_ANCHOR_R_INDS_), +RPN_BOX_OUTPUT_SIZE_(NUM_ANCHOR_*7) , +RPN_CLS_OUTPUT_SIZE_(NUM_ANCHOR_), +RPN_DIR_OUTPUT_SIZE_(NUM_ANCHOR_*2), +PILLAR_X_SIZE_(0.16), +PILLAR_Y_SIZE_(0.16), +PILLAR_Z_SIZE_(4.0), +MIN_X_RANGE_(0.0), +MIN_Y_RANGE_(-39.68), +MIN_Z_RANGE_(-3.0), +MAX_X_RANGE_(69.12), +MAX_Y_RANGE_(39.68), +MAX_Z_RANGE_(1), +BATCH_SIZE_(1), +NUM_INDS_FOR_SCAN_(512), +NUM_THREADS_(64),//if you chancge NUM_THREADS_, need to modify nms_kernel's shared mempry size +SENSOR_HEIGHT_(1.73), +ANCHOR_DX_SIZE_(1.6), +ANCHOR_DY_SIZE_(3.9), +ANCHOR_DZ_SIZE_(1.56) { - if (reproduce_result_mode_) + anchors_px_ = new float[NUM_ANCHOR_]; + anchors_py_ = new float[NUM_ANCHOR_]; + anchors_pz_ = new float[NUM_ANCHOR_]; + anchors_dx_ = new float[NUM_ANCHOR_]; + anchors_dy_ = new float[NUM_ANCHOR_]; + anchors_dz_ = new float[NUM_ANCHOR_]; + anchors_ro_ = new float[NUM_ANCHOR_]; + box_anchors_min_x_ = new float[NUM_ANCHOR_]; + box_anchors_min_y_ = new float[NUM_ANCHOR_]; + box_anchors_max_x_ = new float[NUM_ANCHOR_]; + box_anchors_max_y_ = new float[NUM_ANCHOR_]; + + + if(reproduce_result_mode_) { - preprocess_points_ptr_.reset(new PreprocessPoints(MAX_NUM_PILLARS_, MAX_NUM_POINTS_PER_PILLAR_, GRID_X_SIZE_, - GRID_Y_SIZE_, GRID_Z_SIZE_, PILLAR_X_SIZE_, PILLAR_Y_SIZE_, - PILLAR_Z_SIZE_, MIN_X_RANGE_, MIN_Y_RANGE_, MIN_Z_RANGE_, - NUM_INDS_FOR_SCAN_, NUM_BOX_CORNERS_)); + preprocess_points_ptr_.reset(new PreprocessPoints( + MAX_NUM_PILLARS_, + MAX_NUM_POINTS_PER_PILLAR_, + GRID_X_SIZE_, + GRID_Y_SIZE_, + GRID_Z_SIZE_, + PILLAR_X_SIZE_, + PILLAR_Y_SIZE_, + PILLAR_Z_SIZE_, + MIN_X_RANGE_, + MIN_Y_RANGE_, + MIN_Z_RANGE_, + NUM_INDS_FOR_SCAN_)); } else { preprocess_points_cuda_ptr_.reset(new PreprocessPointsCuda( - NUM_THREADS_, MAX_NUM_PILLARS_, MAX_NUM_POINTS_PER_PILLAR_, NUM_INDS_FOR_SCAN_, GRID_X_SIZE_, GRID_Y_SIZE_, - GRID_Z_SIZE_, PILLAR_X_SIZE_, PILLAR_Y_SIZE_, PILLAR_Z_SIZE_, MIN_X_RANGE_, MIN_Y_RANGE_, MIN_Z_RANGE_, NUM_BOX_CORNERS_)); + NUM_THREADS_, + MAX_NUM_PILLARS_, + MAX_NUM_POINTS_PER_PILLAR_, + NUM_INDS_FOR_SCAN_, + GRID_X_SIZE_, + GRID_Y_SIZE_, + GRID_Z_SIZE_, + PILLAR_X_SIZE_, + PILLAR_Y_SIZE_, + PILLAR_Z_SIZE_, + MIN_X_RANGE_, + MIN_Y_RANGE_, + MIN_Z_RANGE_)); } - anchor_mask_cuda_ptr_.reset(new AnchorMaskCuda(NUM_INDS_FOR_SCAN_, NUM_ANCHOR_X_INDS_, NUM_ANCHOR_Y_INDS_, - NUM_ANCHOR_R_INDS_, MIN_X_RANGE_, MIN_Y_RANGE_, PILLAR_X_SIZE_, - PILLAR_Y_SIZE_, GRID_X_SIZE_, GRID_Y_SIZE_)); - - scatter_cuda_ptr_.reset(new ScatterCuda(NUM_THREADS_, MAX_NUM_PILLARS_, GRID_X_SIZE_, GRID_Y_SIZE_)); + anchor_mask_cuda_ptr_.reset(new AnchorMaskCuda( + NUM_INDS_FOR_SCAN_, + NUM_ANCHOR_X_INDS_, + NUM_ANCHOR_Y_INDS_, + NUM_ANCHOR_R_INDS_, + MIN_X_RANGE_, + MIN_Y_RANGE_, + PILLAR_X_SIZE_, + PILLAR_Y_SIZE_, + GRID_X_SIZE_, + GRID_Y_SIZE_ + )); + + scatter_cuda_ptr_.reset(new ScatterCuda( + NUM_THREADS_, + MAX_NUM_PILLARS_, + GRID_X_SIZE_, + GRID_Y_SIZE_ + )); const float FLOAT_MIN = std::numeric_limits::lowest(); const float FLOAT_MAX = std::numeric_limits::max(); - postprocess_cuda_ptr_.reset(new PostprocessCuda(FLOAT_MIN, FLOAT_MAX, NUM_ANCHOR_X_INDS_, NUM_ANCHOR_Y_INDS_, - NUM_ANCHOR_R_INDS_, score_threshold_, NUM_THREADS_, - nms_overlap_threshold_, NUM_BOX_CORNERS_, NUM_OUTPUT_BOX_FEATURE_)); + postprocess_cuda_ptr_.reset(new PostprocessCuda( + FLOAT_MIN, + FLOAT_MAX, + NUM_ANCHOR_X_INDS_, + NUM_ANCHOR_Y_INDS_, + NUM_ANCHOR_R_INDS_, + score_threshold_, + NUM_THREADS_, + nms_overlap_threshold_ + )); deviceMemoryMalloc(); initTRT(); initAnchors(); } -// clang-format on PointPillars::~PointPillars() { + delete[] anchors_px_; delete[] anchors_py_; delete[] anchors_pz_; @@ -125,9 +180,9 @@ PointPillars::~PointPillars() GPU_CHECK(cudaFree(dev_pillar_z_)); GPU_CHECK(cudaFree(dev_pillar_i_)); - GPU_CHECK(cudaFree(dev_x_coors_for_sub_shaped_)); - GPU_CHECK(cudaFree(dev_y_coors_for_sub_shaped_)); - GPU_CHECK(cudaFree(dev_pillar_feature_mask_)); + GPU_CHECK(cudaFree( dev_x_coors_for_sub_shaped_ )); + GPU_CHECK(cudaFree( dev_y_coors_for_sub_shaped_ )); + GPU_CHECK(cudaFree( dev_pillar_feature_mask_ )); GPU_CHECK(cudaFree(dev_cumsum_along_x_)); GPU_CHECK(cudaFree(dev_cumsum_along_y_)); @@ -148,6 +203,7 @@ PointPillars::~PointPillars() GPU_CHECK(cudaFree(pfe_buffers_[7])); GPU_CHECK(cudaFree(pfe_buffers_[8])); + GPU_CHECK(cudaFree(rpn_buffers_[0])); GPU_CHECK(cudaFree(rpn_buffers_[1])); GPU_CHECK(cudaFree(rpn_buffers_[2])); @@ -168,6 +224,8 @@ PointPillars::~PointPillars() GPU_CHECK(cudaFree(dev_box_for_nms_)); GPU_CHECK(cudaFree(dev_filter_count_)); + + pfe_context_->destroy(); rpn_context_->destroy(); @@ -179,40 +237,40 @@ PointPillars::~PointPillars() void PointPillars::deviceMemoryMalloc() { - // clang-format off - GPU_CHECK(cudaMalloc((void**)&dev_pillar_x_in_coors_,GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_y_in_coors_,GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_z_in_coors_,GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_i_in_coors_,GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_count_histo_, GRID_Y_SIZE_ * GRID_X_SIZE_ * sizeof(int))); - // clang-format on - - GPU_CHECK(cudaMalloc((void**)&dev_x_coors_, MAX_NUM_PILLARS_ * sizeof(int))); - GPU_CHECK(cudaMalloc((void**)&dev_y_coors_, MAX_NUM_PILLARS_ * sizeof(int))); - GPU_CHECK(cudaMalloc((void**)&dev_num_points_per_pillar_, MAX_NUM_PILLARS_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_sparse_pillar_map_, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int))); - - GPU_CHECK(cudaMalloc((void**)&dev_pillar_x_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_y_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_z_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_i_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - - // clang-format off - GPU_CHECK(cudaMalloc((void**)&dev_x_coors_for_sub_shaped_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_y_coors_for_sub_shaped_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_feature_mask_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - // clang-format on - - // cumsum kernel - GPU_CHECK(cudaMalloc((void**)&dev_cumsum_along_x_, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int))); - GPU_CHECK(cudaMalloc((void**)&dev_cumsum_along_y_, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_x_in_coors_, GRID_Y_SIZE_*GRID_X_SIZE_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_y_in_coors_, GRID_Y_SIZE_*GRID_X_SIZE_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_z_in_coors_, GRID_Y_SIZE_*GRID_X_SIZE_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_i_in_coors_, GRID_Y_SIZE_*GRID_X_SIZE_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_count_histo_, GRID_Y_SIZE_*GRID_X_SIZE_*sizeof(int))); + + GPU_CHECK(cudaMalloc((void**)&dev_x_coors_, MAX_NUM_PILLARS_* sizeof(int))); + GPU_CHECK(cudaMalloc((void**)&dev_y_coors_, MAX_NUM_PILLARS_* sizeof(int))); + GPU_CHECK(cudaMalloc((void**)&dev_num_points_per_pillar_, MAX_NUM_PILLARS_*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_sparse_pillar_map_,NUM_INDS_FOR_SCAN_*NUM_INDS_FOR_SCAN_*sizeof(int))); + + + GPU_CHECK(cudaMalloc((void**)&dev_pillar_x_, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_y_, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_z_, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_i_, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); + + + GPU_CHECK(cudaMalloc((void**)&dev_x_coors_for_sub_shaped_, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_y_coors_for_sub_shaped_, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_feature_mask_, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); + + //cumsum kernel + GPU_CHECK(cudaMalloc((void**)&dev_cumsum_along_x_, NUM_INDS_FOR_SCAN_*NUM_INDS_FOR_SCAN_*sizeof(int))); + GPU_CHECK(cudaMalloc((void**)&dev_cumsum_along_y_, NUM_INDS_FOR_SCAN_*NUM_INDS_FOR_SCAN_*sizeof(int))); + // for make anchor mask kernel - GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_min_x_, NUM_ANCHOR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_min_y_, NUM_ANCHOR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_max_x_, NUM_ANCHOR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_max_y_, NUM_ANCHOR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_anchor_mask_, NUM_ANCHOR_ * sizeof(int))); + GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_min_x_, NUM_ANCHOR_*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_min_y_, NUM_ANCHOR_*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_max_x_, NUM_ANCHOR_*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_max_y_, NUM_ANCHOR_*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_anchor_mask_, NUM_ANCHOR_*sizeof(int))); + // for trt inference // create GPU buffers and a stream @@ -232,52 +290,27 @@ void PointPillars::deviceMemoryMalloc() GPU_CHECK(cudaMalloc(&rpn_buffers_[3], RPN_DIR_OUTPUT_SIZE_ * sizeof(float))); // for scatter kernel - GPU_CHECK(cudaMalloc((void**)&dev_scattered_feature_, NUM_THREADS_ * GRID_Y_SIZE_ * GRID_X_SIZE_ * sizeof(float))); - - // for filter - GPU_CHECK(cudaMalloc((void**)&dev_anchors_px_, NUM_ANCHOR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_anchors_py_, NUM_ANCHOR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_anchors_pz_, NUM_ANCHOR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_anchors_dx_, NUM_ANCHOR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_anchors_dy_, NUM_ANCHOR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_anchors_dz_, NUM_ANCHOR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_anchors_ro_, NUM_ANCHOR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_filtered_box_, NUM_ANCHOR_ * NUM_OUTPUT_BOX_FEATURE_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_filtered_score_, NUM_ANCHOR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_filtered_dir_, NUM_ANCHOR_ * sizeof(int))); - GPU_CHECK(cudaMalloc((void**)&dev_box_for_nms_, NUM_ANCHOR_ * NUM_BOX_CORNERS_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_scattered_feature_, 64*GRID_Y_SIZE_*GRID_X_SIZE_*sizeof(float) ) ); + + //for filter + GPU_CHECK(cudaMalloc((void**)&dev_anchors_px_, NUM_ANCHOR_*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_anchors_py_, NUM_ANCHOR_*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_anchors_pz_, NUM_ANCHOR_*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_anchors_dx_, NUM_ANCHOR_*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_anchors_dy_, NUM_ANCHOR_*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_anchors_dz_, NUM_ANCHOR_*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_anchors_ro_, NUM_ANCHOR_*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_filtered_box_, NUM_ANCHOR_*7*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_filtered_score_, NUM_ANCHOR_*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_filtered_dir_, NUM_ANCHOR_*sizeof(int))); + GPU_CHECK(cudaMalloc((void**)&dev_box_for_nms_, NUM_ANCHOR_*4*sizeof(float))); GPU_CHECK(cudaMalloc((void**)&dev_filter_count_, sizeof(int))); } void PointPillars::initAnchors() -{ - // allocate memory for anchors - anchors_px_ = new float[NUM_ANCHOR_]; - anchors_py_ = new float[NUM_ANCHOR_]; - anchors_pz_ = new float[NUM_ANCHOR_]; - anchors_dx_ = new float[NUM_ANCHOR_]; - anchors_dy_ = new float[NUM_ANCHOR_]; - anchors_dz_ = new float[NUM_ANCHOR_]; - anchors_ro_ = new float[NUM_ANCHOR_]; - box_anchors_min_x_ = new float[NUM_ANCHOR_]; - box_anchors_min_y_ = new float[NUM_ANCHOR_]; - box_anchors_max_x_ = new float[NUM_ANCHOR_]; - box_anchors_max_y_ = new float[NUM_ANCHOR_]; - // deallocate these memories in deconstructor - - generateAnchors(anchors_px_, anchors_py_, anchors_pz_, anchors_dx_, anchors_dy_, anchors_dz_, anchors_ro_); - - convertAnchors2BoxAnchors(anchors_px_, anchors_py_, anchors_dx_, anchors_dy_, box_anchors_min_x_, box_anchors_min_y_, - box_anchors_max_x_, box_anchors_max_y_); - - putAnchorsInDeviceMemory(); -} - -void PointPillars::generateAnchors(float* anchors_px_, float* anchors_py_, float* anchors_pz_, float* anchors_dx_, - float* anchors_dy_, float* anchors_dz_, float* anchors_ro_) { // zero clear - for (size_t i = 0; i < NUM_ANCHOR_; i++) + for(size_t i = 0; i < NUM_ANCHOR_; i++) { anchors_px_[i] = 0; anchors_py_[i] = 0; @@ -292,91 +325,92 @@ void PointPillars::generateAnchors(float* anchors_px_, float* anchors_py_, float box_anchors_max_y_[i] = 0; } - float x_stride = PILLAR_X_SIZE_ * 2.0f; - float y_stride = PILLAR_Y_SIZE_ * 2.0f; + float x_stride = PILLAR_X_SIZE_*2; + float y_stride = PILLAR_Y_SIZE_*2; float x_offset = MIN_X_RANGE_ + PILLAR_X_SIZE_; float y_offset = MIN_Y_RANGE_ + PILLAR_Y_SIZE_; - float anchor_x_count[NUM_ANCHOR_X_INDS_] = { 0 }; - for (size_t i = 0; i < NUM_ANCHOR_X_INDS_; i++) + float anchor_x_count[NUM_ANCHOR_X_INDS_] = {0}; + for(size_t i = 0; i < NUM_ANCHOR_X_INDS_; i++) { - anchor_x_count[i] = float(i) * x_stride + x_offset; + anchor_x_count[i] = float(i)*x_stride + x_offset; } - float anchor_y_count[NUM_ANCHOR_Y_INDS_] = { 0 }; - for (size_t i = 0; i < NUM_ANCHOR_Y_INDS_; i++) + float anchor_y_count[NUM_ANCHOR_Y_INDS_] = {0}; + for(size_t i = 0; i < NUM_ANCHOR_Y_INDS_; i++) { - anchor_y_count[i] = float(i) * y_stride + y_offset; + anchor_y_count[i] = float(i)*y_stride + y_offset; } - float anchor_r_count[NUM_ANCHOR_R_INDS_] = { 0, M_PI / 2 }; + float anchor_r_count[NUM_ANCHOR_R_INDS_] = {0, M_PI/2}; // np.meshgrid - for (size_t y = 0; y < NUM_ANCHOR_Y_INDS_; y++) + for(size_t y= 0; y < NUM_ANCHOR_Y_INDS_; y++) { - for (size_t x = 0; x < NUM_ANCHOR_X_INDS_; x++) + for(size_t x = 0; x < NUM_ANCHOR_X_INDS_; x++) { - for (size_t r = 0; r < NUM_ANCHOR_R_INDS_; r++) + for(size_t r=0 ; r < NUM_ANCHOR_R_INDS_; r++) { - int ind = y * NUM_ANCHOR_X_INDS_ * NUM_ANCHOR_R_INDS_ + x * NUM_ANCHOR_R_INDS_ + r; + int ind = y*NUM_ANCHOR_X_INDS_*NUM_ANCHOR_R_INDS_ + x*NUM_ANCHOR_R_INDS_ + r; anchors_px_[ind] = anchor_x_count[x]; anchors_py_[ind] = anchor_y_count[y]; anchors_ro_[ind] = anchor_r_count[r]; - anchors_pz_[ind] = -1 * SENSOR_HEIGHT_; + anchors_pz_[ind] = -1*SENSOR_HEIGHT_; anchors_dx_[ind] = ANCHOR_DX_SIZE_; anchors_dy_[ind] = ANCHOR_DY_SIZE_; anchors_dz_[ind] = ANCHOR_DZ_SIZE_; } } } + convertAnchors2BoxAnchors(anchors_px_, anchors_py_, anchors_dx_, anchors_dy_); + + putAnchorsInDeviceMemory(); } void PointPillars::putAnchorsInDeviceMemory() { - // clang-format off - GPU_CHECK(cudaMemcpy(dev_box_anchors_min_x_, box_anchors_min_x_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_box_anchors_min_y_, box_anchors_min_y_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_box_anchors_max_x_, box_anchors_max_x_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_box_anchors_max_y_, box_anchors_max_y_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); - // clang-format on - - GPU_CHECK(cudaMemcpy(dev_anchors_px_, anchors_px_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_anchors_py_, anchors_py_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_anchors_pz_, anchors_pz_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_anchors_dx_, anchors_dx_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_anchors_dy_, anchors_dy_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_anchors_dz_, anchors_dz_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_anchors_ro_, anchors_ro_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_box_anchors_min_x_, box_anchors_min_x_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice ) ); + GPU_CHECK(cudaMemcpy(dev_box_anchors_min_y_, box_anchors_min_y_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice ) ); + GPU_CHECK(cudaMemcpy(dev_box_anchors_max_x_, box_anchors_max_x_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice ) ); + GPU_CHECK(cudaMemcpy(dev_box_anchors_max_y_, box_anchors_max_y_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice ) ); + + GPU_CHECK(cudaMemcpy(dev_anchors_px_, anchors_px_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_anchors_py_, anchors_py_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_anchors_pz_, anchors_pz_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_anchors_dx_, anchors_dx_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_anchors_dy_, anchors_dy_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_anchors_dz_, anchors_dz_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_anchors_ro_, anchors_ro_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice)); + } -void PointPillars::convertAnchors2BoxAnchors(float* anchors_px, float* anchors_py, float* anchors_dx, float* anchors_dy, - float* box_anchors_min_x_, float* box_anchors_min_y_, - float* box_anchors_max_x_, float* box_anchors_max_y_) +void PointPillars::convertAnchors2BoxAnchors(float* anchors_px, float* anchors_py, + float* anchors_dx, float* anchors_dy) { - // flipping box's dimension - float flipped_anchors_dx[NUM_ANCHOR_] = { 0 }; - float flipped_anchors_dy[NUM_ANCHOR_] = { 0 }; - for (size_t x = 0; x < NUM_ANCHOR_X_INDS_; x++) + // flip box's dimension when the at the third axis == 1 + float flipped_anchors_dx[NUM_ANCHOR_] = {0}; + float flipped_anchors_dy[NUM_ANCHOR_] = {0}; + for(size_t x = 0; x < NUM_ANCHOR_X_INDS_; x++) { - for (size_t y = 0; y < NUM_ANCHOR_Y_INDS_; y++) + for(size_t y= 0; y < NUM_ANCHOR_Y_INDS_; y++) { - int base_ind = x * NUM_ANCHOR_Y_INDS_ * NUM_ANCHOR_R_INDS_ + y * NUM_ANCHOR_R_INDS_; + int base_ind = x*NUM_ANCHOR_Y_INDS_*NUM_ANCHOR_R_INDS_ + y*NUM_ANCHOR_R_INDS_; flipped_anchors_dx[base_ind + 0] = ANCHOR_DX_SIZE_; flipped_anchors_dy[base_ind + 0] = ANCHOR_DY_SIZE_; flipped_anchors_dx[base_ind + 1] = ANCHOR_DY_SIZE_; flipped_anchors_dy[base_ind + 1] = ANCHOR_DX_SIZE_; } } - for (size_t x = 0; x < NUM_ANCHOR_X_INDS_; x++) + for(size_t x = 0; x < NUM_ANCHOR_X_INDS_; x++) { - for (size_t y = 0; y < NUM_ANCHOR_Y_INDS_; y++) + for(size_t y= 0; y < NUM_ANCHOR_Y_INDS_; y++) { - for (size_t r = 0; r < NUM_ANCHOR_R_INDS_; r++) + for(size_t r=0 ; r < NUM_ANCHOR_R_INDS_; r++) { - int ind = x * NUM_ANCHOR_Y_INDS_ * NUM_ANCHOR_R_INDS_ + y * NUM_ANCHOR_R_INDS_ + r; - box_anchors_min_x_[ind] = anchors_px[ind] - flipped_anchors_dx[ind] / 2.0f; - box_anchors_min_y_[ind] = anchors_py[ind] - flipped_anchors_dy[ind] / 2.0f; - box_anchors_max_x_[ind] = anchors_px[ind] + flipped_anchors_dx[ind] / 2.0f; - box_anchors_max_y_[ind] = anchors_py[ind] + flipped_anchors_dy[ind] / 2.0f; + int ind = x*NUM_ANCHOR_Y_INDS_*NUM_ANCHOR_R_INDS_ + y*NUM_ANCHOR_R_INDS_ + r; + box_anchors_min_x_[ind] = anchors_px[ind] - flipped_anchors_dx[ind]/2; + box_anchors_min_y_[ind] = anchors_py[ind] - flipped_anchors_dy[ind]/2; + box_anchors_max_x_[ind] = anchors_px[ind] + flipped_anchors_dx[ind]/2; + box_anchors_max_y_[ind] = anchors_py[ind] + flipped_anchors_dy[ind]/2; } } } @@ -385,44 +419,42 @@ void PointPillars::convertAnchors2BoxAnchors(float* anchors_px, float* anchors_p void PointPillars::initTRT() { // create a TensorRT model from the onnx model and serialize it to a stream - nvinfer1::IHostMemory* pfe_trt_model_stream{ nullptr }; - nvinfer1::IHostMemory* rpn_trt_model_stream{ nullptr }; + nvinfer1::IHostMemory* pfe_trt_model_stream{nullptr}; + nvinfer1::IHostMemory* rpn_trt_model_stream{nullptr}; onnxToTRTModel(pfe_onnx_file_, pfe_trt_model_stream); onnxToTRTModel(rpn_onnx_file_, rpn_trt_model_stream); - if (pfe_trt_model_stream == nullptr || rpn_trt_model_stream == nullptr) - {//use std:cerr instead of ROS_ERROR because want to keep this fille ros-agnostics - std::cerr<< "Failed to load ONNX file " << std::endl; + if(pfe_trt_model_stream == nullptr || rpn_trt_model_stream == nullptr) + { + ROS_ERROR("Failed to load %s or %s ", pfe_onnx_file_.c_str(), rpn_onnx_file_.c_str()); } // deserialize the engine pfe_runtime_ = nvinfer1::createInferRuntime(g_logger_); rpn_runtime_ = nvinfer1::createInferRuntime(g_logger_); - if (pfe_runtime_ == nullptr || rpn_runtime_ == nullptr) + if(pfe_runtime_ == nullptr || rpn_runtime_ == nullptr) { - std::cerr<<"Failed to create TensorRT Runtime object."<deserializeCudaEngine(pfe_trt_model_stream->data(), pfe_trt_model_stream->size(), nullptr); - rpn_engine_ = - rpn_runtime_->deserializeCudaEngine(rpn_trt_model_stream->data(), rpn_trt_model_stream->size(), nullptr); - if (pfe_engine_ == nullptr || rpn_engine_ == nullptr) + pfe_engine_ = pfe_runtime_->deserializeCudaEngine(pfe_trt_model_stream->data(), pfe_trt_model_stream->size(), nullptr); + rpn_engine_ = rpn_runtime_->deserializeCudaEngine(rpn_trt_model_stream->data(), rpn_trt_model_stream->size(), nullptr); + if(pfe_engine_ == nullptr || rpn_engine_ == nullptr) { - std::cerr << "Failed to create TensorRT Engine." << std::endl; + ROS_ERROR("Failed to create TensorRT Engine."); } pfe_trt_model_stream->destroy(); rpn_trt_model_stream->destroy(); pfe_context_ = pfe_engine_->createExecutionContext(); rpn_context_ = rpn_engine_->createExecutionContext(); - if (pfe_context_ == nullptr || rpn_context_ == nullptr) + if(pfe_context_ == nullptr || rpn_context_ == nullptr) { - std::cerr << "Failed to create TensorRT Execution Context." << std::endl;; + ROS_ERROR("Failed to create TensorRT Execution Context."); } } -void PointPillars::onnxToTRTModel(const std::string& model_file, // name of the onnx model - nvinfer1::IHostMemory*& trt_model_stream) // output buffer for the TensorRT model +void PointPillars::onnxToTRTModel(const std::string& model_file, // name of the onnx model + nvinfer1::IHostMemory*& trt_model_stream) // output buffer for the TensorRT model { - int verbosity = (int)nvinfer1::ILogger::Severity::kWARNING; + int verbosity = (int) nvinfer1::ILogger::Severity::kWARNING; // create the builder nvinfer1::IBuilder* builder = nvinfer1::createInferBuilder(g_logger_); @@ -432,9 +464,9 @@ void PointPillars::onnxToTRTModel(const std::string& model_file, // if (!parser->parseFromFile(model_file.c_str(), verbosity)) { - std::string msg("failed to parse onnx file"); - g_logger_.log(nvinfer1::ILogger::Severity::kERROR, msg.c_str()); - exit(EXIT_FAILURE); + std::string msg("failed to parse onnx file"); + g_logger_.log(nvinfer1::ILogger::Severity::kERROR, msg.c_str()); + exit(EXIT_FAILURE); } // Build the engine @@ -454,48 +486,48 @@ void PointPillars::onnxToTRTModel(const std::string& model_file, // void PointPillars::preprocessCPU(const float* in_points_array, const int in_num_points) { - int x_coors[MAX_NUM_PILLARS_] = { 0 }; - int y_coors[MAX_NUM_PILLARS_] = { 0 }; - float num_points_per_pillar[MAX_NUM_PILLARS_] = { 0 }; - float* pillar_x = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_]; - float* pillar_y = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_]; - float* pillar_z = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_]; - float* pillar_i = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_]; - - float* x_coors_for_sub_shaped = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_]; - float* y_coors_for_sub_shaped = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_]; - float* pillar_feature_mask = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_]; - - float* sparse_pillar_map = new float[NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_]; - - preprocess_points_ptr_->preprocess(in_points_array, in_num_points, x_coors, y_coors, num_points_per_pillar, pillar_x, - pillar_y, pillar_z, pillar_i, x_coors_for_sub_shaped, y_coors_for_sub_shaped, - pillar_feature_mask, sparse_pillar_map, host_pillar_count_); - - GPU_CHECK(cudaMemset(dev_x_coors_, 0, MAX_NUM_PILLARS_ * sizeof(int))); - GPU_CHECK(cudaMemset(dev_y_coors_, 0, MAX_NUM_PILLARS_ * sizeof(int))); - GPU_CHECK(cudaMemset(dev_pillar_x_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMemset(dev_pillar_y_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMemset(dev_pillar_z_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMemset(dev_pillar_i_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMemset(dev_x_coors_for_sub_shaped_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMemset(dev_y_coors_for_sub_shaped_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMemset(dev_num_points_per_pillar_, 0, MAX_NUM_PILLARS_ * sizeof(float))); - GPU_CHECK(cudaMemset(dev_sparse_pillar_map_, 0, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int))); - - // clang-format off - GPU_CHECK(cudaMemcpy(dev_x_coors_, x_coors, MAX_NUM_PILLARS_ * sizeof(int), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_y_coors_, y_coors, MAX_NUM_PILLARS_ * sizeof(int), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_pillar_x_, pillar_x, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float),cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_pillar_y_, pillar_y, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float),cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_pillar_z_, pillar_z, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float),cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_pillar_i_, pillar_i, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float),cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_x_coors_for_sub_shaped_, x_coors_for_sub_shaped, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_y_coors_for_sub_shaped_, y_coors_for_sub_shaped,MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_num_points_per_pillar_, num_points_per_pillar, MAX_NUM_PILLARS_ * sizeof(float),cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_pillar_feature_mask_, pillar_feature_mask,MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_sparse_pillar_map_, sparse_pillar_map,NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(float), cudaMemcpyHostToDevice)); - // clang-format on + int x_coors[MAX_NUM_PILLARS_]= {0}; + int y_coors[MAX_NUM_PILLARS_]= {0}; + float num_points_per_pillar[MAX_NUM_PILLARS_] = {0}; + float * pillar_x = new float[MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_]; + float * pillar_y = new float[MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_]; + float * pillar_z = new float[MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_]; + float * pillar_i = new float[MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_]; + + float * x_coors_for_sub_shaped = new float[MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_]; + float * y_coors_for_sub_shaped = new float[MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_]; + float * pillar_feature_mask = new float[MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_]; + + float* sparse_pillar_map = new float[NUM_INDS_FOR_SCAN_*NUM_INDS_FOR_SCAN_]; + + preprocess_points_ptr_->preprocess(in_points_array, in_num_points, + x_coors, y_coors, num_points_per_pillar, + pillar_x, pillar_y, pillar_z, pillar_i, + x_coors_for_sub_shaped, y_coors_for_sub_shaped, + pillar_feature_mask, sparse_pillar_map, host_pillar_count_); + + GPU_CHECK( cudaMemset(dev_x_coors_, 0, MAX_NUM_PILLARS_ * sizeof( int ) ) ); + GPU_CHECK( cudaMemset(dev_y_coors_, 0, MAX_NUM_PILLARS_ * sizeof( int ) ) ); + GPU_CHECK( cudaMemset(dev_pillar_x_,0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK( cudaMemset(dev_pillar_y_,0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK( cudaMemset(dev_pillar_z_,0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK( cudaMemset(dev_pillar_i_,0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK( cudaMemset(dev_x_coors_for_sub_shaped_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ *sizeof( float ) ) ); + GPU_CHECK( cudaMemset(dev_y_coors_for_sub_shaped_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ *sizeof( float ) ) ); + GPU_CHECK( cudaMemset(dev_num_points_per_pillar_, 0, MAX_NUM_PILLARS_ * sizeof( float ) ) ); + GPU_CHECK( cudaMemset(dev_sparse_pillar_map_, 0, NUM_INDS_FOR_SCAN_*NUM_INDS_FOR_SCAN_*sizeof( int ) ) ); + + GPU_CHECK(cudaMemcpy(dev_x_coors_, x_coors, MAX_NUM_PILLARS_*sizeof(int), cudaMemcpyHostToDevice )); + GPU_CHECK(cudaMemcpy(dev_y_coors_, y_coors, MAX_NUM_PILLARS_*sizeof(int), cudaMemcpyHostToDevice )); + GPU_CHECK(cudaMemcpy(dev_pillar_x_, pillar_x, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_*sizeof(float), cudaMemcpyHostToDevice )); + GPU_CHECK(cudaMemcpy(dev_pillar_y_, pillar_y, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_*sizeof(float), cudaMemcpyHostToDevice )); + GPU_CHECK(cudaMemcpy(dev_pillar_z_, pillar_z, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_*sizeof(float), cudaMemcpyHostToDevice )); + GPU_CHECK(cudaMemcpy(dev_pillar_i_, pillar_i, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_*sizeof(float), cudaMemcpyHostToDevice )); + GPU_CHECK(cudaMemcpy(dev_x_coors_for_sub_shaped_, x_coors_for_sub_shaped,MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_*sizeof(float), cudaMemcpyHostToDevice )); + GPU_CHECK(cudaMemcpy(dev_y_coors_for_sub_shaped_, y_coors_for_sub_shaped,MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_*sizeof(float), cudaMemcpyHostToDevice )); + GPU_CHECK(cudaMemcpy(dev_num_points_per_pillar_,num_points_per_pillar,MAX_NUM_PILLARS_*sizeof(float), cudaMemcpyHostToDevice )); + GPU_CHECK(cudaMemcpy(dev_pillar_feature_mask_, pillar_feature_mask, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_*sizeof(float), cudaMemcpyHostToDevice )); + GPU_CHECK(cudaMemcpy(dev_sparse_pillar_map_, sparse_pillar_map, NUM_INDS_FOR_SCAN_*NUM_INDS_FOR_SCAN_*sizeof(float), cudaMemcpyHostToDevice )); delete[] pillar_x; delete[] pillar_y; @@ -509,34 +541,33 @@ void PointPillars::preprocessCPU(const float* in_points_array, const int in_num_ void PointPillars::preprocessGPU(const float* in_points_array, const int in_num_points) { - float* dev_points; - // clang-format off - GPU_CHECK(cudaMalloc((void**)&dev_points, in_num_points * NUM_BOX_CORNERS_ * sizeof(float))); - GPU_CHECK(cudaMemcpy(dev_points, in_points_array, in_num_points * NUM_BOX_CORNERS_ * sizeof(float), cudaMemcpyHostToDevice)); - // clang-format on - - GPU_CHECK(cudaMemset(dev_pillar_count_histo_, 0, GRID_Y_SIZE_ * GRID_X_SIZE_ * sizeof(int))); - GPU_CHECK(cudaMemset(dev_sparse_pillar_map_, 0, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int))); - GPU_CHECK(cudaMemset(dev_pillar_x_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMemset(dev_pillar_y_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMemset(dev_pillar_z_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMemset(dev_pillar_i_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMemset(dev_x_coors_, 0, MAX_NUM_PILLARS_ * sizeof(int))); - GPU_CHECK(cudaMemset(dev_y_coors_, 0, MAX_NUM_PILLARS_ * sizeof(int))); - GPU_CHECK(cudaMemset(dev_num_points_per_pillar_, 0, MAX_NUM_PILLARS_ * sizeof(float))); - GPU_CHECK(cudaMemset(dev_anchor_mask_, 0, NUM_ANCHOR_ * sizeof(int))); - - preprocess_points_cuda_ptr_->doPreprocessPointsCuda( - dev_points, in_num_points, dev_x_coors_, dev_y_coors_, dev_num_points_per_pillar_, dev_pillar_x_, dev_pillar_y_, - dev_pillar_z_, dev_pillar_i_, dev_x_coors_for_sub_shaped_, dev_y_coors_for_sub_shaped_, dev_pillar_feature_mask_, - dev_sparse_pillar_map_, host_pillar_count_); + float * dev_points; + GPU_CHECK(cudaMalloc((void**)&dev_points, in_num_points*4*sizeof(float))); + GPU_CHECK(cudaMemcpy(dev_points, in_points_array, in_num_points*4*sizeof(float), cudaMemcpyHostToDevice ) ); + + + GPU_CHECK(cudaMemset(dev_pillar_count_histo_, 0, GRID_Y_SIZE_*GRID_X_SIZE_*sizeof(int))); + GPU_CHECK(cudaMemset(dev_sparse_pillar_map_, 0, NUM_INDS_FOR_SCAN_*NUM_INDS_FOR_SCAN_*sizeof( int ) ) ); + GPU_CHECK(cudaMemset(dev_pillar_x_, 0, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMemset(dev_pillar_y_, 0, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMemset(dev_pillar_z_, 0, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMemset(dev_pillar_i_, 0, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMemset(dev_x_coors_, 0, MAX_NUM_PILLARS_ * sizeof( int ) ) ); + GPU_CHECK(cudaMemset(dev_y_coors_, 0, MAX_NUM_PILLARS_ * sizeof( int ) ) ); + GPU_CHECK(cudaMemset(dev_num_points_per_pillar_, 0, MAX_NUM_PILLARS_ * sizeof( float ) ) ); + GPU_CHECK(cudaMemset(dev_anchor_mask_, 0, NUM_ANCHOR_*sizeof(int))); + + preprocess_points_cuda_ptr_->doPreprocessPointsCuda(dev_points, in_num_points, dev_x_coors_, dev_y_coors_, + dev_num_points_per_pillar_, dev_pillar_x_, dev_pillar_y_, dev_pillar_z_, dev_pillar_i_, + dev_x_coors_for_sub_shaped_, dev_y_coors_for_sub_shaped_, + dev_pillar_feature_mask_, dev_sparse_pillar_map_, host_pillar_count_); GPU_CHECK(cudaFree(dev_points)); } void PointPillars::preprocess(const float* in_points_array, const int in_num_points) { - if (reproduce_result_mode_) + if(reproduce_result_mode_) { preprocessCPU(in_points_array, in_num_points); } @@ -546,41 +577,44 @@ void PointPillars::preprocess(const float* in_points_array, const int in_num_poi } } -void PointPillars::doInference(const float* in_points_array, const int in_num_points, std::vector& out_detections) +void PointPillars::doInference(const float* in_points_array, const int in_num_points, + std::vector& out_detection, int& out_num_objects) { preprocess(in_points_array, in_num_points); - anchor_mask_cuda_ptr_->doAnchorMaskCuda(dev_sparse_pillar_map_, dev_cumsum_along_x_, dev_cumsum_along_y_, - dev_box_anchors_min_x_, dev_box_anchors_min_y_, dev_box_anchors_max_x_, - dev_box_anchors_max_y_, dev_anchor_mask_); + anchor_mask_cuda_ptr_->doAnchorMaskCuda(dev_sparse_pillar_map_, dev_cumsum_along_x_, dev_cumsum_along_y_, dev_box_anchors_min_x_, + dev_box_anchors_min_y_, dev_box_anchors_max_x_, dev_box_anchors_max_y_, dev_anchor_mask_); + cudaStream_t stream; GPU_CHECK(cudaStreamCreate(&stream)); - // clang-format off - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[0], dev_pillar_x_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[1], dev_pillar_y_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[2], dev_pillar_z_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[3], dev_pillar_i_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[4], dev_num_points_per_pillar_, MAX_NUM_PILLARS_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[5], dev_x_coors_for_sub_shaped_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[6], dev_y_coors_for_sub_shaped_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[7], dev_pillar_feature_mask_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); - // clang-format on + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[0], dev_pillar_x_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[1], dev_pillar_y_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[2], dev_pillar_z_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[3], dev_pillar_i_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[4], dev_num_points_per_pillar_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[5], dev_x_coors_for_sub_shaped_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[6], dev_y_coors_for_sub_shaped_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[7], dev_pillar_feature_mask_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); pfe_context_->enqueue(BATCH_SIZE_, pfe_buffers_, stream, nullptr); - GPU_CHECK(cudaMemset(dev_scattered_feature_, 0, RPN_INPUT_SIZE_ * sizeof(float))); - scatter_cuda_ptr_->doScatterCuda(host_pillar_count_[0], dev_x_coors_, dev_y_coors_, (float*)pfe_buffers_[8], - dev_scattered_feature_); - GPU_CHECK(cudaMemcpyAsync(rpn_buffers_[0], dev_scattered_feature_, BATCH_SIZE_ * RPN_INPUT_SIZE_ * sizeof(float), - cudaMemcpyDeviceToDevice, stream)); + + GPU_CHECK( cudaMemset( dev_scattered_feature_, 0, RPN_INPUT_SIZE_*sizeof(float) ) ); + scatter_cuda_ptr_->doScatterCuda(host_pillar_count_[0], dev_x_coors_, dev_y_coors_, + (float *)pfe_buffers_[8], dev_scattered_feature_); + + + GPU_CHECK(cudaMemcpyAsync(rpn_buffers_[0], dev_scattered_feature_, BATCH_SIZE_ * RPN_INPUT_SIZE_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); rpn_context_->enqueue(BATCH_SIZE_, rpn_buffers_, stream, nullptr); - GPU_CHECK(cudaMemset(dev_filter_count_, 0, sizeof(int))); - postprocess_cuda_ptr_->doPostprocessCuda( - (float*)rpn_buffers_[1], (float*)rpn_buffers_[2], (float*)rpn_buffers_[3], dev_anchor_mask_, dev_anchors_px_, - dev_anchors_py_, dev_anchors_pz_, dev_anchors_dx_, dev_anchors_dy_, dev_anchors_dz_, dev_anchors_ro_, - dev_filtered_box_, dev_filtered_score_, dev_filtered_dir_, dev_box_for_nms_, dev_filter_count_, out_detections); + + GPU_CHECK(cudaMemset( dev_filter_count_, 0, sizeof( int ))); + postprocess_cuda_ptr_->doPostprocessCuda((float *)rpn_buffers_[1], (float *)rpn_buffers_[2],(float *)rpn_buffers_[3] , dev_anchor_mask_, + dev_anchors_px_, dev_anchors_py_, dev_anchors_pz_, + dev_anchors_dx_, dev_anchors_dy_, dev_anchors_dz_, dev_anchors_ro_, + dev_filtered_box_, dev_filtered_score_, dev_filtered_dir_, dev_box_for_nms_, + dev_filter_count_, out_detection, out_num_objects); // release the stream and the buffers cudaStreamDestroy(stream); diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp index 776ce59394a..a7287b3f60e 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp @@ -14,98 +14,94 @@ * limitations under the License. */ -// headers in STL +//headers in STL #include #include -// headers in PCL +//headers in PCL #include #include #include -// headers in ROS +//headers in ROS #include -// headers in local files +//headers in local files #include "autoware_msgs/DetectedObjectArray.h" -#include "lidar_point_pillars/point_pillars_ros.h" - -PointPillarsROS::PointPillarsROS() - : private_nh_("~") - , has_subscribed_baselink_(false) - , NUM_POINT_FEATURE_(4) - , OUTPUT_NUM_BOX_FEATURE_(7) - , TRAINED_SENSOR_HEIGHT_(1.73f) - , NORMALIZING_INTENSITY_VALUE_(255.0f) - , BASELINK_FRAME_("base_link") +#include "point_pillars_ros.h" + +PointPillarsROS::PointPillarsROS(): +private_nh_("~"), +has_subscribed_baselink_(false), +NUM_POINT_FEATURE_(4), +OUTPUT_NUM_BOX_FEATURE_(7), +TRAINED_SENSOR_HEIGHT_(1.73), +NORMALIZING_INTENSITY_VALUE_(255.0), +BASELINK_FRAME_("base_link") { - //ros related param private_nh_.param("baselink_support", baselink_support_, true); - - //algorithm related params private_nh_.param("reproduce_result_mode", reproduce_result_mode_, false); - private_nh_.param("score_threshold", score_threshold_, 0.5f); - private_nh_.param("nms_overlap_threshold", nms_overlap_threshold_, 0.5f); + private_nh_.param("score_threshold", score_threshold_, 0.5); + private_nh_.param("nms_overlap_threshold", nms_overlap_threshold_, 0.5); private_nh_.param("pfe_onnx_file", pfe_onnx_file_, ""); private_nh_.param("rpn_onnx_file", rpn_onnx_file_, ""); - point_pillars_ptr_.reset(new PointPillars(reproduce_result_mode_, score_threshold_, nms_overlap_threshold_, - pfe_onnx_file_, rpn_onnx_file_)); + point_pillars_ptr_.reset(new PointPillars( + reproduce_result_mode_, + score_threshold_, + nms_overlap_threshold_, + pfe_onnx_file_, + rpn_onnx_file_)); } void PointPillarsROS::createROSPubSub() { - sub_points_ = nh_.subscribe("/points_raw", 1, &PointPillarsROS::pointsCallback, this); - pub_objects_ = nh_.advertise("/detection/lidar_detector/objects", 1); + sub_points_ = nh_.subscribe("/points_raw", 1, &PointPillarsROS::pointsCallback, this); + pub_objects_ = nh_.advertise("/detection/lidar_detector/objects", 1); } -geometry_msgs::Pose PointPillarsROS::getTransformedPose(const geometry_msgs::Pose& in_pose, const tf::Transform& tf) + +geometry_msgs::Pose PointPillarsROS::getTransformedPose(const geometry_msgs::Pose& in_pose, + const tf::Transform& tf) { tf::Transform transform; geometry_msgs::PoseStamped out_pose; transform.setOrigin(tf::Vector3(in_pose.position.x, in_pose.position.y, in_pose.position.z)); - transform.setRotation( - tf::Quaternion(in_pose.orientation.x, in_pose.orientation.y, in_pose.orientation.z, in_pose.orientation.w)); + transform.setRotation(tf::Quaternion(in_pose.orientation.x, in_pose.orientation.y, in_pose.orientation.z, in_pose.orientation.w)); geometry_msgs::PoseStamped pose_out; - tf::poseTFToMsg(tf * transform, out_pose.pose); + tf::poseTFToMsg(tf*transform, out_pose.pose); return out_pose.pose; } -void PointPillarsROS::pubDetectedObject(const std::vector& detections, const std_msgs::Header& in_header) +void PointPillarsROS::pubDetectedObject(const std::vector& detections, const int num_objects, const std_msgs::Header& pc_header) { autoware_msgs::DetectedObjectArray objects; - objects.header = in_header; - int num_objects = detections.size() / OUTPUT_NUM_BOX_FEATURE_; + objects.header = pc_header; for (size_t i = 0; i < num_objects; i++) { autoware_msgs::DetectedObject object; - object.header = in_header; + object.header = pc_header; object.valid = true; object.pose_reliable = true; - object.pose.position.x = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 0]; - object.pose.position.y = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 1]; - object.pose.position.z = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 2]; + object.pose.position.x = detections[i*OUTPUT_NUM_BOX_FEATURE_+0]; + object.pose.position.y = detections[i*OUTPUT_NUM_BOX_FEATURE_+1]; + object.pose.position.z = detections[i*OUTPUT_NUM_BOX_FEATURE_+2]; - // Trained this way - float yaw = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 6]; - yaw += M_PI/2; + + float yaw = detections[i*OUTPUT_NUM_BOX_FEATURE_+6]; yaw = std::atan2(std::sin(yaw), std::cos(yaw)); geometry_msgs::Quaternion q = tf::createQuaternionMsgFromYaw(-yaw); object.pose.orientation = q; - if (baselink_support_) + if(baselink_support_) { object.pose = getTransformedPose(object.pose, angle_transform_inversed_); } - // Again: Trained this way - object.dimensions.x = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 4]; - object.dimensions.y = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 3]; - object.dimensions.z = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 5]; - - //Only detects car in Version 1.0 - object.label = "car"; + object.dimensions.x = detections[i*OUTPUT_NUM_BOX_FEATURE_+3]; + object.dimensions.y = detections[i*OUTPUT_NUM_BOX_FEATURE_+4]; + object.dimensions.z = detections[i*OUTPUT_NUM_BOX_FEATURE_+5]; objects.objects.push_back(object); } @@ -117,8 +113,8 @@ void PointPillarsROS::getBaselinkToLidarTF(const std::string& target_frameid) try { tf_listener_.waitForTransform(BASELINK_FRAME_, target_frameid, ros::Time(0), ros::Duration(1.0)); - tf_listener_.lookupTransform(BASELINK_FRAME_, target_frameid, ros::Time(0), baselink2lidar_); - analyzeTFInfo(baselink2lidar_); + tf_listener_.lookupTransform( BASELINK_FRAME_, target_frameid, ros::Time(0), baselink2lidar_); + getTFInfo(baselink2lidar_); has_subscribed_baselink_ = true; } catch (tf::TransformException ex) @@ -127,7 +123,7 @@ void PointPillarsROS::getBaselinkToLidarTF(const std::string& target_frameid) } } -void PointPillarsROS::analyzeTFInfo(tf::StampedTransform baselink2lidar) +void PointPillarsROS::getTFInfo(tf::StampedTransform baselink2lidar) { tf::Vector3 v = baselink2lidar.getOrigin(); offset_z_from_trained_data_ = v.getZ() - TRAINED_SENSOR_HEIGHT_; @@ -135,37 +131,39 @@ void PointPillarsROS::analyzeTFInfo(tf::StampedTransform baselink2lidar) tf::Quaternion q = baselink2lidar_.getRotation(); angle_transform_ = tf::Transform(q); angle_transform_inversed_ = angle_transform_.inverse(); + } -void PointPillarsROS::pclToArray(const pcl::PointCloud::Ptr& in_pcl_pc_ptr, float* out_points_array, - const float offset_z) +void PointPillarsROS::pclToArray(const pcl::PointCloud::Ptr & in_pcl_pc_ptr, float* out_points_array, const float offset_z) { - for (size_t i = 0; i < in_pcl_pc_ptr->size(); i++) + for(size_t i = 0; i < in_pcl_pc_ptr->size(); i++) { pcl::PointXYZI point = in_pcl_pc_ptr->at(i); - out_points_array[i * NUM_POINT_FEATURE_ + 0] = point.x; - out_points_array[i * NUM_POINT_FEATURE_ + 1] = point.y; - out_points_array[i * NUM_POINT_FEATURE_ + 2] = point.z + offset_z; - out_points_array[i * NUM_POINT_FEATURE_ + 3] = float(point.intensity / NORMALIZING_INTENSITY_VALUE_); + out_points_array[i*NUM_POINT_FEATURE_ + 0] = point.x; + out_points_array[i*NUM_POINT_FEATURE_ + 1] = point.y; + out_points_array[i*NUM_POINT_FEATURE_ + 2] = point.z + offset_z; + out_points_array[i*NUM_POINT_FEATURE_ + 3] = float(point.intensity/NORMALIZING_INTENSITY_VALUE_); } } + void PointPillarsROS::pointsCallback(const sensor_msgs::PointCloud2::ConstPtr& msg) { + pcl::PointCloud::Ptr pcl_pc_ptr(new pcl::PointCloud); pcl::fromROSMsg(*msg, *pcl_pc_ptr); - if (baselink_support_) + if(baselink_support_) { - if (!has_subscribed_baselink_) + if(!has_subscribed_baselink_) { getBaselinkToLidarTF(msg->header.frame_id); } pcl_ros::transformPointCloud(*pcl_pc_ptr, *pcl_pc_ptr, angle_transform_); } - float* points_array = new float[pcl_pc_ptr->size() * NUM_POINT_FEATURE_]; - if (baselink_support_ && has_subscribed_baselink_) + float * points_array = new float[pcl_pc_ptr->size()*NUM_POINT_FEATURE_]; + if(baselink_support_ && has_subscribed_baselink_) { pclToArray(pcl_pc_ptr, points_array, offset_z_from_trained_data_); } @@ -174,9 +172,10 @@ void PointPillarsROS::pointsCallback(const sensor_msgs::PointCloud2::ConstPtr& m pclToArray(pcl_pc_ptr, points_array); } + int out_num_objects = 0; std::vector out_detection; - point_pillars_ptr_->doInference(points_array, pcl_pc_ptr->size(), out_detection); + point_pillars_ptr_->doInference(points_array, pcl_pc_ptr->size(), out_detection, out_num_objects); delete[] points_array; - pubDetectedObject(out_detection, msg->header); + pubDetectedObject(out_detection, out_num_objects, msg->header); } diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu index 87abbee141e..48862d2256e 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu @@ -20,14 +20,13 @@ #include //headers in local files -#include "lidar_point_pillars/postprocess_cuda.h" +#include "postprocess_cuda.h" __global__ void filter_kernel(const float* box_preds, const float* cls_preds, const float* dir_preds, const int* anchor_mask, const float* dev_anchors_px, const float* dev_anchors_py, const float* dev_anchors_pz, const float* dev_anchors_dx, const float* dev_anchors_dy, const float* dev_anchors_dz, const float* dev_anchors_ro, float* filtered_box, float* filtered_score, int* filtered_dir, float* box_for_nms, int* filter_count, - const float FLOAT_MIN, const float FLOAT_MAX, const float score_threshold, - const int NUM_BOX_CORNERS, const int NUM_OUTPUT_BOX_FEATURE) + const float FLOAT_MIN, const float FLOAT_MAX, const float score_threshold) { // boxes ([N, 7] Tensor): normal boxes: x, y, z, w, l, h, r int tid = threadIdx.x + blockIdx.x * blockDim.x; @@ -40,23 +39,23 @@ __global__ void filter_kernel(const float* box_preds, const float* cls_preds, co //decode network output float diagonal = sqrtf(dev_anchors_dx[tid]*dev_anchors_dx[tid] + dev_anchors_dy[tid]*dev_anchors_dy[tid]); - float box_px = box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 0] * diagonal + dev_anchors_px[tid]; - float box_py = box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 1] * diagonal + dev_anchors_py[tid]; - float box_pz = box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 2] * dev_anchors_dz[tid] + za; - float box_dx = expf(box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 3]) * dev_anchors_dx[tid]; - float box_dy = expf(box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 4]) * dev_anchors_dy[tid]; - float box_dz = expf(box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 5]) * dev_anchors_dz[tid]; - float box_ro = box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 6] + dev_anchors_ro[tid]; + float box_px = box_preds[tid*7 + 0] * diagonal + dev_anchors_px[tid]; + float box_py = box_preds[tid*7 + 1] * diagonal + dev_anchors_py[tid]; + float box_pz = box_preds[tid*7 + 2] * dev_anchors_dz[tid] + za; + float box_dx = expf(box_preds[tid*7 + 3]) * dev_anchors_dx[tid]; + float box_dy = expf(box_preds[tid*7 + 4]) * dev_anchors_dy[tid]; + float box_dz = expf(box_preds[tid*7 + 5]) * dev_anchors_dz[tid]; + float box_ro = box_preds[tid*7 + 6] + dev_anchors_ro[tid]; box_pz = box_pz - box_dz/2; - filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 0] = box_px; - filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 1] = box_py; - filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 2] = box_pz; - filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 3] = box_dx; - filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 4] = box_dy; - filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 5] = box_dz; - filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 6] = box_ro; + filtered_box[counter*7 + 0] = box_px; + filtered_box[counter*7 + 1] = box_py; + filtered_box[counter*7 + 2] = box_pz; + filtered_box[counter*7 + 3] = box_dx; + filtered_box[counter*7 + 4] = box_dy; + filtered_box[counter*7 + 5] = box_dz; + filtered_box[counter*7 + 6] = box_ro; filtered_score[counter] = score; int direction_label; @@ -72,21 +71,21 @@ __global__ void filter_kernel(const float* box_preds, const float* cls_preds, co //convrt normal box(normal boxes: x, y, z, w, l, h, r) to box(xmin, ymin, xmax, ymax) for nms calculation //First: dx, dy -> box(x0y0, x0y1, x1y0, x1y1) - float corners[NUM_3D_BOX_CORNERS_MACRO] = {float(-0.5*box_dx), float(-0.5*box_dy), - float(-0.5*box_dx), float( 0.5*box_dy), - float( 0.5*box_dx), float( 0.5*box_dy), - float( 0.5*box_dx), float(-0.5*box_dy)}; + float corners[2*4] = {float(-0.5*box_dx), float(-0.5*box_dy), + float(-0.5*box_dx), float( 0.5*box_dy), + float( 0.5*box_dx), float( 0.5*box_dy), + float( 0.5*box_dx), float(-0.5*box_dy)}; //Second: Rotate, Offset and convert to point(xmin. ymin, xmax, ymax) - float rotated_corners[NUM_3D_BOX_CORNERS_MACRO]; - float offset_corners[NUM_3D_BOX_CORNERS_MACRO]; + float rotated_corners[2*4]; + float offset_corners[2*4]; float sin_yaw = sinf(box_ro); float cos_yaw = cosf(box_ro); float xmin = FLOAT_MAX; float ymin = FLOAT_MAX; float xmax = FLOAT_MIN; float ymax = FLOAT_MIN; - for(size_t i = 0; i < NUM_BOX_CORNERS; i++) + for(size_t i = 0; i < 4; i++) { rotated_corners[i*2 + 0] = cos_yaw*corners[i*2 + 0] - sin_yaw*corners[i*2 + 1]; rotated_corners[i*2 + 1] = sin_yaw*corners[i*2 + 0] + cos_yaw*corners[i*2 + 1]; @@ -100,44 +99,42 @@ __global__ void filter_kernel(const float* box_preds, const float* cls_preds, co ymax = fmaxf(ymax, offset_corners[i*2 + 1]); } // box_for_nms(num_box, 4) - box_for_nms[counter*NUM_BOX_CORNERS + 0] = xmin; - box_for_nms[counter*NUM_BOX_CORNERS + 1] = ymin; - box_for_nms[counter*NUM_BOX_CORNERS + 2] = xmax; - box_for_nms[counter*NUM_BOX_CORNERS + 3] = ymax; + box_for_nms[counter*4 + 0] = xmin; + box_for_nms[counter*4 + 1] = ymin; + box_for_nms[counter*4 + 2] = xmax; + box_for_nms[counter*4 + 3] = ymax; } } __global__ void sort_boxes_by_indexes_kernel(float* filtered_box, int* filtered_dir, float* box_for_nms, int* indexes, int filter_count, - float* sorted_filtered_boxes, int* sorted_filtered_dir, float* sorted_box_for_nms, - const int NUM_BOX_CORNERS, const int NUM_OUTPUT_BOX_FEATURE) + float* sorted_filtered_boxes, int* sorted_filtered_dir, float* sorted_box_for_nms) { int tid = threadIdx.x + blockIdx.x * blockDim.x; if(tid < filter_count) { int sort_index = indexes[tid]; - sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 0] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 0]; - sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 1] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 1]; - sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 2] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 2]; - sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 3] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 3]; - sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 4] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 4]; - sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 5] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 5]; - sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 6] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 6]; + sorted_filtered_boxes[tid*7 + 0] = filtered_box[sort_index*7 + 0]; + sorted_filtered_boxes[tid*7 + 1] = filtered_box[sort_index*7 + 1]; + sorted_filtered_boxes[tid*7 + 2] = filtered_box[sort_index*7 + 2]; + sorted_filtered_boxes[tid*7 + 3] = filtered_box[sort_index*7 + 3]; + sorted_filtered_boxes[tid*7 + 4] = filtered_box[sort_index*7 + 4]; + sorted_filtered_boxes[tid*7 + 5] = filtered_box[sort_index*7 + 5]; + sorted_filtered_boxes[tid*7 + 6] = filtered_box[sort_index*7 + 6]; sorted_filtered_dir[tid] = filtered_dir[sort_index]; - sorted_box_for_nms[tid*NUM_BOX_CORNERS + 0] = box_for_nms[sort_index*NUM_BOX_CORNERS + 0]; - sorted_box_for_nms[tid*NUM_BOX_CORNERS + 1] = box_for_nms[sort_index*NUM_BOX_CORNERS + 1]; - sorted_box_for_nms[tid*NUM_BOX_CORNERS + 2] = box_for_nms[sort_index*NUM_BOX_CORNERS + 2]; - sorted_box_for_nms[tid*NUM_BOX_CORNERS + 3] = box_for_nms[sort_index*NUM_BOX_CORNERS + 3]; + sorted_box_for_nms[tid*4 + 0] = box_for_nms[sort_index*4 + 0]; + sorted_box_for_nms[tid*4 + 1] = box_for_nms[sort_index*4 + 1]; + sorted_box_for_nms[tid*4 + 2] = box_for_nms[sort_index*4 + 2]; + sorted_box_for_nms[tid*4 + 3] = box_for_nms[sort_index*4 + 3]; } } PostprocessCuda::PostprocessCuda(const float FLOAT_MIN, const float FLOAT_MAX, const int NUM_ANCHOR_X_INDS, const int NUM_ANCHOR_Y_INDS, const int NUM_ANCHOR_R_INDS, - const float score_threshold, const int NUM_THREADS, const float nms_overlap_threshold, - const int NUM_BOX_CORNERS, const int NUM_OUTPUT_BOX_FEATURE): + const float score_threshold, const int NUM_THREADS, const float nms_overlap_threshold): FLOAT_MIN_(FLOAT_MIN), FLOAT_MAX_(FLOAT_MAX), NUM_ANCHOR_X_INDS_(NUM_ANCHOR_X_INDS), @@ -145,13 +142,10 @@ NUM_ANCHOR_Y_INDS_(NUM_ANCHOR_Y_INDS), NUM_ANCHOR_R_INDS_(NUM_ANCHOR_R_INDS), score_threshold_(score_threshold), NUM_THREADS_(NUM_THREADS), -nms_overlap_threshold_(nms_overlap_threshold), -NUM_BOX_CORNERS_(NUM_BOX_CORNERS), -NUM_OUTPUT_BOX_FEATURE_(NUM_OUTPUT_BOX_FEATURE) +nms_overlap_threshold_(nms_overlap_threshold) { nms_cuda_ptr_.reset(new NMSCuda( NUM_THREADS, - NUM_BOX_CORNERS, nms_overlap_threshold)); } @@ -159,7 +153,7 @@ void PostprocessCuda::doPostprocessCuda(const float* rpn_box_output, const float int* dev_anchor_mask, const float* dev_anchors_px, const float* dev_anchors_py, const float* dev_anchors_pz, const float* dev_anchors_dx, const float* dev_anchors_dy, const float* dev_anchors_dz, const float* dev_anchors_ro, float* dev_filtered_box, float* dev_filtered_score, int* dev_filtered_dir, float* dev_box_for_nms, int* dev_filter_count, - std::vector& out_detection) + std::vector& out_detection, int& out_num_objects) { filter_kernel<<>> @@ -167,8 +161,7 @@ void PostprocessCuda::doPostprocessCuda(const float* rpn_box_output, const float dev_anchors_px, dev_anchors_py, dev_anchors_pz, dev_anchors_dx, dev_anchors_dy, dev_anchors_dz, dev_anchors_ro, dev_filtered_box, dev_filtered_score, dev_filtered_dir, dev_box_for_nms, dev_filter_count, - FLOAT_MIN_, FLOAT_MAX_, score_threshold_, - NUM_BOX_CORNERS_, NUM_OUTPUT_BOX_FEATURE_); + FLOAT_MIN_, FLOAT_MAX_, score_threshold_); int host_filter_count[1]; GPU_CHECK( cudaMemcpy(host_filter_count, dev_filter_count, sizeof(int), cudaMemcpyDeviceToHost ) ); @@ -181,43 +174,41 @@ void PostprocessCuda::doPostprocessCuda(const float* rpn_box_output, const float float* dev_sorted_filtered_box, *dev_sorted_box_for_nms; int* dev_sorted_filtered_dir; GPU_CHECK(cudaMalloc((void**)&dev_indexes, host_filter_count[0]*sizeof(int))); - GPU_CHECK(cudaMalloc((void**)&dev_sorted_filtered_box, NUM_OUTPUT_BOX_FEATURE_*host_filter_count[0]*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_sorted_filtered_box, 7*host_filter_count[0]*sizeof(float))); GPU_CHECK(cudaMalloc((void**)&dev_sorted_filtered_dir, host_filter_count[0]*sizeof(int))); - GPU_CHECK(cudaMalloc((void**)&dev_sorted_box_for_nms, NUM_BOX_CORNERS_*host_filter_count[0]*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_sorted_box_for_nms, 4*host_filter_count[0]*sizeof(float))); thrust::sequence(thrust::device, dev_indexes, dev_indexes + host_filter_count[0]); thrust::sort_by_key(thrust::device, dev_filtered_score, dev_filtered_score + size_t(host_filter_count[0]), dev_indexes, thrust::greater()); const int num_blocks = DIVUP(host_filter_count[0], NUM_THREADS_); sort_boxes_by_indexes_kernel<<>>(dev_filtered_box, dev_filtered_dir, dev_box_for_nms, dev_indexes, host_filter_count[0], - dev_sorted_filtered_box, dev_sorted_filtered_dir, dev_sorted_box_for_nms, - NUM_BOX_CORNERS_, NUM_OUTPUT_BOX_FEATURE_); + dev_sorted_filtered_box, dev_sorted_filtered_dir, dev_sorted_box_for_nms); int keep_inds[host_filter_count[0]] = {0}; - int out_num_objects = 0; nms_cuda_ptr_->doNMSCuda(host_filter_count[0], dev_sorted_box_for_nms, keep_inds, out_num_objects); - float host_filtered_box[host_filter_count[0]*NUM_OUTPUT_BOX_FEATURE_]; + float host_filtered_box[host_filter_count[0]*7]; int host_filtered_dir[host_filter_count[0]]; - GPU_CHECK( cudaMemcpy(host_filtered_box, dev_sorted_filtered_box, NUM_OUTPUT_BOX_FEATURE_*host_filter_count[0] *sizeof(float), cudaMemcpyDeviceToHost ) ); - GPU_CHECK( cudaMemcpy(host_filtered_dir, dev_sorted_filtered_dir, host_filter_count[0] *sizeof(int), cudaMemcpyDeviceToHost ) ); + GPU_CHECK( cudaMemcpy(host_filtered_box, dev_sorted_filtered_box, 7*host_filter_count[0] *sizeof(float), cudaMemcpyDeviceToHost ) ); + GPU_CHECK( cudaMemcpy(host_filtered_dir, dev_sorted_filtered_dir, host_filter_count[0] *sizeof(int), cudaMemcpyDeviceToHost ) ); for (size_t i = 0; i < out_num_objects; i++) { - out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+0]); - out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+1]); - out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+2]); - out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+3]); - out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+4]); - out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+5]); + out_detection.push_back(host_filtered_box[keep_inds[i]*7+0]); + out_detection.push_back(host_filtered_box[keep_inds[i]*7+1]); + out_detection.push_back(host_filtered_box[keep_inds[i]*7+2]); + out_detection.push_back(host_filtered_box[keep_inds[i]*7+3]); + out_detection.push_back(host_filtered_box[keep_inds[i]*7+4]); + out_detection.push_back(host_filtered_box[keep_inds[i]*7+5]); if(host_filtered_dir[keep_inds[i]] == 0) { - out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+6] + M_PI); + out_detection.push_back(host_filtered_box[keep_inds[i]*7+6] + M_PI); } else { - out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+6]); + out_detection.push_back(host_filtered_box[keep_inds[i]*7+6]); } } diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp index 82b6fd46d68..9ea42f9190d 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp @@ -14,43 +14,50 @@ * limitations under the License. */ -// headers in STL +//headers in STL #include #include -// headers in local files -#include "lidar_point_pillars/preprocess_points.h" +//headers in local files +#include "preprocess_points.h" -PreprocessPoints::PreprocessPoints(const int MAX_NUM_PILLARS, const int MAX_POINTS_PER_PILLAR, const int GRID_X_SIZE, - const int GRID_Y_SIZE, const int GRID_Z_SIZE, const float PILLAR_X_SIZE, - const float PILLAR_Y_SIZE, const float PILLAR_Z_SIZE, const float MIN_X_RANGE, - const float MIN_Y_RANGE, const float MIN_Z_RANGE, const int NUM_INDS_FOR_SCAN, - const int NUM_BOX_CORNERS) - : MAX_NUM_PILLARS_(MAX_NUM_PILLARS) - , MAX_NUM_POINTS_PER_PILLAR_(MAX_POINTS_PER_PILLAR) - , GRID_X_SIZE_(GRID_X_SIZE) - , GRID_Y_SIZE_(GRID_Y_SIZE) - , GRID_Z_SIZE_(GRID_Z_SIZE) - , PILLAR_X_SIZE_(PILLAR_X_SIZE) - , PILLAR_Y_SIZE_(PILLAR_Y_SIZE) - , PILLAR_Z_SIZE_(PILLAR_Z_SIZE) - , MIN_X_RANGE_(MIN_X_RANGE) - , MIN_Y_RANGE_(MIN_Y_RANGE) - , MIN_Z_RANGE_(MIN_Z_RANGE) - , NUM_INDS_FOR_SCAN_(NUM_INDS_FOR_SCAN) - , NUM_BOX_CORNERS_(NUM_BOX_CORNERS) +PreprocessPoints::PreprocessPoints(const int MAX_NUM_PILLARS, + const int MAX_POINTS_PER_PILLAR, + const int GRID_X_SIZE, + const int GRID_Y_SIZE, + const int GRID_Z_SIZE, + const float PILLAR_X_SIZE, + const float PILLAR_Y_SIZE, + const float PILLAR_Z_SIZE, + const float MIN_X_RANGE, + const float MIN_Y_RANGE, + const float MIN_Z_RANGE, + const int NUM_INDS_FOR_SCAN) +: +MAX_NUM_PILLARS_(MAX_NUM_PILLARS), +MAX_NUM_POINTS_PER_PILLAR_(MAX_POINTS_PER_PILLAR), +GRID_X_SIZE_(GRID_X_SIZE), +GRID_Y_SIZE_(GRID_Y_SIZE), +GRID_Z_SIZE_(GRID_Z_SIZE), +PILLAR_X_SIZE_(PILLAR_X_SIZE), +PILLAR_Y_SIZE_(PILLAR_Y_SIZE), +PILLAR_Z_SIZE_(PILLAR_Z_SIZE), +MIN_X_RANGE_(MIN_X_RANGE), +MIN_Y_RANGE_(MIN_Y_RANGE), +MIN_Z_RANGE_(MIN_Z_RANGE), +NUM_INDS_FOR_SCAN_(NUM_INDS_FOR_SCAN) { } -void PreprocessPoints::initializeVariables(int* coor_to_pillaridx, float* sparse_pillar_map, float* pillar_x, - float* pillar_y, float* pillar_z, float* pillar_i, - float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped) +void PreprocessPoints::initializeVariables(int* coor_to_pillaridx, float* sparse_pillar_map, + float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, + float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped) { for (int i = 0; i < GRID_Y_SIZE_; i++) { for (int j = 0; j < GRID_X_SIZE_; j++) { - coor_to_pillaridx[i * GRID_X_SIZE_ + j] = -1; + coor_to_pillaridx[i*GRID_X_SIZE_ + j] = -1; } } @@ -58,11 +65,11 @@ void PreprocessPoints::initializeVariables(int* coor_to_pillaridx, float* sparse { for (int j = 0; j < NUM_INDS_FOR_SCAN_; j++) { - sparse_pillar_map[i * NUM_INDS_FOR_SCAN_ + j] = 0; + sparse_pillar_map[i*NUM_INDS_FOR_SCAN_+j] = 0; } } - for (int i = 0; i < MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_; i++) + for(int i = 0; i < MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_; i++) { pillar_x[i] = 0; pillar_y[i] = 0; @@ -73,59 +80,63 @@ void PreprocessPoints::initializeVariables(int* coor_to_pillaridx, float* sparse } } -void PreprocessPoints::preprocess(const float* in_points_array, int in_num_points, int* x_coors, int* y_coors, - float* num_points_per_pillar, float* pillar_x, float* pillar_y, float* pillar_z, - float* pillar_i, float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, - float* pillar_feature_mask, float* sparse_pillar_map, int* host_pillar_count) +void PreprocessPoints::preprocess(const float* in_points_array, int in_num_points, + int* x_coors, int* y_coors, float* num_points_per_pillar, + float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, + float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, + float* pillar_feature_mask, float* sparse_pillar_map, int* host_pillar_count) { int pillar_count = 0; - float x_coors_for_sub[MAX_NUM_PILLARS_] = { 0 }; - float y_coors_for_sub[MAX_NUM_PILLARS_] = { 0 }; - // init variables - int coor_to_pillaridx[GRID_Y_SIZE_ * GRID_X_SIZE_]; - initializeVariables(coor_to_pillaridx, sparse_pillar_map, pillar_x, pillar_y, pillar_z, pillar_i, - x_coors_for_sub_shaped, y_coors_for_sub_shaped); - for (int i = 0; i < in_num_points; i++) + float x_coors_for_sub[MAX_NUM_PILLARS_]= {0}; + float y_coors_for_sub[MAX_NUM_PILLARS_]= {0}; + //init variables + int coor_to_pillaridx[GRID_Y_SIZE_*GRID_X_SIZE_]; + initializeVariables(coor_to_pillaridx, sparse_pillar_map, + pillar_x, pillar_y, pillar_z, pillar_i, + x_coors_for_sub_shaped, y_coors_for_sub_shaped); + for(int i = 0; i < in_num_points; i++) { - int x_coor = std::floor((in_points_array[i * NUM_BOX_CORNERS_ + 0] - MIN_X_RANGE_) / PILLAR_X_SIZE_); - int y_coor = std::floor((in_points_array[i * NUM_BOX_CORNERS_ + 1] - MIN_Y_RANGE_) / PILLAR_Y_SIZE_); - int z_coor = std::floor((in_points_array[i * NUM_BOX_CORNERS_ + 2] - MIN_Z_RANGE_) / PILLAR_Z_SIZE_); - if (x_coor < 0 || x_coor >= GRID_X_SIZE_ || y_coor < 0 || y_coor >= GRID_Y_SIZE_ || z_coor < 0 || - z_coor >= GRID_Z_SIZE_) + int x_coor = std::floor((in_points_array[i*4 + 0] - MIN_X_RANGE_)/PILLAR_X_SIZE_); + int y_coor = std::floor((in_points_array[i*4 + 1] - MIN_Y_RANGE_)/PILLAR_Y_SIZE_); + int z_coor = std::floor((in_points_array[i*4 + 2] - MIN_Z_RANGE_)/PILLAR_Z_SIZE_); + if(x_coor < 0 || x_coor >= GRID_X_SIZE_ || + y_coor < 0 || y_coor >= GRID_Y_SIZE_ || + z_coor < 0 || z_coor >= GRID_Z_SIZE_) { continue; } - // reverse index - int pillar_index = coor_to_pillaridx[y_coor * GRID_X_SIZE_ + x_coor]; - if (pillar_index == -1) + //reverse index + int pillar_index = coor_to_pillaridx[y_coor*GRID_X_SIZE_ + x_coor]; + if(pillar_index == -1) { pillar_index = pillar_count; - if (pillar_count >= MAX_NUM_PILLARS_) + if(pillar_count >= MAX_NUM_PILLARS_) { break; } pillar_count += 1; - coor_to_pillaridx[y_coor * GRID_X_SIZE_ + x_coor] = pillar_index; + coor_to_pillaridx[y_coor*GRID_X_SIZE_ + x_coor] = pillar_index; + //reverse index y_coors[pillar_index] = std::floor(y_coor); x_coors[pillar_index] = std::floor(x_coor); // float y_offset = PILLAR_Y_SIZE_/ 2 + MIN_Y_RANGE_; // float x_offset = PILLAR_X_SIZE_/ 2 + MIN_X_RANGE_; // TODO Need to be modified after proper trining code - // Will be modified in ver 1.1 - y_coors_for_sub[pillar_index] = std::floor(y_coor) * PILLAR_Y_SIZE_ + -39.9f; - x_coors_for_sub[pillar_index] = std::floor(x_coor) * PILLAR_X_SIZE_ + 0.1f; + y_coors_for_sub[pillar_index] = std::floor(y_coor)* PILLAR_Y_SIZE_ + -39.9; + x_coors_for_sub[pillar_index] = std::floor(x_coor)* PILLAR_X_SIZE_ + 0.1; - sparse_pillar_map[y_coor * NUM_INDS_FOR_SCAN_ + x_coor] = 1; + //sparse pillar map + sparse_pillar_map[y_coor*512 + x_coor] = 1; } int num = num_points_per_pillar[pillar_index]; if (num < MAX_NUM_POINTS_PER_PILLAR_) { - pillar_x[pillar_index * MAX_NUM_POINTS_PER_PILLAR_ + num] = in_points_array[i * NUM_BOX_CORNERS_ + 0]; - pillar_y[pillar_index * MAX_NUM_POINTS_PER_PILLAR_ + num] = in_points_array[i * NUM_BOX_CORNERS_ + 1]; - pillar_z[pillar_index * MAX_NUM_POINTS_PER_PILLAR_ + num] = in_points_array[i * NUM_BOX_CORNERS_ + 2]; - pillar_i[pillar_index * MAX_NUM_POINTS_PER_PILLAR_ + num] = in_points_array[i * NUM_BOX_CORNERS_ + 3]; + pillar_x[pillar_index*MAX_NUM_POINTS_PER_PILLAR_ + num]= in_points_array[i*4 + 0]; + pillar_y[pillar_index*MAX_NUM_POINTS_PER_PILLAR_ + num]= in_points_array[i*4 + 1]; + pillar_z[pillar_index*MAX_NUM_POINTS_PER_PILLAR_ + num]= in_points_array[i*4 + 2]; + pillar_i[pillar_index*MAX_NUM_POINTS_PER_PILLAR_ + num]= in_points_array[i*4 + 3]; num_points_per_pillar[pillar_index] += 1; } } @@ -135,19 +146,20 @@ void PreprocessPoints::preprocess(const float* in_points_array, int in_num_point float x = x_coors_for_sub[i]; float y = y_coors_for_sub[i]; int num_points_for_a_pillar = num_points_per_pillar[i]; - for (int j = 0; j < MAX_NUM_POINTS_PER_PILLAR_; j++) + for(int j = 0; j < MAX_NUM_POINTS_PER_PILLAR_; j++) { - x_coors_for_sub_shaped[i * MAX_NUM_POINTS_PER_PILLAR_ + j] = x; - y_coors_for_sub_shaped[i * MAX_NUM_POINTS_PER_PILLAR_ + j] = y; - if (j < num_points_for_a_pillar) - { - pillar_feature_mask[i * MAX_NUM_POINTS_PER_PILLAR_ + j] = 1.0f; - } - else - { - pillar_feature_mask[i * MAX_NUM_POINTS_PER_PILLAR_ + j] = 0.0f; - } + x_coors_for_sub_shaped[i*MAX_NUM_POINTS_PER_PILLAR_ + j] = x; + y_coors_for_sub_shaped[i*MAX_NUM_POINTS_PER_PILLAR_ + j] = y; + if(j < num_points_for_a_pillar) + { + pillar_feature_mask[i*MAX_NUM_POINTS_PER_PILLAR_ + j] = 1.0; + } + else + { + pillar_feature_mask[i*MAX_NUM_POINTS_PER_PILLAR_ + j] = 0.0; + } } } host_pillar_count[0] = pillar_count; + } diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points_cuda.cu index 343f30ccea1..0ee9bba397e 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points_cuda.cu +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points_cuda.cu @@ -18,8 +18,8 @@ #include //headers in local files -#include "lidar_point_pillars/common.h" -#include "lidar_point_pillars/preprocess_points_cuda.h" +#include "common.h" +#include "preprocess_points_cuda.h" __global__ void make_pillar_histo_kernel( const float* dev_points, @@ -38,8 +38,7 @@ __global__ void make_pillar_histo_kernel( const float MIN_Z_RANGE, const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE, - const float PILLAR_Z_SIZE, - const int NUM_BOX_CORNERS + const float PILLAR_Z_SIZE ) { int th_i = threadIdx.x + blockIdx.x * blockDim.x; @@ -47,9 +46,9 @@ __global__ void make_pillar_histo_kernel( { return; } - int y_coor = floor((dev_points[th_i*NUM_BOX_CORNERS + 1] - MIN_Y_RANGE)/PILLAR_Y_SIZE); - int x_coor = floor((dev_points[th_i*NUM_BOX_CORNERS + 0] - MIN_X_RANGE)/PILLAR_X_SIZE); - int z_coor = floor((dev_points[th_i*NUM_BOX_CORNERS + 2] - MIN_Z_RANGE)/PILLAR_Z_SIZE); + int y_coor = floor((dev_points[th_i*4 + 1] - MIN_Y_RANGE)/PILLAR_Y_SIZE); + int x_coor = floor((dev_points[th_i*4 + 0] - MIN_X_RANGE)/PILLAR_X_SIZE); + int z_coor = floor((dev_points[th_i*4 + 2] - MIN_Z_RANGE)/PILLAR_Z_SIZE); if(x_coor >= 0 && x_coor < GRID_X_SIZE && y_coor >= 0 && y_coor < GRID_Y_SIZE && @@ -59,10 +58,10 @@ __global__ void make_pillar_histo_kernel( if(count < max_points_per_pillar) { int ind = y_coor*GRID_X_SIZE*max_points_per_pillar + x_coor*max_points_per_pillar + count; - dev_pillar_x_in_coors[ind] = dev_points[th_i*NUM_BOX_CORNERS + 0]; - dev_pillar_y_in_coors[ind] = dev_points[th_i*NUM_BOX_CORNERS + 1]; - dev_pillar_z_in_coors[ind] = dev_points[th_i*NUM_BOX_CORNERS + 2]; - dev_pillar_i_in_coors[ind] = dev_points[th_i*NUM_BOX_CORNERS + 3]; + dev_pillar_x_in_coors[ind] = dev_points[th_i*4 + 0]; + dev_pillar_y_in_coors[ind] = dev_points[th_i*4 + 1]; + dev_pillar_z_in_coors[ind] = dev_points[th_i*4 + 2]; + dev_pillar_i_in_coors[ind] = dev_points[th_i*4 + 3]; } } } @@ -108,14 +107,14 @@ __global__ void make_pillar_index_kernel( dev_x_coors[count] = x; dev_y_coors[count] = y; - //TODO Need to be modified after making properly trained weight - // Will be modified in ver 1.1 + //TODO Need to be modified after making properly training model // x_offset = self.vx / 2 + pc_range[0] // y_offset = self.vy / 2 + pc_range[1] // x_sub = coors_x.unsqueeze(1) * 0.16 + x_offset // y_sub = coors_y.unsqueeze(1) * 0.16 + y_offset - dev_x_coors_for_sub[count] = x* PILLAR_X_SIZE + 0.1f; - dev_y_coors_for_sub[count] = y* PILLAR_Y_SIZE + -39.9f; + + dev_x_coors_for_sub[count] = x* PILLAR_X_SIZE + 0.1; + dev_y_coors_for_sub[count] = y* PILLAR_Y_SIZE + -39.9; dev_sparse_pillar_map[y*NUM_INDS_FOR_SCAN + x] = 1; } } @@ -195,8 +194,7 @@ PreprocessPointsCuda::PreprocessPointsCuda(const int NUM_THREADS, const float PILLAR_Z_SIZE, const float MIN_X_RANGE, const float MIN_Y_RANGE, - const float MIN_Z_RANGE, - const int NUM_BOX_CORNERS) + const float MIN_Z_RANGE) : NUM_THREADS_(NUM_THREADS), MAX_NUM_PILLARS_(MAX_NUM_PILLARS), @@ -210,8 +208,7 @@ PILLAR_Y_SIZE_(PILLAR_Y_SIZE), PILLAR_Z_SIZE_(PILLAR_Z_SIZE), MIN_X_RANGE_(MIN_X_RANGE), MIN_Y_RANGE_(MIN_Y_RANGE), -MIN_Z_RANGE_(MIN_Z_RANGE), -NUM_BOX_CORNERS_(NUM_BOX_CORNERS) +MIN_Z_RANGE_(MIN_Z_RANGE) { GPU_CHECK(cudaMalloc((void**)&dev_pillar_x_in_coors_, GRID_Y_SIZE_*GRID_X_SIZE_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); GPU_CHECK(cudaMalloc((void**)&dev_pillar_y_in_coors_, GRID_Y_SIZE_*GRID_X_SIZE_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); @@ -268,8 +265,7 @@ void PreprocessPointsCuda::doPreprocessPointsCuda(const float* dev_points, const MIN_Z_RANGE_, PILLAR_X_SIZE_, PILLAR_Y_SIZE_, - PILLAR_Z_SIZE_, - NUM_BOX_CORNERS_); + PILLAR_Z_SIZE_); make_pillar_index_kernel<<>>( diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/scatter_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/scatter_cuda.cu index 107e3de6e4a..6933f1da93e 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/scatter_cuda.cu +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/scatter_cuda.cu @@ -15,7 +15,7 @@ */ //headers in local files -#include "lidar_point_pillars/scatter_cuda.h" +#include "scatter_cuda.h" __global__ void scatter_kernel( int *x_coors, int *y_coors, float *pfe_output, float *scattered_feature, const int MAX_NUM_PILLARS_, const int GRID_X_SIZE, const int GRID_Y_SIZE) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/package.xml b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/package.xml index 53e773449e8..2c79d3dbb70 100755 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/package.xml +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/package.xml @@ -1,24 +1,23 @@ lidar_point_pillars - 1.11.0 + 1.9.1 lidar_point_pillars Kosuke Murakami - Apache 2.0 + BSD catkin - autoware_build_flags roscpp - roslib pcl_ros + cuda-toolkit-10-0 autoware_msgs roscpp - roslib pcl_ros + cuda-toolkit-10-0 autoware_msgs diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp index 70b3a4fa0ae..0b209a92471 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp @@ -14,27 +14,23 @@ * limitations under the License. */ -/** -* @file test_point_pillars.cpp -* @brief unit test file -* @author Kosuke Murakami -* @date 2019/02/26 -*/ + /** + * @file test_point_pillars.cpp + * @brief unit test file + * @author Kosuke Murakami + * @date 2019/02/26 + */ -// headers in ROS #include #include -// headers in gtest #include -//headers in PCL #include #include -//headers in local files -#include "lidar_point_pillars/point_pillars_ros.h" -#include "lidar_point_pillars/preprocess_points.h" +#include "point_pillars_ros.h" +#include "preprocess_points.h" class TestSuite : public ::testing::Test { @@ -50,10 +46,18 @@ class TestSuite : public ::testing::Test class TestClass { public: - TestClass(const int MAX_NUM_PILLARS, const int MAX_NUM_POINTS_PER_PILLAR, const int GRID_X_SIZE, - const int GRID_Y_SIZE, const int GRID_Z_SIZE, const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE, - const float PILLAR_Z_SIZE, const float MIN_X_RANGE, const float MIN_Y_RANGE, const float MIN_Z_RANGE, - const int NUM_INDS_FOR_SCAN, const int NUM_BOX_CORNERS); + TestClass(const int MAX_NUM_PILLARS, + const int MAX_NUM_POINTS_PER_PILLAR, + const int GRID_X_SIZE, + const int GRID_Y_SIZE, + const int GRID_Z_SIZE, + const float PILLAR_X_SIZE, + const float PILLAR_Y_SIZE, + const float PILLAR_Z_SIZE, + const float MIN_X_RANGE, + const float MIN_Y_RANGE, + const float MIN_Z_RANGE, + const int NUM_INDS_FOR_SCAN); const int MAX_NUM_PILLARS_; const int MAX_NUM_POINTS_PER_PILLAR_; const int GRID_X_SIZE_; @@ -66,203 +70,146 @@ class TestClass const float MIN_Y_RANGE_; const float MIN_Z_RANGE_; const int NUM_INDS_FOR_SCAN_; - const int NUM_BOX_CORNERS_; - - // Make pointcloud for test - void makePointsForTest(pcl::PointCloud::Ptr in_pcl_pc_ptr); - void pclToArray(const pcl::PointCloud::Ptr& in_pcl_pc_ptr, float* out_points_array); - void preprocess(const float* in_points_array, int in_num_points, int* x_coors, int* y_coors, - float* num_points_per_pillar, float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, - float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, float* pillar_feature_mask, - float* sparse_pillar_map, int* host_pillar_count); - void generateAnchors(float* anchors_px, float* anchors_py, float* anchors_pz, float* anchors_dx, - float* anchors_dy, float* anchors_dz, float* anchors_ro); - void convertAnchors2BoxAnchors(float* anchors_px, float* anchors_py, float* anchors_dx, float* anchors_dy, - float* box_anchors_min_x, float* box_anchors_min_y, - float* box_anchors_max_x, float* box_anchors_max_y); - + void loadPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr, + const std::string& in_file ); + void pclToArray(const pcl::PointCloud::Ptr & in_pcl_pc_ptr, float* out_points_array); + void preprocess(const float* in_points_array, int in_num_points, + int* x_coors, int* y_coors, float* num_points_per_pillar, + float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, + float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, + float* pillar_feature_mask, float* sparse_pillar_map, int* host_pillar_count); private: + std::unique_ptr preprocess_points_ptr_; - std::unique_ptr point_pillars_ptr_; }; -TestClass::TestClass(const int MAX_NUM_PILLARS, const int MAX_NUM_POINTS_PER_PILLAR, const int GRID_X_SIZE, - const int GRID_Y_SIZE, const int GRID_Z_SIZE, const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE, - const float PILLAR_Z_SIZE, const float MIN_X_RANGE, const float MIN_Y_RANGE, - const float MIN_Z_RANGE, const int NUM_INDS_FOR_SCAN, const int NUM_BOX_CORNERS) - : MAX_NUM_PILLARS_(MAX_NUM_PILLARS) - , MAX_NUM_POINTS_PER_PILLAR_(MAX_NUM_POINTS_PER_PILLAR) - , GRID_X_SIZE_(GRID_X_SIZE) - , GRID_Y_SIZE_(GRID_Y_SIZE) - , GRID_Z_SIZE_(GRID_Z_SIZE) - , PILLAR_X_SIZE_(PILLAR_X_SIZE) - , PILLAR_Y_SIZE_(PILLAR_Y_SIZE) - , PILLAR_Z_SIZE_(PILLAR_Z_SIZE) - , MIN_X_RANGE_(MIN_X_RANGE) - , MIN_Y_RANGE_(MIN_Y_RANGE) - , MIN_Z_RANGE_(MIN_Z_RANGE) - , NUM_INDS_FOR_SCAN_(NUM_INDS_FOR_SCAN) - , NUM_BOX_CORNERS_(NUM_BOX_CORNERS) +TestClass::TestClass( + const int MAX_NUM_PILLARS, + const int MAX_NUM_POINTS_PER_PILLAR, + const int GRID_X_SIZE, + const int GRID_Y_SIZE, + const int GRID_Z_SIZE, + const float PILLAR_X_SIZE, + const float PILLAR_Y_SIZE, + const float PILLAR_Z_SIZE, + const float MIN_X_RANGE, + const float MIN_Y_RANGE, + const float MIN_Z_RANGE, + const int NUM_INDS_FOR_SCAN): +MAX_NUM_PILLARS_(MAX_NUM_PILLARS), +MAX_NUM_POINTS_PER_PILLAR_(MAX_NUM_POINTS_PER_PILLAR), +GRID_X_SIZE_(GRID_X_SIZE), +GRID_Y_SIZE_(GRID_Y_SIZE), +GRID_Z_SIZE_(GRID_Z_SIZE), +PILLAR_X_SIZE_(PILLAR_X_SIZE), +PILLAR_Y_SIZE_(PILLAR_Y_SIZE), +PILLAR_Z_SIZE_(PILLAR_Z_SIZE), +MIN_X_RANGE_(MIN_X_RANGE), +MIN_Y_RANGE_(MIN_Y_RANGE), +MIN_Z_RANGE_(MIN_Z_RANGE), +NUM_INDS_FOR_SCAN_(NUM_INDS_FOR_SCAN) { preprocess_points_ptr_.reset(new PreprocessPoints( - MAX_NUM_PILLARS_, MAX_NUM_POINTS_PER_PILLAR_, GRID_X_SIZE_, GRID_Y_SIZE_, GRID_Z_SIZE_, PILLAR_X_SIZE_, - PILLAR_Y_SIZE_, PILLAR_Z_SIZE_, MIN_X_RANGE_, MIN_Y_RANGE_, MIN_Z_RANGE_, NUM_INDS_FOR_SCAN_, NUM_BOX_CORNERS_)); - - bool baselink_support=true; - bool reproduce_result_mode=false; - float score_threshold = 0.5; - float nms_overlap_threshold = 0.5; - std::string package_path = ros::package::getPath("lidar_point_pillars"); - std::string onnx_path = package_path + "/test/data/dummy.onnx"; - std::string pfe_onnx_file = onnx_path; - std::string rpn_onnx_file = onnx_path; - - point_pillars_ptr_.reset(new PointPillars(reproduce_result_mode, score_threshold, nms_overlap_threshold, - pfe_onnx_file, rpn_onnx_file)); + MAX_NUM_PILLARS_, + MAX_NUM_POINTS_PER_PILLAR_, + GRID_X_SIZE_, + GRID_Y_SIZE_, + GRID_Z_SIZE_, + PILLAR_X_SIZE_, + PILLAR_Y_SIZE_, + PILLAR_Z_SIZE_, + MIN_X_RANGE_, + MIN_Y_RANGE_, + MIN_Z_RANGE_, + NUM_INDS_FOR_SCAN_ + )); }; -void TestClass::preprocess(const float* in_points_array, int in_num_points, int* x_coors, int* y_coors, - float* num_points_per_pillar, float* pillar_x, float* pillar_y, float* pillar_z, - float* pillar_i, float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, - float* pillar_feature_mask, float* sparse_pillar_map, int* host_pillar_count) +void TestClass::preprocess(const float* in_points_array, int in_num_points, + int* x_coors, int* y_coors, float* num_points_per_pillar, + float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, + float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, + float* pillar_feature_mask, float* sparse_pillar_map, int* host_pillar_count) { - preprocess_points_ptr_->preprocess(in_points_array, in_num_points, x_coors, y_coors, num_points_per_pillar, pillar_x, - pillar_y, pillar_z, pillar_i, x_coors_for_sub_shaped, y_coors_for_sub_shaped, - pillar_feature_mask, sparse_pillar_map, host_pillar_count); + preprocess_points_ptr_->preprocess(in_points_array, in_num_points, + x_coors, y_coors, num_points_per_pillar, + pillar_x, pillar_y, pillar_z, pillar_i, + x_coors_for_sub_shaped, y_coors_for_sub_shaped, + pillar_feature_mask, sparse_pillar_map, host_pillar_count); } -void TestClass::pclToArray(const pcl::PointCloud::Ptr& in_pcl_pc_ptr, float* out_points_array) +void TestClass::pclToArray(const pcl::PointCloud::Ptr & in_pcl_pc_ptr, float* out_points_array) { - for (size_t i = 0; i < in_pcl_pc_ptr->size(); i++) + for(size_t i = 0; i < in_pcl_pc_ptr->size(); i++) { pcl::PointXYZI point = in_pcl_pc_ptr->at(i); - out_points_array[i * 4 + 0] = point.x; - out_points_array[i * 4 + 1] = point.y; - out_points_array[i * 4 + 2] = point.z; - out_points_array[i * 4 + 3] = point.intensity; + out_points_array[i*4 + 0] = point.x; + out_points_array[i*4 + 1] = point.y; + out_points_array[i*4 + 2] = point.z; + out_points_array[i*4 + 3] = point.intensity; } } -void TestClass::makePointsForTest(pcl::PointCloud::Ptr in_pcl_pc_ptr) -{ - pcl::PointXYZI point; - point.x = 12.9892; - point.y = -9.98058; - point.z = 0; - point.intensity = 4; - in_pcl_pc_ptr->push_back(point); - point.x = 11.8697; - point.y = -11.123; - point.z = -0.189377; - point.intensity = 35; - in_pcl_pc_ptr->push_back(point); - point.x = 12.489; - point.y = -9.59703; - point.z = -2.15565; - point.intensity = 11; - in_pcl_pc_ptr->push_back(point); - point.x = 12.9084; - point.y = -10.9626; - point.z = -2.15565; - point.intensity = 11; - in_pcl_pc_ptr->push_back(point); - point.x = 13.8676; - point.y = -9.61668; - point.z = 0.0980819; - point.intensity = 14; - in_pcl_pc_ptr->push_back(point); - point.x = 13.5673; - point.y = -12.9834; - point.z = 0.21862; - point.intensity = 1; - in_pcl_pc_ptr->push_back(point); - point.x = 13.8213; - point.y = -10.8529; - point.z = -1.22883; - point.intensity = 19; - in_pcl_pc_ptr->push_back(point); - point.x = 11.8957; - point.y = -10.3189; - point.z = -1.28556; - point.intensity = 13; - in_pcl_pc_ptr->push_back(point); -} - -void TestClass::generateAnchors(float* anchors_px, float* anchors_py, float* anchors_pz, float* anchors_dx, - float* anchors_dy, float* anchors_dz, float* anchors_ro) -{ - return point_pillars_ptr_->generateAnchors(anchors_px, anchors_py, anchors_pz, anchors_dx, - anchors_dy, anchors_dz, anchors_ro); -} - -void TestClass::convertAnchors2BoxAnchors(float* anchors_px, float* anchors_py, float* anchors_dx, float* anchors_dy, - float* box_anchors_min_x, float* box_anchors_min_y, - float* box_anchors_max_x, float* box_anchors_max_y) +void TestClass::loadPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr, + const std::string& in_file ) { - return point_pillars_ptr_->convertAnchors2BoxAnchors(anchors_px, anchors_py, anchors_dx, anchors_dy, - box_anchors_min_x, box_anchors_min_y, - box_anchors_max_x, box_anchors_max_y); + if (pcl::io::loadPCDFile (in_file, *in_pcl_pc_ptr) == -1) + { + ROS_ERROR("Couldn't read test pcd file \n"); + } } TEST(TestSuite, CheckPreprocessPointsCPU) { - const int MAX_NUM_PILLARS = 12000; - const int MAX_NUM_POINTS_PER_PILLAR = 100; - const int GRID_X_SIZE = 432; - const int GRID_Y_SIZE = 496; - const int GRID_Z_SIZE = 1; - const float PILLAR_X_SIZE = 0.16; - const float PILLAR_Y_SIZE = 0.16; - const float PILLAR_Z_SIZE = 4.0; - const float MIN_X_RANGE = 0; - const float MIN_Y_RANGE = -39.68; - const float MIN_Z_RANGE = -3.0; - const int NUM_INDS_FOR_SCAN = 512; - const int NUM_BOX_CORNERS = 4; - TestClass test_obj(MAX_NUM_PILLARS, - MAX_NUM_POINTS_PER_PILLAR, - GRID_X_SIZE, - GRID_Y_SIZE, - GRID_Z_SIZE, - PILLAR_X_SIZE, - PILLAR_Y_SIZE, - PILLAR_Z_SIZE, - MIN_X_RANGE, - MIN_Y_RANGE, - MIN_Z_RANGE, - NUM_INDS_FOR_SCAN, - NUM_BOX_CORNERS); + TestClass test_obj( + 12000, + 100, + 432, + 496, + 1, + 0.16, + 0.16, + 4.0, + 0, + -39.68, + -3.0, + 512); pcl::PointCloud::Ptr pcl_pc_ptr(new pcl::PointCloud); - test_obj.makePointsForTest(pcl_pc_ptr); + std::string package_path = ros::package::getPath("lidar_point_pillars"); + std::string in_file = package_path + "/test/data/1527836009720148.pcd"; + test_obj.loadPoints(pcl_pc_ptr, in_file); - float* points_array = new float[pcl_pc_ptr->size() * 4]; + float * points_array = new float[pcl_pc_ptr->size()*4]; test_obj.pclToArray(pcl_pc_ptr, points_array); - int x_coors[test_obj.MAX_NUM_PILLARS_] = { 0 }; - int y_coors[test_obj.MAX_NUM_PILLARS_] = { 0 }; - float num_points_per_pillar[test_obj.MAX_NUM_PILLARS_] = { 0 }; - float* pillar_x = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_]; - float* pillar_y = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_]; - float* pillar_z = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_]; - float* pillar_i = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_]; - float* x_coors_for_sub_shaped = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_]; - float* y_coors_for_sub_shaped = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_]; - float* pillar_feature_mask = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_]; - - float* sparse_pillar_map = new float[512 * 512]; - - int host_pillar_count[1] = { 0 }; - test_obj.preprocess(points_array, pcl_pc_ptr->size(), x_coors, y_coors, num_points_per_pillar, pillar_x, pillar_y, - pillar_z, pillar_i, x_coors_for_sub_shaped, y_coors_for_sub_shaped, pillar_feature_mask, - sparse_pillar_map, host_pillar_count); - EXPECT_EQ(1, num_points_per_pillar[0]); - EXPECT_FLOAT_EQ(12.9892, pillar_x[0]); - EXPECT_EQ(74, x_coors[1]); - EXPECT_EQ(178, y_coors[1]); - EXPECT_EQ(1, sparse_pillar_map[178 * 512 + 74]); - EXPECT_EQ(8, host_pillar_count[0]); + int x_coors[test_obj.MAX_NUM_PILLARS_]= {0}; + int y_coors[test_obj.MAX_NUM_PILLARS_]= {0}; + float num_points_per_pillar[test_obj.MAX_NUM_PILLARS_] = {0}; + float * pillar_x = new float[test_obj.MAX_NUM_PILLARS_*test_obj.MAX_NUM_POINTS_PER_PILLAR_]; + float * pillar_y = new float[test_obj.MAX_NUM_PILLARS_*test_obj.MAX_NUM_POINTS_PER_PILLAR_]; + float * pillar_z = new float[test_obj.MAX_NUM_PILLARS_*test_obj.MAX_NUM_POINTS_PER_PILLAR_]; + float * pillar_i = new float[test_obj.MAX_NUM_PILLARS_*test_obj.MAX_NUM_POINTS_PER_PILLAR_]; + + float * x_coors_for_sub_shaped = new float[test_obj.MAX_NUM_PILLARS_*test_obj.MAX_NUM_POINTS_PER_PILLAR_]; + float * y_coors_for_sub_shaped = new float[test_obj.MAX_NUM_PILLARS_*test_obj.MAX_NUM_POINTS_PER_PILLAR_]; + float * pillar_feature_mask = new float[test_obj.MAX_NUM_PILLARS_*test_obj.MAX_NUM_POINTS_PER_PILLAR_]; + + float* sparse_pillar_map = new float[512*512]; + + int host_pillar_count[1] = {0}; + test_obj.preprocess(points_array, pcl_pc_ptr->size(), + x_coors, y_coors, num_points_per_pillar, + pillar_x, pillar_y, pillar_z, pillar_i, + x_coors_for_sub_shaped, y_coors_for_sub_shaped, + pillar_feature_mask, sparse_pillar_map, host_pillar_count); + EXPECT_EQ(15, num_points_per_pillar[0]); + EXPECT_FLOAT_EQ(3.7517259, pillar_x[14]); + EXPECT_EQ(71, x_coors[100]); + EXPECT_EQ(177, y_coors[100]); + EXPECT_EQ(1, sparse_pillar_map[177*512 + 71]); + EXPECT_EQ(6270, host_pillar_count[0]); delete[] points_array; delete[] pillar_x; delete[] pillar_y; @@ -274,128 +221,6 @@ TEST(TestSuite, CheckPreprocessPointsCPU) delete[] sparse_pillar_map; } -TEST(TestSuite, CheckGenerateAnchors) -{ - const int MAX_NUM_PILLARS = 12000; - const int MAX_NUM_POINTS_PER_PILLAR = 100; - const int GRID_X_SIZE = 432; - const int GRID_Y_SIZE = 496; - const int GRID_Z_SIZE = 1; - const float PILLAR_X_SIZE = 0.16; - const float PILLAR_Y_SIZE = 0.16; - const float PILLAR_Z_SIZE = 4.0; - const float MIN_X_RANGE = 0; - const float MIN_Y_RANGE = -39.68; - const float MIN_Z_RANGE = -3.0; - const int NUM_INDS_FOR_SCAN = 512; - const int NUM_BOX_CORNERS = 4; - TestClass test_obj(MAX_NUM_PILLARS, - MAX_NUM_POINTS_PER_PILLAR, - GRID_X_SIZE, - GRID_Y_SIZE, - GRID_Z_SIZE, - PILLAR_X_SIZE, - PILLAR_Y_SIZE, - PILLAR_Z_SIZE, - MIN_X_RANGE, - MIN_Y_RANGE, - MIN_Z_RANGE, - NUM_INDS_FOR_SCAN, - NUM_BOX_CORNERS); - - const int NUM_ANCHOR = 432*0.5*496*0.5*2; - float* anchors_px = new float[NUM_ANCHOR]; - float* anchors_py = new float[NUM_ANCHOR]; - float* anchors_pz = new float[NUM_ANCHOR]; - float* anchors_dx = new float[NUM_ANCHOR]; - float* anchors_dy = new float[NUM_ANCHOR]; - float* anchors_dz = new float[NUM_ANCHOR]; - float* anchors_ro = new float[NUM_ANCHOR]; - test_obj.generateAnchors(anchors_px, anchors_py, anchors_pz, anchors_dx, anchors_dy, anchors_dz, anchors_ro); - - EXPECT_NEAR(0.48, anchors_px[3], 0.001); - EXPECT_NEAR(-39.52, anchors_py[109], 0.001); - EXPECT_NEAR(-1.73, anchors_pz[76], 0.001); - EXPECT_NEAR(1.6, anchors_dx[338], 0.001); - EXPECT_NEAR(3.9, anchors_dy[22], 0.001); - EXPECT_NEAR(1.56, anchors_dz[993], 0.001); - EXPECT_NEAR(1.5708, anchors_ro[1765], 0.001); - - delete[] anchors_px; - delete[] anchors_py; - delete[] anchors_pz; - delete[] anchors_dx; - delete[] anchors_dy; - delete[] anchors_dz; - delete[] anchors_ro; -} - -TEST(TestSuite, CheckGenerateBoxAnchors) -{ - const int MAX_NUM_PILLARS = 12000; - const int MAX_NUM_POINTS_PER_PILLAR = 100; - const int GRID_X_SIZE = 432; - const int GRID_Y_SIZE = 496; - const int GRID_Z_SIZE = 1; - const float PILLAR_X_SIZE = 0.16; - const float PILLAR_Y_SIZE = 0.16; - const float PILLAR_Z_SIZE = 4.0; - const float MIN_X_RANGE = 0; - const float MIN_Y_RANGE = -39.68; - const float MIN_Z_RANGE = -3.0; - const int NUM_INDS_FOR_SCAN = 512; - const int NUM_BOX_CORNERS = 4; - TestClass test_obj(MAX_NUM_PILLARS, - MAX_NUM_POINTS_PER_PILLAR, - GRID_X_SIZE, - GRID_Y_SIZE, - GRID_Z_SIZE, - PILLAR_X_SIZE, - PILLAR_Y_SIZE, - PILLAR_Z_SIZE, - MIN_X_RANGE, - MIN_Y_RANGE, - MIN_Z_RANGE, - NUM_INDS_FOR_SCAN, - NUM_BOX_CORNERS); - - const int NUM_ANCHOR = 432*0.5*496*0.5*2; - - float* anchors_px = new float[NUM_ANCHOR]; - float* anchors_py = new float[NUM_ANCHOR]; - float* anchors_pz = new float[NUM_ANCHOR]; - float* anchors_dx = new float[NUM_ANCHOR]; - float* anchors_dy = new float[NUM_ANCHOR]; - float* anchors_dz = new float[NUM_ANCHOR]; - float* anchors_ro = new float[NUM_ANCHOR]; - float* box_anchors_min_x = new float[NUM_ANCHOR]; - float* box_anchors_min_y = new float[NUM_ANCHOR]; - float* box_anchors_max_x = new float[NUM_ANCHOR]; - float* box_anchors_max_y = new float[NUM_ANCHOR]; - test_obj.generateAnchors(anchors_px, anchors_py, anchors_pz, anchors_dx, anchors_dy, anchors_dz, anchors_ro); - test_obj.convertAnchors2BoxAnchors(anchors_px, anchors_py, anchors_dx, anchors_dy, - box_anchors_min_x, box_anchors_min_y, - box_anchors_max_x, box_anchors_max_y); - - EXPECT_NEAR(53.25, box_anchors_min_x[345], 0.001); - EXPECT_NEAR(-41.47, box_anchors_min_y[22], 0.001); - EXPECT_NEAR(38.4, box_anchors_max_x[1098], 0.001); - EXPECT_NEAR(-38.4, box_anchors_max_y[675], 0.001); - - - delete[] anchors_px; - delete[] anchors_py; - delete[] anchors_pz; - delete[] anchors_dx; - delete[] anchors_dy; - delete[] anchors_dz; - delete[] anchors_ro; - delete[] box_anchors_min_x; - delete[] box_anchors_min_y; - delete[] box_anchors_max_x; - delete[] box_anchors_max_y; -} - int main(int argc, char** argv) { testing::InitGoogleTest(&argc, argv); diff --git a/ros/src/util/packages/runtime_manager/scripts/computing.yaml b/ros/src/util/packages/runtime_manager/scripts/computing.yaml index fccc925bb7a..7adabd36ed8 100755 --- a/ros/src/util/packages/runtime_manager/scripts/computing.yaml +++ b/ros/src/util/packages/runtime_manager/scripts/computing.yaml @@ -192,10 +192,12 @@ subs : desc : lidar_cnn_segmentation_baidu_detect. Requires Caffe framework cmd : roslaunch lidar_apollo_cnn_seg_detect lidar_apollo_cnn_seg_detect.launch param: lidar_cnn_baidu_params + - name : lidar_point_pillars desc : lidar_point_pillars. Requires CUDA and TensorRT cmd : roslaunch lidar_point_pillars lidar_point_pillars.launch param: lidar_point_pillars_params + - name : lidar_naive_l_shape_detect desc : lidar_naive_l_shape_detect desc sample cmd : roslaunch lidar_naive_l_shape_detect lidar_naive_l_shape_detect.launch From 7df0c3d61e682b0b80ba047a79b7abb5dafdad35 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Tue, 26 Feb 2019 16:14:35 +0900 Subject: [PATCH 019/139] Support command line options --- ros/src/util/packages/autoware_launcher/scripts/main | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/ros/src/util/packages/autoware_launcher/scripts/main b/ros/src/util/packages/autoware_launcher/scripts/main index 3976c95a727..d00692af767 100755 --- a/ros/src/util/packages/autoware_launcher/scripts/main +++ b/ros/src/util/packages/autoware_launcher/scripts/main @@ -7,7 +7,15 @@ import argparse from autoware_launcher.core import AwLaunchServer from autoware_launcher.gui import AwQtGuiClient -logging.basicConfig(level=logging.INFO, format="%(levelname)-5s: %(name)s: %(message)s") +parser = argparse.ArgumentParser(description='Autoware Launcher') +parser.add_argument("-v", "--verbose", dest="verbose", action="store_true", help="show debug log message") +parser.add_argument("-p", "--profile", dest="profile", action="store", help="name of profile") +parser.add_argument("-s", "--skin", dest="skin", action="store", help="name of style sheet") +args = parser.parse_args() + +loglevel = logging.INFO if not args.verbose else logging.DEBUG +logging.basicConfig(level=loglevel, format="%(levelname)-5s: %(name)s: %(message)s") + server = AwLaunchServer(sys.argv) client = AwQtGuiClient(sys.argv, server) From b883ec63838f9c497136dc7a4361f21c88a877e6 Mon Sep 17 00:00:00 2001 From: cirpue49 Date: Tue, 26 Feb 2019 17:14:30 +0900 Subject: [PATCH 020/139] add readme.md --- .../packages/lidar_point_pillars/README.md | 67 ++++--------------- 1 file changed, 14 insertions(+), 53 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md index 3cef61d109a..ffae0b6c011 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md @@ -1,70 +1,29 @@ -# Point Pillars for 3D Object Detection: ver. 1.0 +# Point Pillars for 3D Object Detection -Autoware package for Point Pillars. [Referenced paper](https://arxiv.org/abs/1812.05784). +Autoware package for Point Pillars. ([reference paper](https://arxiv.org/abs/1812.05784)) -## Requirements +## Pre requisites -CUDA Toolkit v9.0 or v10.0 - -CUDNN: Tested with v7.3.1 - -TensorRT: Tested with 5.0.2 -> [How to install](https://docs.nvidia.com/deeplearning/sdk/tensorrt-install-guide/index.html#installing) - -## How to setup - -1. Install CUDA from this [website](https://developer.nvidia.com/cuda-downloads) - -2. Install CUDNN - -3. [Download](https://docs.nvidia.com/deeplearning/sdk/tensorrt-install-guide/index.html#downloading) the TensorRT local repo file that matches the Ubuntu version you are using. - -4. Install TensorRT from the Debian local repo package. - -``` -$ sudo dpkg -i -nv-tensorrt-repo-ubuntu1x04-cudax.x-trt5.x.x.x-ga-yyyymmdd_1-1_amd64.deb -$ sudo apt-key add /var/nv-tensorrt-repo-cudax.x-trt5.x.x.x-ga-yyyymmdd/7fa2af80.pub - -$ sudo apt-get update -$ sudo apt-get install tensorrt -``` - -4. Download the pretrained file from [here](https://github.com/cirpue49/kitti_pretrained_pp). - -``` -$ git clone git@github.com:cirpue49/kitti_pretrained_point_pillars.git -``` +CUDA Toolkit v9.0 or 10.0 +TensorRT : [How to install](https://docs.nvidia.com/deeplearning/sdk/tensorrt-install-guide/index.html#installing) ## How to launch -* Launch file: +Using launch file: `roslaunch lidar_point_pillars lidar_point_pillars.launch pfe_onnx_file:=/PATH/TO/FILE.onnx rpn_onnx_file:=/PATH/TO/FILE.onnx input_topic:=/points_raw` -* You can launch it through the runtime manager in Computing tab, as well. - -## API -``` -/** -* @brief Call PointPillars for the inference. -* @param[in] in_points_array pointcloud array -* @param[in] in_num_points Number of points -* @param[out] out_detections Output bounding box from the network -* @details This is an interface for the algorithm. -*/ -void doInference(float* in_points_array, int in_num_points, std::vector out_detections); -``` ## Parameters |Parameter| Type| Description|Default| ----------|-----|--------|----| -|`input_topic`|*String*|Input topic Pointcloud. |`/points_raw`| -|`baselink_support`|*Bool*|Whether to use baselink to adjust parameters. |`True`| -|`reproduce_result_mode`|*Bool*|Whether to enable reproducible result mode at the cost of the runtime. |`False`| -|`score_threshold`|*Float*|Minimum score required to include the result [0,1]|0.5| -|`nms_overlap_threshold`|*Float*|Minimum IOU required to have when applying NMS [0,1]|0.5| +|`input_topic`|*String*|Input topic Pointcloud. Default.|`/points_raw`| +|`baselink_support`|*Bool*|Whether to use baselink to adjust parameters. Default.|`True`| +|`reproduce_result_mode`|*Bool*|Whether to enable reproducible result mode at the cost of the runtime. Default.|`False`| +|`score_threshold`|*Float*|Minimum score required to include the result (0.1)|0.5| +|`nms_overlap_threshold`|*Float*|Minimum IOU required to have when applying NMS (0.1)|0.5| |`pfe_onnx_file`|*String* |Path to the PFE onnx file|| |`rpn_onnx_file`|*String* |Path to the RPN onnx file|| @@ -79,4 +38,6 @@ void doInference(float* in_points_array, int in_num_points, std::vector o * To display the results in Rviz `objects_visualizer` is required. (Launch file launches automatically this node). -* Pretrained models are available [here](https://github.com/cirpue49/kitti_pretrained_pp), trained with the help of the KITTI dataset. For this reason, these are not suitable for commercial purposes. Derivative works are bound to the BY-NC-SA 3.0 License. (https://creativecommons.org/licenses/by-nc-sa/3.0/) +* Pre trained models can be downloaded from the [github repository](https://github.com/cirpue49/kitti_pretrained_pp).Notice that this model is under `BY-NC-SA 3.0` license. + +* If trained model comes from KITTI data, users might not be allowed to use the model for Commercial purpose. From 7f4e8452cc2ceeac572b7af85be17d14efe69957 Mon Sep 17 00:00:00 2001 From: cirpue49 Date: Tue, 26 Feb 2019 19:01:25 +0900 Subject: [PATCH 021/139] Refactor codes --- .../include/point_pillars.h | 2 + .../include/postprocess_cuda.h | 7 +- .../include/preprocess_points.h | 5 +- .../nodes/anchor_mask_cuda.cu | 2 + .../lidar_point_pillars/nodes/nms_cuda.cu | 1 + .../nodes/point_pillars.cpp | 11 +- .../nodes/postprocess_cuda.cu | 104 ++++++++++-------- .../nodes/preprocess_points.cpp | 20 ++-- 8 files changed, 90 insertions(+), 62 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h index c58fc5e58d7..b0c69147ec9 100755 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h @@ -115,6 +115,8 @@ class PointPillars const float ANCHOR_DX_SIZE_; const float ANCHOR_DY_SIZE_; const float ANCHOR_DZ_SIZE_; + const int NUM_BOX_CORNERS_; + const int NUM_OUTPUT_BOX_FEATURE_; //end initializer list diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h index 261cdd19ed1..3768c040499 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h @@ -42,6 +42,8 @@ class PostprocessCuda const float score_threshold_; const int NUM_THREADS_; const float nms_overlap_threshold_; + const int NUM_BOX_CORNERS_; + const int NUM_OUTPUT_BOX_FEATURE_; std::unique_ptr nms_cuda_ptr_; @@ -56,11 +58,14 @@ class PostprocessCuda * @param[in] score_threshold Score threshold for filtering output * @param[in] NUM_THREDS Number of threads for launching cuda kernel * @param[in] nms_overlap_threshold IOU threshold for NMS + * @param[in] NUM_BOX_CORNERS Number of box's corner + * @param[in] NUM_OUTPUT_BOX_FEATURE_ Number of output box's feature * @details Captital variables never change after the compile, non-capital variables could be chaned through rosparam */ PostprocessCuda(const float FLOAT_MIN, const float FLOAT_MAX, const int NUM_ANCHOR_X_INDS, const int NUM_ANCHOR_Y_INDS, const int NUM_ANCHOR_R_INDS, - const float score_threshold, const int NUM_THREADS, const float nms_overlap_threshold); + const float score_threshold, const int NUM_THREADS, const float nms_overlap_threshold, + const int NUM_BOX_CORNERS, const int NUM_OUTPUT_BOX_FEATURE); /** * @brief Postprocessing for the network output diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points.h index bd0b54720f2..426dd50e714 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points.h @@ -42,6 +42,7 @@ class PreprocessPoints const float MIN_Y_RANGE_; const float MIN_Z_RANGE_; const int NUM_INDS_FOR_SCAN_; + const int NUM_BOX_CORNERS_; public: @@ -59,6 +60,7 @@ class PreprocessPoints * @param[in] MIN_Y_RANGE Minimum y value for pointcloud * @param[in] MIN_Z_RANGE Minimum z value for pointcloud * @param[in] NUM_INDS_FOR_SCAN Number of indexes for scan(cumsum) + * @param[in] NUM_BOX_CORNERS Number of box's corner * @details Captital variables never change after the compile */ PreprocessPoints(const int MAX_NUM_PILLARS, @@ -72,7 +74,8 @@ class PreprocessPoints const float MIN_X_RANGE, const float MIN_Y_RANGE, const float MIN_Z_RANGE, - const int NUM_INDS_FOR_SCAN); + const int NUM_INDS_FOR_SCAN, + const int NUM_BOX_CORNERS); /** * @brief CPU preprocessing for input pointcloud diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/anchor_mask_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/anchor_mask_cuda.cu index 4383c1ae63c..72c7556f0c8 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/anchor_mask_cuda.cu +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/anchor_mask_cuda.cu @@ -18,6 +18,7 @@ #include "common.h" #include "anchor_mask_cuda.h" +//modified prefix sum code from https://www.mimuw.edu.pl/~ps209291/kgkp/slides/scan.pdf __global__ void scan_x(int *g_odata, int *g_idata, int n) { extern __shared__ int temp[]; // allocated on invocation @@ -65,6 +66,7 @@ __global__ void scan_x(int *g_odata, int *g_idata, int n) } } +//modified prefix sum code from https://www.mimuw.edu.pl/~ps209291/kgkp/slides/scan.pdf __global__ void scan_y(int *g_odata, int *g_idata, int n) { extern __shared__ int temp[]; // allocated on invocation diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/nms_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/nms_cuda.cu index 7680a44ad87..d675f9e32f8 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/nms_cuda.cu +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/nms_cuda.cu @@ -33,6 +33,7 @@ __global__ void nms_kernel(const int n_boxes, const float nms_overlap_thresh, min(n_boxes - row_start * block_threads, block_threads); const int col_size = min(n_boxes - col_start * block_threads, block_threads); + //Only can initialize with figures, not by variables __shared__ float block_boxes[64 * 4]; if (threadIdx.x < col_size) { diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp index 4035f399ffa..767008e2788 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp @@ -62,7 +62,9 @@ NUM_THREADS_(64),//if you chancge NUM_THREADS_, need to modify nms_kernel's shar SENSOR_HEIGHT_(1.73), ANCHOR_DX_SIZE_(1.6), ANCHOR_DY_SIZE_(3.9), -ANCHOR_DZ_SIZE_(1.56) +ANCHOR_DZ_SIZE_(1.56), +NUM_BOX_CORNERS_(4), +NUM_OUTPUT_BOX_FEATURE_(7) { anchors_px_ = new float[NUM_ANCHOR_]; anchors_py_ = new float[NUM_ANCHOR_]; @@ -91,7 +93,8 @@ ANCHOR_DZ_SIZE_(1.56) MIN_X_RANGE_, MIN_Y_RANGE_, MIN_Z_RANGE_, - NUM_INDS_FOR_SCAN_)); + NUM_INDS_FOR_SCAN_, + NUM_BOX_CORNERS_)); } else { @@ -141,7 +144,9 @@ ANCHOR_DZ_SIZE_(1.56) NUM_ANCHOR_R_INDS_, score_threshold_, NUM_THREADS_, - nms_overlap_threshold_ + nms_overlap_threshold_, + NUM_BOX_CORNERS_, + NUM_OUTPUT_BOX_FEATURE_ )); deviceMemoryMalloc(); diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu index 48862d2256e..2b5501e3541 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu @@ -26,7 +26,8 @@ __global__ void filter_kernel(const float* box_preds, const float* cls_preds, co const float* dev_anchors_px, const float* dev_anchors_py, const float* dev_anchors_pz, const float* dev_anchors_dx, const float* dev_anchors_dy, const float* dev_anchors_dz, const float* dev_anchors_ro, float* filtered_box, float* filtered_score, int* filtered_dir, float* box_for_nms, int* filter_count, - const float FLOAT_MIN, const float FLOAT_MAX, const float score_threshold) + const float FLOAT_MIN, const float FLOAT_MAX, const float score_threshold, + const int NUM_BOX_CORNERS, const int NUM_OUTPUT_BOX_FEATURE) { // boxes ([N, 7] Tensor): normal boxes: x, y, z, w, l, h, r int tid = threadIdx.x + blockIdx.x * blockDim.x; @@ -39,23 +40,23 @@ __global__ void filter_kernel(const float* box_preds, const float* cls_preds, co //decode network output float diagonal = sqrtf(dev_anchors_dx[tid]*dev_anchors_dx[tid] + dev_anchors_dy[tid]*dev_anchors_dy[tid]); - float box_px = box_preds[tid*7 + 0] * diagonal + dev_anchors_px[tid]; - float box_py = box_preds[tid*7 + 1] * diagonal + dev_anchors_py[tid]; - float box_pz = box_preds[tid*7 + 2] * dev_anchors_dz[tid] + za; - float box_dx = expf(box_preds[tid*7 + 3]) * dev_anchors_dx[tid]; - float box_dy = expf(box_preds[tid*7 + 4]) * dev_anchors_dy[tid]; - float box_dz = expf(box_preds[tid*7 + 5]) * dev_anchors_dz[tid]; - float box_ro = box_preds[tid*7 + 6] + dev_anchors_ro[tid]; + float box_px = box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 0] * diagonal + dev_anchors_px[tid]; + float box_py = box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 1] * diagonal + dev_anchors_py[tid]; + float box_pz = box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 2] * dev_anchors_dz[tid] + za; + float box_dx = expf(box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 3]) * dev_anchors_dx[tid]; + float box_dy = expf(box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 4]) * dev_anchors_dy[tid]; + float box_dz = expf(box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 5]) * dev_anchors_dz[tid]; + float box_ro = box_preds[tid*NUM_OUTPUT_BOX_FEATURE + 6] + dev_anchors_ro[tid]; box_pz = box_pz - box_dz/2; - filtered_box[counter*7 + 0] = box_px; - filtered_box[counter*7 + 1] = box_py; - filtered_box[counter*7 + 2] = box_pz; - filtered_box[counter*7 + 3] = box_dx; - filtered_box[counter*7 + 4] = box_dy; - filtered_box[counter*7 + 5] = box_dz; - filtered_box[counter*7 + 6] = box_ro; + filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 0] = box_px; + filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 1] = box_py; + filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 2] = box_pz; + filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 3] = box_dx; + filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 4] = box_dy; + filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 5] = box_dz; + filtered_box[counter*NUM_OUTPUT_BOX_FEATURE + 6] = box_ro; filtered_score[counter] = score; int direction_label; @@ -77,6 +78,7 @@ __global__ void filter_kernel(const float* box_preds, const float* cls_preds, co float( 0.5*box_dx), float(-0.5*box_dy)}; //Second: Rotate, Offset and convert to point(xmin. ymin, xmax, ymax) + //cannot use variable initialization since "error: expression must have a constant value" float rotated_corners[2*4]; float offset_corners[2*4]; float sin_yaw = sinf(box_ro); @@ -85,7 +87,7 @@ __global__ void filter_kernel(const float* box_preds, const float* cls_preds, co float ymin = FLOAT_MAX; float xmax = FLOAT_MIN; float ymax = FLOAT_MIN; - for(size_t i = 0; i < 4; i++) + for(size_t i = 0; i < NUM_BOX_CORNERS; i++) { rotated_corners[i*2 + 0] = cos_yaw*corners[i*2 + 0] - sin_yaw*corners[i*2 + 1]; rotated_corners[i*2 + 1] = sin_yaw*corners[i*2 + 0] + cos_yaw*corners[i*2 + 1]; @@ -99,42 +101,44 @@ __global__ void filter_kernel(const float* box_preds, const float* cls_preds, co ymax = fmaxf(ymax, offset_corners[i*2 + 1]); } // box_for_nms(num_box, 4) - box_for_nms[counter*4 + 0] = xmin; - box_for_nms[counter*4 + 1] = ymin; - box_for_nms[counter*4 + 2] = xmax; - box_for_nms[counter*4 + 3] = ymax; + box_for_nms[counter*NUM_BOX_CORNERS + 0] = xmin; + box_for_nms[counter*NUM_BOX_CORNERS + 1] = ymin; + box_for_nms[counter*NUM_BOX_CORNERS + 2] = xmax; + box_for_nms[counter*NUM_BOX_CORNERS + 3] = ymax; } } __global__ void sort_boxes_by_indexes_kernel(float* filtered_box, int* filtered_dir, float* box_for_nms, int* indexes, int filter_count, - float* sorted_filtered_boxes, int* sorted_filtered_dir, float* sorted_box_for_nms) + float* sorted_filtered_boxes, int* sorted_filtered_dir, float* sorted_box_for_nms, + const int NUM_BOX_CORNERS, const int NUM_OUTPUT_BOX_FEATURE) { int tid = threadIdx.x + blockIdx.x * blockDim.x; if(tid < filter_count) { int sort_index = indexes[tid]; - sorted_filtered_boxes[tid*7 + 0] = filtered_box[sort_index*7 + 0]; - sorted_filtered_boxes[tid*7 + 1] = filtered_box[sort_index*7 + 1]; - sorted_filtered_boxes[tid*7 + 2] = filtered_box[sort_index*7 + 2]; - sorted_filtered_boxes[tid*7 + 3] = filtered_box[sort_index*7 + 3]; - sorted_filtered_boxes[tid*7 + 4] = filtered_box[sort_index*7 + 4]; - sorted_filtered_boxes[tid*7 + 5] = filtered_box[sort_index*7 + 5]; - sorted_filtered_boxes[tid*7 + 6] = filtered_box[sort_index*7 + 6]; + sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 0] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 0]; + sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 1] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 1]; + sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 2] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 2]; + sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 3] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 3]; + sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 4] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 4]; + sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 5] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 5]; + sorted_filtered_boxes[tid*NUM_OUTPUT_BOX_FEATURE + 6] = filtered_box[sort_index*NUM_OUTPUT_BOX_FEATURE + 6]; sorted_filtered_dir[tid] = filtered_dir[sort_index]; - sorted_box_for_nms[tid*4 + 0] = box_for_nms[sort_index*4 + 0]; - sorted_box_for_nms[tid*4 + 1] = box_for_nms[sort_index*4 + 1]; - sorted_box_for_nms[tid*4 + 2] = box_for_nms[sort_index*4 + 2]; - sorted_box_for_nms[tid*4 + 3] = box_for_nms[sort_index*4 + 3]; + sorted_box_for_nms[tid*NUM_BOX_CORNERS + 0] = box_for_nms[sort_index*NUM_BOX_CORNERS + 0]; + sorted_box_for_nms[tid*NUM_BOX_CORNERS + 1] = box_for_nms[sort_index*NUM_BOX_CORNERS + 1]; + sorted_box_for_nms[tid*NUM_BOX_CORNERS + 2] = box_for_nms[sort_index*NUM_BOX_CORNERS + 2]; + sorted_box_for_nms[tid*NUM_BOX_CORNERS + 3] = box_for_nms[sort_index*NUM_BOX_CORNERS + 3]; } } PostprocessCuda::PostprocessCuda(const float FLOAT_MIN, const float FLOAT_MAX, const int NUM_ANCHOR_X_INDS, const int NUM_ANCHOR_Y_INDS, const int NUM_ANCHOR_R_INDS, - const float score_threshold, const int NUM_THREADS, const float nms_overlap_threshold): + const float score_threshold, const int NUM_THREADS, const float nms_overlap_threshold, + const int NUM_BOX_CORNERS, const int NUM_OUTPUT_BOX_FEATURE): FLOAT_MIN_(FLOAT_MIN), FLOAT_MAX_(FLOAT_MAX), NUM_ANCHOR_X_INDS_(NUM_ANCHOR_X_INDS), @@ -142,7 +146,9 @@ NUM_ANCHOR_Y_INDS_(NUM_ANCHOR_Y_INDS), NUM_ANCHOR_R_INDS_(NUM_ANCHOR_R_INDS), score_threshold_(score_threshold), NUM_THREADS_(NUM_THREADS), -nms_overlap_threshold_(nms_overlap_threshold) +nms_overlap_threshold_(nms_overlap_threshold), +NUM_BOX_CORNERS_(NUM_BOX_CORNERS), +NUM_OUTPUT_BOX_FEATURE_(NUM_OUTPUT_BOX_FEATURE) { nms_cuda_ptr_.reset(new NMSCuda( NUM_THREADS, @@ -161,7 +167,8 @@ void PostprocessCuda::doPostprocessCuda(const float* rpn_box_output, const float dev_anchors_px, dev_anchors_py, dev_anchors_pz, dev_anchors_dx, dev_anchors_dy, dev_anchors_dz, dev_anchors_ro, dev_filtered_box, dev_filtered_score, dev_filtered_dir, dev_box_for_nms, dev_filter_count, - FLOAT_MIN_, FLOAT_MAX_, score_threshold_); + FLOAT_MIN_, FLOAT_MAX_, score_threshold_, + NUM_BOX_CORNERS_, NUM_OUTPUT_BOX_FEATURE_); int host_filter_count[1]; GPU_CHECK( cudaMemcpy(host_filter_count, dev_filter_count, sizeof(int), cudaMemcpyDeviceToHost ) ); @@ -174,16 +181,17 @@ void PostprocessCuda::doPostprocessCuda(const float* rpn_box_output, const float float* dev_sorted_filtered_box, *dev_sorted_box_for_nms; int* dev_sorted_filtered_dir; GPU_CHECK(cudaMalloc((void**)&dev_indexes, host_filter_count[0]*sizeof(int))); - GPU_CHECK(cudaMalloc((void**)&dev_sorted_filtered_box, 7*host_filter_count[0]*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_sorted_filtered_box, NUM_OUTPUT_BOX_FEATURE_*host_filter_count[0]*sizeof(float))); GPU_CHECK(cudaMalloc((void**)&dev_sorted_filtered_dir, host_filter_count[0]*sizeof(int))); - GPU_CHECK(cudaMalloc((void**)&dev_sorted_box_for_nms, 4*host_filter_count[0]*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_sorted_box_for_nms, NUM_BOX_CORNERS_*host_filter_count[0]*sizeof(float))); thrust::sequence(thrust::device, dev_indexes, dev_indexes + host_filter_count[0]); thrust::sort_by_key(thrust::device, dev_filtered_score, dev_filtered_score + size_t(host_filter_count[0]), dev_indexes, thrust::greater()); const int num_blocks = DIVUP(host_filter_count[0], NUM_THREADS_); sort_boxes_by_indexes_kernel<<>>(dev_filtered_box, dev_filtered_dir, dev_box_for_nms, dev_indexes, host_filter_count[0], - dev_sorted_filtered_box, dev_sorted_filtered_dir, dev_sorted_box_for_nms); + dev_sorted_filtered_box, dev_sorted_filtered_dir, dev_sorted_box_for_nms, + NUM_BOX_CORNERS_, NUM_OUTPUT_BOX_FEATURE_); int keep_inds[host_filter_count[0]] = {0}; nms_cuda_ptr_->doNMSCuda(host_filter_count[0], dev_sorted_box_for_nms, keep_inds, out_num_objects); @@ -191,24 +199,24 @@ void PostprocessCuda::doPostprocessCuda(const float* rpn_box_output, const float float host_filtered_box[host_filter_count[0]*7]; int host_filtered_dir[host_filter_count[0]]; - GPU_CHECK( cudaMemcpy(host_filtered_box, dev_sorted_filtered_box, 7*host_filter_count[0] *sizeof(float), cudaMemcpyDeviceToHost ) ); - GPU_CHECK( cudaMemcpy(host_filtered_dir, dev_sorted_filtered_dir, host_filter_count[0] *sizeof(int), cudaMemcpyDeviceToHost ) ); + GPU_CHECK( cudaMemcpy(host_filtered_box, dev_sorted_filtered_box, NUM_OUTPUT_BOX_FEATURE_*host_filter_count[0] *sizeof(float), cudaMemcpyDeviceToHost ) ); + GPU_CHECK( cudaMemcpy(host_filtered_dir, dev_sorted_filtered_dir, host_filter_count[0] *sizeof(int), cudaMemcpyDeviceToHost ) ); for (size_t i = 0; i < out_num_objects; i++) { - out_detection.push_back(host_filtered_box[keep_inds[i]*7+0]); - out_detection.push_back(host_filtered_box[keep_inds[i]*7+1]); - out_detection.push_back(host_filtered_box[keep_inds[i]*7+2]); - out_detection.push_back(host_filtered_box[keep_inds[i]*7+3]); - out_detection.push_back(host_filtered_box[keep_inds[i]*7+4]); - out_detection.push_back(host_filtered_box[keep_inds[i]*7+5]); + out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+0]); + out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+1]); + out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+2]); + out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+3]); + out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+4]); + out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+5]); if(host_filtered_dir[keep_inds[i]] == 0) { - out_detection.push_back(host_filtered_box[keep_inds[i]*7+6] + M_PI); + out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+6] + M_PI); } else { - out_detection.push_back(host_filtered_box[keep_inds[i]*7+6]); + out_detection.push_back(host_filtered_box[keep_inds[i]*NUM_OUTPUT_BOX_FEATURE_+6]); } } diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp index 9ea42f9190d..51fe2a07884 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp @@ -32,7 +32,8 @@ PreprocessPoints::PreprocessPoints(const int MAX_NUM_PILLARS, const float MIN_X_RANGE, const float MIN_Y_RANGE, const float MIN_Z_RANGE, - const int NUM_INDS_FOR_SCAN) + const int NUM_INDS_FOR_SCAN, + const int NUM_BOX_CORNERS) : MAX_NUM_PILLARS_(MAX_NUM_PILLARS), MAX_NUM_POINTS_PER_PILLAR_(MAX_POINTS_PER_PILLAR), @@ -45,7 +46,8 @@ PILLAR_Z_SIZE_(PILLAR_Z_SIZE), MIN_X_RANGE_(MIN_X_RANGE), MIN_Y_RANGE_(MIN_Y_RANGE), MIN_Z_RANGE_(MIN_Z_RANGE), -NUM_INDS_FOR_SCAN_(NUM_INDS_FOR_SCAN) +NUM_INDS_FOR_SCAN_(NUM_INDS_FOR_SCAN), +NUM_BOX_CORNERS_(NUM_BOX_CORNERS) { } @@ -96,9 +98,9 @@ void PreprocessPoints::preprocess(const float* in_points_array, int in_num_point x_coors_for_sub_shaped, y_coors_for_sub_shaped); for(int i = 0; i < in_num_points; i++) { - int x_coor = std::floor((in_points_array[i*4 + 0] - MIN_X_RANGE_)/PILLAR_X_SIZE_); - int y_coor = std::floor((in_points_array[i*4 + 1] - MIN_Y_RANGE_)/PILLAR_Y_SIZE_); - int z_coor = std::floor((in_points_array[i*4 + 2] - MIN_Z_RANGE_)/PILLAR_Z_SIZE_); + int x_coor = std::floor((in_points_array[i*NUM_BOX_CORNERS_ + 0] - MIN_X_RANGE_)/PILLAR_X_SIZE_); + int y_coor = std::floor((in_points_array[i*NUM_BOX_CORNERS_ + 1] - MIN_Y_RANGE_)/PILLAR_Y_SIZE_); + int z_coor = std::floor((in_points_array[i*NUM_BOX_CORNERS_ + 2] - MIN_Z_RANGE_)/PILLAR_Z_SIZE_); if(x_coor < 0 || x_coor >= GRID_X_SIZE_ || y_coor < 0 || y_coor >= GRID_Y_SIZE_ || z_coor < 0 || z_coor >= GRID_Z_SIZE_) @@ -133,10 +135,10 @@ void PreprocessPoints::preprocess(const float* in_points_array, int in_num_point int num = num_points_per_pillar[pillar_index]; if (num < MAX_NUM_POINTS_PER_PILLAR_) { - pillar_x[pillar_index*MAX_NUM_POINTS_PER_PILLAR_ + num]= in_points_array[i*4 + 0]; - pillar_y[pillar_index*MAX_NUM_POINTS_PER_PILLAR_ + num]= in_points_array[i*4 + 1]; - pillar_z[pillar_index*MAX_NUM_POINTS_PER_PILLAR_ + num]= in_points_array[i*4 + 2]; - pillar_i[pillar_index*MAX_NUM_POINTS_PER_PILLAR_ + num]= in_points_array[i*4 + 3]; + pillar_x[pillar_index*MAX_NUM_POINTS_PER_PILLAR_ + num]= in_points_array[i*NUM_BOX_CORNERS_ + 0]; + pillar_y[pillar_index*MAX_NUM_POINTS_PER_PILLAR_ + num]= in_points_array[i*NUM_BOX_CORNERS_ + 1]; + pillar_z[pillar_index*MAX_NUM_POINTS_PER_PILLAR_ + num]= in_points_array[i*NUM_BOX_CORNERS_ + 2]; + pillar_i[pillar_index*MAX_NUM_POINTS_PER_PILLAR_ + num]= in_points_array[i*NUM_BOX_CORNERS_ + 3]; num_points_per_pillar[pillar_index] += 1; } } From bd83f1beb4f07c0a69f6adac058c62e0b23eec5f Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Tue, 26 Feb 2019 19:03:33 +0900 Subject: [PATCH 022/139] Update gazebo simulator panel --- ros/src/util/packages/autoware_launcher/scripts/main | 1 - 1 file changed, 1 deletion(-) diff --git a/ros/src/util/packages/autoware_launcher/scripts/main b/ros/src/util/packages/autoware_launcher/scripts/main index d00692af767..7efb1b5ed47 100755 --- a/ros/src/util/packages/autoware_launcher/scripts/main +++ b/ros/src/util/packages/autoware_launcher/scripts/main @@ -16,7 +16,6 @@ args = parser.parse_args() loglevel = logging.INFO if not args.verbose else logging.DEBUG logging.basicConfig(level=loglevel, format="%(levelname)-5s: %(name)s: %(message)s") - server = AwLaunchServer(sys.argv) client = AwQtGuiClient(sys.argv, server) sys.exit(client.start(profile=args.profile, skin=args.skin)) From 19ea82364dd6bf6eff0059030152caa583dab62e Mon Sep 17 00:00:00 2001 From: cirpue49 Date: Tue, 26 Feb 2019 19:06:52 +0900 Subject: [PATCH 023/139] apply ros clang --- .../include/anchor_mask_cuda.h | 34 +- .../lidar_point_pillars/include/common.h | 38 +- .../lidar_point_pillars/include/nms_cuda.h | 10 +- .../include/point_pillars.h | 77 +-- .../include/point_pillars_ros.h | 40 +- .../include/postprocess_cuda.h | 81 +-- .../include/preprocess_points.h | 47 +- .../include/preprocess_points_cuda.h | 46 +- .../include/scatter_cuda.h | 18 +- .../nodes/lidar_point_pillars_node.cpp | 4 +- .../nodes/point_pillars.cpp | 584 +++++++++--------- .../nodes/point_pillars_ros.cpp | 91 ++- .../nodes/preprocess_points.cpp | 145 ++--- .../test/src/test_point_pillars.cpp | 183 ++---- 14 files changed, 642 insertions(+), 756 deletions(-) mode change 100755 => 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h mode change 100755 => 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/anchor_mask_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/anchor_mask_cuda.h index ccca5cb6b6d..6a8b555422c 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/anchor_mask_cuda.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/anchor_mask_cuda.h @@ -14,15 +14,15 @@ * limitations under the License. */ - /** - * @file anchor_mask_cuda.h - * @brief Make anchor mask for filtering output - * @author Kosuke Murakami - * @date 2019/02/26 - */ +/** +* @file anchor_mask_cuda.h +* @brief Make anchor mask for filtering output +* @author Kosuke Murakami +* @date 2019/02/26 +*/ -#ifndef ANCHOR_MASK_CUDA_H -#define ANCHOR_MASK_CUDA_H +#ifndef ANCHOR_MASK_CUDA_H +#define ANCHOR_MASK_CUDA_H class AnchorMaskCuda { @@ -37,6 +37,7 @@ class AnchorMaskCuda const float PILLAR_Y_SIZE_; const int GRID_X_SIZE_; const int GRID_Y_SIZE_; + public: /** * @brief Constructor @@ -52,16 +53,9 @@ class AnchorMaskCuda * @param[in] GRID_Y_SIZE Number of pillars in y-coordinate * @details Captital variables never change after the compile */ - AnchorMaskCuda(const int NUM_INDS_FOR_SCAN, - const int NUM_ANCHOR_X_INDS, - const int NUM_ANCHOR_Y_INDS, - const int NUM_ANCHOR_R_INDS, - const float MIN_X_RANGE, - const float MIN_Y_RANGE, - const float PILLAR_X_SIZE, - const float PILLAR_Y_SIZE, - const int GRID_X_SIZE, - const int GRID_Y_SIZE); + AnchorMaskCuda(const int NUM_INDS_FOR_SCAN, const int NUM_ANCHOR_X_INDS, const int NUM_ANCHOR_Y_INDS, + const int NUM_ANCHOR_R_INDS, const float MIN_X_RANGE, const float MIN_Y_RANGE, + const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE, const int GRID_X_SIZE, const int GRID_Y_SIZE); /** * @brief call cuda code for making anchor mask @@ -77,8 +71,8 @@ class AnchorMaskCuda * @details dev_* means device memory. Make a mask for activating pillar occupancy area */ void doAnchorMaskCuda(int* dev_sparse_pillar_map, int* dev_cumsum_along_x, int* dev_cumsum_along_y, - const float* dev_box_anchors_min_x, const float* dev_box_anchors_min_y, - const float* dev_box_anchors_max_x, const float* dev_box_anchors_max_y, int* dev_anchor_mask); + const float* dev_box_anchors_min_x, const float* dev_box_anchors_min_y, + const float* dev_box_anchors_max_x, const float* dev_box_anchors_max_y, int* dev_anchor_mask); }; #endif // ANCHOR_MASK_CUDA_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/common.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/common.h index 7cf02333b4d..46e816db735 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/common.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/common.h @@ -14,32 +14,36 @@ * limitations under the License. */ - /** - * @file common.h - * @brief MACRO for CUDA codes - * @author Kosuke Murakami - * @date 2019/02/26 - */ +/** +* @file common.h +* @brief MACRO for CUDA codes +* @author Kosuke Murakami +* @date 2019/02/26 +*/ -#ifndef COMMON_H -#define COMMON_H +#ifndef COMMON_H +#define COMMON_H -//headers in STL +// headers in STL #include -//headers in CUDA +// headers in CUDA #include #define DIVUP(m, n) ((m) / (n) + ((m) % (n) > 0)) -#define GPU_CHECK(ans) { GPUAssert((ans), __FILE__, __LINE__); } -inline void GPUAssert(cudaError_t code, const char *file, int line, bool abort=true) +#define GPU_CHECK(ans) \ + { \ + GPUAssert((ans), __FILE__, __LINE__); \ + } +inline void GPUAssert(cudaError_t code, const char* file, int line, bool abort = true) { - if (code != cudaSuccess) - { - fprintf(stderr,"GPUassert: %s %s %d\n", cudaGetErrorString(code), file, line); - if (abort) exit(code); - } + if (code != cudaSuccess) + { + fprintf(stderr, "GPUassert: %s %s %d\n", cudaGetErrorString(code), file, line); + if (abort) + exit(code); + } } #endif // COMMON_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/nms_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/nms_cuda.h index 7a34abf498b..30f2a997062 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/nms_cuda.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/nms_cuda.h @@ -21,14 +21,14 @@ * @date 2019/02/26 */ -#ifndef NMS_CUDA_H -#define NMS_CUDA_H +#ifndef NMS_CUDA_H +#define NMS_CUDA_H -//heders in STL +// heders in STL #include #include -//headers in local files +// headers in local files #include "common.h" class NMSCuda @@ -54,7 +54,7 @@ class NMSCuda * @param[out] out_num_to_keep Number of keep bounding box * @details Includes CUDA NMS and postprocessing for selecting box in CPU */ - void doNMSCuda(const int host_filter_count, float* dev_sorted_box_for_nms, int* out_keep_inds, int& out_num_to_keep); + void doNMSCuda(const int host_filter_count, float* dev_sorted_box_for_nms, int* out_keep_inds, int& out_num_to_keep); }; #endif // NMS_CUDA_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h old mode 100755 new mode 100644 index b0c69147ec9..e65a5c02433 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h @@ -14,18 +14,17 @@ * limitations under the License. */ - /** - * @file point_pillars.h - * @brief Algorithm for PointPillars - * @author Kosuke Murakami - * @date 2019/02/26 - */ - +/** +* @file point_pillars.h +* @brief Algorithm for PointPillars +* @author Kosuke Murakami +* @date 2019/02/26 +*/ #ifndef POINTS_PILLAR_H #define POINTS_PILLAR_H -//headers in STL +// headers in STL #include #include #include @@ -34,11 +33,11 @@ #include #include -//headers in TensorRT +// headers in TensorRT #include "NvInfer.h" #include "NvOnnxParser.h" -//headers in local files +// headers in local files #include "common.h" #include "preprocess_points.h" #include "preprocess_points_cuda.h" @@ -46,40 +45,48 @@ #include "scatter_cuda.h" #include "postprocess_cuda.h" - // Logger for TensorRT info/warning/errors class Logger : public nvinfer1::ILogger { public: - Logger(Severity severity = Severity::kWARNING) - : reportableSeverity(severity) - { - } + Logger(Severity severity = Severity::kWARNING) : reportableSeverity(severity) + { + } + + void log(Severity severity, const char* msg) override + { + // suppress messages with severity enum value greater than the reportable + if (severity > reportableSeverity) + return; - void log(Severity severity, const char* msg) override + switch (severity) { - // suppress messages with severity enum value greater than the reportable - if (severity > reportableSeverity) - return; - - switch (severity) - { - case Severity::kINTERNAL_ERROR: std::cerr << "INTERNAL_ERROR: "; break; - case Severity::kERROR: std::cerr << "ERROR: "; break; - case Severity::kWARNING: std::cerr << "WARNING: "; break; - case Severity::kINFO: std::cerr << "INFO: "; break; - default: std::cerr << "UNKNOWN: "; break; - } - std::cerr << msg << std::endl; + case Severity::kINTERNAL_ERROR: + std::cerr << "INTERNAL_ERROR: "; + break; + case Severity::kERROR: + std::cerr << "ERROR: "; + break; + case Severity::kWARNING: + std::cerr << "WARNING: "; + break; + case Severity::kINFO: + std::cerr << "INFO: "; + break; + default: + std::cerr << "UNKNOWN: "; + break; } + std::cerr << msg << std::endl; + } - Severity reportableSeverity; + Severity reportableSeverity; }; class PointPillars { private: - //initize in initializer list + // initize in initializer list const bool reproduce_result_mode_; const float score_threshold_; const float nms_overlap_threshold_; @@ -117,8 +124,7 @@ class PointPillars const float ANCHOR_DZ_SIZE_; const int NUM_BOX_CORNERS_; const int NUM_OUTPUT_BOX_FEATURE_; - //end initializer list - + // end initializer list int host_pillar_count_[1]; @@ -182,7 +188,6 @@ class PointPillars float* dev_box_for_nms_; int* dev_filter_count_; - std::unique_ptr preprocess_points_ptr_; std::unique_ptr preprocess_points_cuda_ptr_; std::unique_ptr anchor_mask_cuda_ptr_; @@ -285,8 +290,8 @@ class PointPillars * @param[in] out_num_objects Number of output bounding box * @details This is interface for the algorithm */ - void doInference(const float* in_points_array, const int in_num_points, - std::vector& out_detection, int& out_num_objects); + void doInference(const float* in_points_array, const int in_num_points, std::vector& out_detection, + int& out_num_objects); }; #endif // POINTS_PILLAR_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h old mode 100755 new mode 100644 index e0b1e1bd53c..8a40722a896 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h @@ -14,38 +14,37 @@ * limitations under the License. */ - /** - * @file point_pillars_ros.h - * @brief ROS interface for PointPillars - * @author Kosuke Murakami - * @date 2019/02/26 - */ +/** +* @file point_pillars_ros.h +* @brief ROS interface for PointPillars +* @author Kosuke Murakami +* @date 2019/02/26 +*/ #ifndef POINTS_PILLAR_ROS_H #define POINTS_PILLAR_ROS_H -//headers in STL +// headers in STL #include #include -//headers in ROS +// headers in ROS #include #include #include -//headers in PCL +// headers in PCL #include -//headers in local files +// headers in local files #include "point_pillars.h" - class PointPillarsROS { private: friend class TestClass; - //initializer list + // initializer list ros::NodeHandle private_nh_; bool has_subscribed_baselink_; const int NUM_POINT_FEATURE_; @@ -53,16 +52,16 @@ class PointPillarsROS const float TRAINED_SENSOR_HEIGHT_; const float NORMALIZING_INTENSITY_VALUE_; const std::string BASELINK_FRAME_; - //end initializer list + // end initializer list - //rosparam + // rosparam bool baselink_support_; bool reproduce_result_mode_; float score_threshold_; float nms_overlap_threshold_; std::string pfe_onnx_file_; std::string rpn_onnx_file_; - //end rosparam + // end rosparam ros::NodeHandle nh_; ros::Subscriber sub_points_; @@ -73,8 +72,6 @@ class PointPillarsROS tf::Transform angle_transform_; tf::Transform angle_transform_inversed_; - - float offset_z_from_trained_data_; std::unique_ptr point_pillars_ptr_; @@ -100,8 +97,7 @@ class PointPillarsROS * @return geometry_msgs::Pose Transformed pose * @details Calculate transformed pose */ - geometry_msgs::Pose getTransformedPose(const geometry_msgs::Pose& in_pose, - const tf::Transform& tf); + geometry_msgs::Pose getTransformedPose(const geometry_msgs::Pose& in_pose, const tf::Transform& tf); /** * @brief callback for pointcloud @@ -117,7 +113,8 @@ class PointPillarsROS * @param[in] offset_z (default: 1.0) when using baselink_support, offset height based on current sensor configuration * @details convert pcl points to c++ array, plus offset z if it is necessary */ - void pclToArray(const pcl::PointCloud::Ptr & in_pcl_pc_ptr, float* out_points_array, const float offset_z = 0); + void pclToArray(const pcl::PointCloud::Ptr& in_pcl_pc_ptr, float* out_points_array, + const float offset_z = 0); /** * @brief publish DetectedObject @@ -126,7 +123,8 @@ class PointPillarsROS * @param[in] pc_header Header from pointcloud * @details Convert std::vector to DetectedObject, and publish them */ - void pubDetectedObject(const std::vector& detections, const int num_objects, const std_msgs::Header& pc_header); + void pubDetectedObject(const std::vector& detections, const int num_objects, + const std_msgs::Header& pc_header); public: PointPillarsROS(); diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h index 3768c040499..b60a427ca3f 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h @@ -14,21 +14,21 @@ * limitations under the License. */ - /** - * @file postprocess_cuda.h - * @brief Postprocess for network output - * @author Kosuke Murakami - * @date 2019/02/26 - */ +/** +* @file postprocess_cuda.h +* @brief Postprocess for network output +* @author Kosuke Murakami +* @date 2019/02/26 +*/ -#ifndef POSTPROCESS_CUDA_H -#define POSTPROCESS_CUDA_H +#ifndef POSTPROCESS_CUDA_H +#define POSTPROCESS_CUDA_H -//headers in STL +// headers in STL #include #include -//headers in local files +// headers in local files #include "nms_cuda.h" class PostprocessCuda @@ -62,38 +62,39 @@ class PostprocessCuda * @param[in] NUM_OUTPUT_BOX_FEATURE_ Number of output box's feature * @details Captital variables never change after the compile, non-capital variables could be chaned through rosparam */ - PostprocessCuda(const float FLOAT_MIN, const float FLOAT_MAX, - const int NUM_ANCHOR_X_INDS, const int NUM_ANCHOR_Y_INDS, const int NUM_ANCHOR_R_INDS, - const float score_threshold, const int NUM_THREADS, const float nms_overlap_threshold, - const int NUM_BOX_CORNERS, const int NUM_OUTPUT_BOX_FEATURE); + PostprocessCuda(const float FLOAT_MIN, const float FLOAT_MAX, const int NUM_ANCHOR_X_INDS, + const int NUM_ANCHOR_Y_INDS, const int NUM_ANCHOR_R_INDS, const float score_threshold, + const int NUM_THREADS, const float nms_overlap_threshold, const int NUM_BOX_CORNERS, + const int NUM_OUTPUT_BOX_FEATURE); - /** - * @brief Postprocessing for the network output - * @param[in] rpn_box_output Box prediction from the network output - * @param[in] rpn_cls_output Class prediction from the network output - * @param[in] rpn_dir_output Direction prediction from the network output - * @param[in] dev_anchor_mask Anchor mask for filtering - * @param[in] dev_anchors_px X-coordinate value for corresponding anchor - * @param[in] dev_anchors_py Y-coordinate value for corresponding anchor - * @param[in] dev_anchors_pz Z-coordinate value for corresponding anchor - * @param[in] dev_anchors_dx X-dimension value for corresponding anchor - * @param[in] dev_anchors_dy Y-dimension value for corresponding anchor - * @param[in] dev_anchors_dz Z-dimension value for corresponding anchor - * @param[in] dev_anchors_ro Rotation value for corresponding anchor - * @param[in] dev_filtered_box Filtered box prediction - * @param[in] dev_filtered_score Filtered score prediction - * @param[in] dev_filtered_dir Filtered direction prediction - * @param[in] dev_box_for_nms Decoded box from pose and dimension to min_x min_y max_x max_y represenation for nms - * @param[in] dev_filter_count The number of filtered output - * @param[out] out_detection Output bounding boxes - * @param[out] out_num_objects The number of output bounding boxes - * @details dev_* represents device memory allocated variables - */ + /** + * @brief Postprocessing for the network output + * @param[in] rpn_box_output Box prediction from the network output + * @param[in] rpn_cls_output Class prediction from the network output + * @param[in] rpn_dir_output Direction prediction from the network output + * @param[in] dev_anchor_mask Anchor mask for filtering + * @param[in] dev_anchors_px X-coordinate value for corresponding anchor + * @param[in] dev_anchors_py Y-coordinate value for corresponding anchor + * @param[in] dev_anchors_pz Z-coordinate value for corresponding anchor + * @param[in] dev_anchors_dx X-dimension value for corresponding anchor + * @param[in] dev_anchors_dy Y-dimension value for corresponding anchor + * @param[in] dev_anchors_dz Z-dimension value for corresponding anchor + * @param[in] dev_anchors_ro Rotation value for corresponding anchor + * @param[in] dev_filtered_box Filtered box prediction + * @param[in] dev_filtered_score Filtered score prediction + * @param[in] dev_filtered_dir Filtered direction prediction + * @param[in] dev_box_for_nms Decoded box from pose and dimension to min_x min_y max_x max_y represenation for nms + * @param[in] dev_filter_count The number of filtered output + * @param[out] out_detection Output bounding boxes + * @param[out] out_num_objects The number of output bounding boxes + * @details dev_* represents device memory allocated variables + */ void doPostprocessCuda(const float* rpn_box_output, const float* rpn_cls_output, const float* rpn_dir_output, - int* dev_anchor_mask, const float* dev_anchors_px, const float* dev_anchors_py, const float* dev_anchors_pz, - const float* dev_anchors_dx, const float* dev_anchors_dy, const float* dev_anchors_dz, const float* dev_anchors_ro, - float* dev_filtered_box, float* dev_filtered_score, int* dev_filtered_dir, float* dev_box_for_nms, int* dev_filter_count, - std::vector& out_detection, int& out_num_objects); + int* dev_anchor_mask, const float* dev_anchors_px, const float* dev_anchors_py, + const float* dev_anchors_pz, const float* dev_anchors_dx, const float* dev_anchors_dy, + const float* dev_anchors_dz, const float* dev_anchors_ro, float* dev_filtered_box, + float* dev_filtered_score, int* dev_filtered_dir, float* dev_box_for_nms, + int* dev_filter_count, std::vector& out_detection, int& out_num_objects); }; #endif // POSTPROCESS_CUDA_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points.h index 426dd50e714..b8b361db22e 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points.h @@ -14,18 +14,16 @@ * limitations under the License. */ - /** - * @file preprocess_points.h - * @brief CPU version of preprocess points - * @author Kosuke Murakami - * @date 2019/02/26 - */ +/** +* @file preprocess_points.h +* @brief CPU version of preprocess points +* @author Kosuke Murakami +* @date 2019/02/26 +*/ #ifndef PREPROCESS_POINTS_H #define PREPROCESS_POINTS_H - - class PreprocessPoints { private: @@ -44,7 +42,6 @@ class PreprocessPoints const int NUM_INDS_FOR_SCAN_; const int NUM_BOX_CORNERS_; - public: /** * @brief Constructor @@ -63,19 +60,10 @@ class PreprocessPoints * @param[in] NUM_BOX_CORNERS Number of box's corner * @details Captital variables never change after the compile */ - PreprocessPoints(const int MAX_NUM_PILLARS, - const int MAX_POINTS_PER_PILLAR, - const int GRID_X_SIZE, - const int GRID_Y_SIZE, - const int GRID_Z_SIZE, - const float PILLAR_X_SIZE, - const float PILLAR_Y_SIZE, - const float PILLAR_Z_SIZE, - const float MIN_X_RANGE, - const float MIN_Y_RANGE, - const float MIN_Z_RANGE, - const int NUM_INDS_FOR_SCAN, - const int NUM_BOX_CORNERS); + PreprocessPoints(const int MAX_NUM_PILLARS, const int MAX_POINTS_PER_PILLAR, const int GRID_X_SIZE, + const int GRID_Y_SIZE, const int GRID_Z_SIZE, const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE, + const float PILLAR_Z_SIZE, const float MIN_X_RANGE, const float MIN_Y_RANGE, const float MIN_Z_RANGE, + const int NUM_INDS_FOR_SCAN, const int NUM_BOX_CORNERS); /** * @brief CPU preprocessing for input pointcloud @@ -95,11 +83,10 @@ class PreprocessPoints * @param[in] host_pillar_count The numnber of valid pillars for the input pointcloud * @details Convert pointcloud to pillar representation */ - void preprocess(const float* in_points_array, int in_num_points, - int* x_coors, int* y_coors, float* num_points_per_pillar, - float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, - float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, - float* pillar_feature_mask, float* sparse_pillar_map, int* host_pillar_count); + void preprocess(const float* in_points_array, int in_num_points, int* x_coors, int* y_coors, + float* num_points_per_pillar, float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, + float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, float* pillar_feature_mask, + float* sparse_pillar_map, int* host_pillar_count); /** * @brief Initializing variables for preprocessing @@ -113,9 +100,9 @@ class PreprocessPoints * @param[in] y_coors_for_sub_shaped Used for y substraction in the network * @details Initializeing input arguments with certain values */ - void initializeVariables(int* coor_to_pillaridx, float* sparse_pillar_map, - float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, - float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped); + void initializeVariables(int* coor_to_pillaridx, float* sparse_pillar_map, float* pillar_x, float* pillar_y, + float* pillar_z, float* pillar_i, float* x_coors_for_sub_shaped, + float* y_coors_for_sub_shaped); }; #endif // PREPROCESS_POINTS_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points_cuda.h index 7a4dd8420d2..710a14a87c3 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points_cuda.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points_cuda.h @@ -14,22 +14,20 @@ * limitations under the License. */ - /** - * @file preprocess_points_cuda.h - * @brief GPU version of preprocess points - * @author Kosuke Murakami - * @date 2019/02/26 - */ - - -#ifndef PREPROCESS_POINTS_CUDA_H -#define PREPROCESS_POINTS_CUDA_H +/** +* @file preprocess_points_cuda.h +* @brief GPU version of preprocess points +* @author Kosuke Murakami +* @date 2019/02/26 +*/ +#ifndef PREPROCESS_POINTS_CUDA_H +#define PREPROCESS_POINTS_CUDA_H class PreprocessPointsCuda { private: - //initialzer list + // initialzer list const int NUM_THREADS_; const int MAX_NUM_PILLARS_; const int MAX_NUM_POINTS_PER_PILLAR_; @@ -43,7 +41,7 @@ class PreprocessPointsCuda const float MIN_X_RANGE_; const float MIN_Y_RANGE_; const float MIN_Z_RANGE_; - //end initalizer list + // end initalizer list float* dev_pillar_x_in_coors_; float* dev_pillar_y_in_coors_; @@ -74,19 +72,10 @@ class PreprocessPointsCuda * @param[in] MIN_Z_RANGE Minimum z value for pointcloud * @details Captital variables never change after the compile */ - PreprocessPointsCuda(const int NUM_THREADS, - const int MAX_NUM_PILLARS, - const int MAX_POINTS_PER_PILLAR, - const int NUM_INDS_FOR_SCAN, - const int GRID_X_SIZE, - const int GRID_Y_SIZE, - const int GRID_Z_SIZE, - const float PILLAR_X_SIZE, - const float PILLAR_Y_SIZE, - const float PILLAR_Z_SIZE, - const float MIN_X_RANGE, - const float MIN_Y_RANGE, - const float MIN_Z_RANGE); + PreprocessPointsCuda(const int NUM_THREADS, const int MAX_NUM_PILLARS, const int MAX_POINTS_PER_PILLAR, + const int NUM_INDS_FOR_SCAN, const int GRID_X_SIZE, const int GRID_Y_SIZE, const int GRID_Z_SIZE, + const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE, const float PILLAR_Z_SIZE, + const float MIN_X_RANGE, const float MIN_Y_RANGE, const float MIN_Z_RANGE); ~PreprocessPointsCuda(); /** @@ -108,9 +97,10 @@ class PreprocessPointsCuda * @details Convert pointcloud to pillar representation */ void doPreprocessPointsCuda(const float* dev_points, const int in_num_points, int* dev_x_coors, int* dev_y_coors, - float* dev_num_points_per_pillar, float* dev_pillar_x, float* dev_pillar_y, float* dev_pillar_z, float* dev_pillar_i, - float* dev_x_coors_for_sub_shaped, float* dev_y_coors_for_sub_shaped, - float* dev_pillar_feature_mask, int* dev_sparse_pillar_map, int* host_pillar_count); + float* dev_num_points_per_pillar, float* dev_pillar_x, float* dev_pillar_y, + float* dev_pillar_z, float* dev_pillar_i, float* dev_x_coors_for_sub_shaped, + float* dev_y_coors_for_sub_shaped, float* dev_pillar_feature_mask, + int* dev_sparse_pillar_map, int* host_pillar_count); }; #endif // PREPROCESS_POINTS_CUDA_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/scatter_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/scatter_cuda.h index 24e4f0b79dc..1c955a3a65d 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/scatter_cuda.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/scatter_cuda.h @@ -14,15 +14,15 @@ * limitations under the License. */ - /** - * @file scatter_cuda.h - * @brief CUDA code for scatter operation - * @author Kosuke Murakami - * @date 2019/02/26 - */ +/** +* @file scatter_cuda.h +* @brief CUDA code for scatter operation +* @author Kosuke Murakami +* @date 2019/02/26 +*/ -#ifndef SCATTERCUDA_H -#define SCATTERCUDA_H +#ifndef SCATTERCUDA_H +#define SCATTERCUDA_H class ScatterCuda { @@ -52,7 +52,7 @@ class ScatterCuda * @param[out] scattered_feature Gridmap representation for pillars' feature * @details Allocate pillars in gridmap based on index(coordinates) information */ - void doScatterCuda(const int pillar_count, int *x_coors, int *y_coors, float *pfe_output, float *scattered_feature); + void doScatterCuda(const int pillar_count, int* x_coors, int* y_coors, float* pfe_output, float* scattered_feature); }; #endif // SCATTERCUDA_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/lidar_point_pillars_node.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/lidar_point_pillars_node.cpp index 36617dd472b..8faa0bede56 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/lidar_point_pillars_node.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/lidar_point_pillars_node.cpp @@ -14,10 +14,10 @@ * limitations under the License. */ -//headers in STL +// headers in STL #include -//headers in local files +// headers in local files #include "point_pillars_ros.h" int main(int argc, char** argv) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp index 767008e2788..117fb5c2a5e 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp @@ -14,57 +14,57 @@ * limitations under the License. */ - -//headers in STL +// headers in STL #include #include -//headers in ROS +// headers in ROS #include -//headers in local files +// headers in local files #include "point_pillars.h" - -PointPillars::PointPillars(const bool reproduce_result_mode, const float score_threshold, const float nms_overlap_threshold, - const std::string pfe_onnx_file, const std::string rpn_onnx_file): -reproduce_result_mode_(reproduce_result_mode), -score_threshold_(score_threshold), -nms_overlap_threshold_(nms_overlap_threshold), -pfe_onnx_file_(pfe_onnx_file), -rpn_onnx_file_(rpn_onnx_file), -MAX_NUM_PILLARS_(12000), -MAX_NUM_POINTS_PER_PILLAR_(100), -PFE_OUTPUT_SIZE_(MAX_NUM_PILLARS_*64), -GRID_X_SIZE_(432), -GRID_Y_SIZE_(496), -GRID_Z_SIZE_(1), -RPN_INPUT_SIZE_(64*GRID_X_SIZE_*GRID_Y_SIZE_), -NUM_ANCHOR_X_INDS_(GRID_X_SIZE_*0.5), -NUM_ANCHOR_Y_INDS_(GRID_Y_SIZE_*0.5), -NUM_ANCHOR_R_INDS_(2), -NUM_ANCHOR_(NUM_ANCHOR_X_INDS_*NUM_ANCHOR_Y_INDS_*NUM_ANCHOR_R_INDS_), -RPN_BOX_OUTPUT_SIZE_(NUM_ANCHOR_*7) , -RPN_CLS_OUTPUT_SIZE_(NUM_ANCHOR_), -RPN_DIR_OUTPUT_SIZE_(NUM_ANCHOR_*2), -PILLAR_X_SIZE_(0.16), -PILLAR_Y_SIZE_(0.16), -PILLAR_Z_SIZE_(4.0), -MIN_X_RANGE_(0.0), -MIN_Y_RANGE_(-39.68), -MIN_Z_RANGE_(-3.0), -MAX_X_RANGE_(69.12), -MAX_Y_RANGE_(39.68), -MAX_Z_RANGE_(1), -BATCH_SIZE_(1), -NUM_INDS_FOR_SCAN_(512), -NUM_THREADS_(64),//if you chancge NUM_THREADS_, need to modify nms_kernel's shared mempry size -SENSOR_HEIGHT_(1.73), -ANCHOR_DX_SIZE_(1.6), -ANCHOR_DY_SIZE_(3.9), -ANCHOR_DZ_SIZE_(1.56), -NUM_BOX_CORNERS_(4), -NUM_OUTPUT_BOX_FEATURE_(7) +PointPillars::PointPillars(const bool reproduce_result_mode, const float score_threshold, + const float nms_overlap_threshold, const std::string pfe_onnx_file, + const std::string rpn_onnx_file) + : reproduce_result_mode_(reproduce_result_mode) + , score_threshold_(score_threshold) + , nms_overlap_threshold_(nms_overlap_threshold) + , pfe_onnx_file_(pfe_onnx_file) + , rpn_onnx_file_(rpn_onnx_file) + , MAX_NUM_PILLARS_(12000) + , MAX_NUM_POINTS_PER_PILLAR_(100) + , PFE_OUTPUT_SIZE_(MAX_NUM_PILLARS_ * 64) + , GRID_X_SIZE_(432) + , GRID_Y_SIZE_(496) + , GRID_Z_SIZE_(1) + , RPN_INPUT_SIZE_(64 * GRID_X_SIZE_ * GRID_Y_SIZE_) + , NUM_ANCHOR_X_INDS_(GRID_X_SIZE_ * 0.5) + , NUM_ANCHOR_Y_INDS_(GRID_Y_SIZE_ * 0.5) + , NUM_ANCHOR_R_INDS_(2) + , NUM_ANCHOR_(NUM_ANCHOR_X_INDS_ * NUM_ANCHOR_Y_INDS_ * NUM_ANCHOR_R_INDS_) + , RPN_BOX_OUTPUT_SIZE_(NUM_ANCHOR_ * 7) + , RPN_CLS_OUTPUT_SIZE_(NUM_ANCHOR_) + , RPN_DIR_OUTPUT_SIZE_(NUM_ANCHOR_ * 2) + , PILLAR_X_SIZE_(0.16) + , PILLAR_Y_SIZE_(0.16) + , PILLAR_Z_SIZE_(4.0) + , MIN_X_RANGE_(0.0) + , MIN_Y_RANGE_(-39.68) + , MIN_Z_RANGE_(-3.0) + , MAX_X_RANGE_(69.12) + , MAX_Y_RANGE_(39.68) + , MAX_Z_RANGE_(1) + , BATCH_SIZE_(1) + , NUM_INDS_FOR_SCAN_(512) + , NUM_THREADS_(64) + , // if you chancge NUM_THREADS_, need to modify nms_kernel's shared mempry size + SENSOR_HEIGHT_(1.73) + , ANCHOR_DX_SIZE_(1.6) + , ANCHOR_DY_SIZE_(3.9) + , ANCHOR_DZ_SIZE_(1.56) + , NUM_BOX_CORNERS_(4) + , NUM_OUTPUT_BOX_FEATURE_(7) { anchors_px_ = new float[NUM_ANCHOR_]; anchors_py_ = new float[NUM_ANCHOR_]; @@ -78,76 +78,31 @@ NUM_OUTPUT_BOX_FEATURE_(7) box_anchors_max_x_ = new float[NUM_ANCHOR_]; box_anchors_max_y_ = new float[NUM_ANCHOR_]; - - if(reproduce_result_mode_) + if (reproduce_result_mode_) { - preprocess_points_ptr_.reset(new PreprocessPoints( - MAX_NUM_PILLARS_, - MAX_NUM_POINTS_PER_PILLAR_, - GRID_X_SIZE_, - GRID_Y_SIZE_, - GRID_Z_SIZE_, - PILLAR_X_SIZE_, - PILLAR_Y_SIZE_, - PILLAR_Z_SIZE_, - MIN_X_RANGE_, - MIN_Y_RANGE_, - MIN_Z_RANGE_, - NUM_INDS_FOR_SCAN_, - NUM_BOX_CORNERS_)); + preprocess_points_ptr_.reset(new PreprocessPoints(MAX_NUM_PILLARS_, MAX_NUM_POINTS_PER_PILLAR_, GRID_X_SIZE_, + GRID_Y_SIZE_, GRID_Z_SIZE_, PILLAR_X_SIZE_, PILLAR_Y_SIZE_, + PILLAR_Z_SIZE_, MIN_X_RANGE_, MIN_Y_RANGE_, MIN_Z_RANGE_, + NUM_INDS_FOR_SCAN_, NUM_BOX_CORNERS_)); } else { preprocess_points_cuda_ptr_.reset(new PreprocessPointsCuda( - NUM_THREADS_, - MAX_NUM_PILLARS_, - MAX_NUM_POINTS_PER_PILLAR_, - NUM_INDS_FOR_SCAN_, - GRID_X_SIZE_, - GRID_Y_SIZE_, - GRID_Z_SIZE_, - PILLAR_X_SIZE_, - PILLAR_Y_SIZE_, - PILLAR_Z_SIZE_, - MIN_X_RANGE_, - MIN_Y_RANGE_, - MIN_Z_RANGE_)); + NUM_THREADS_, MAX_NUM_PILLARS_, MAX_NUM_POINTS_PER_PILLAR_, NUM_INDS_FOR_SCAN_, GRID_X_SIZE_, GRID_Y_SIZE_, + GRID_Z_SIZE_, PILLAR_X_SIZE_, PILLAR_Y_SIZE_, PILLAR_Z_SIZE_, MIN_X_RANGE_, MIN_Y_RANGE_, MIN_Z_RANGE_)); } - anchor_mask_cuda_ptr_.reset(new AnchorMaskCuda( - NUM_INDS_FOR_SCAN_, - NUM_ANCHOR_X_INDS_, - NUM_ANCHOR_Y_INDS_, - NUM_ANCHOR_R_INDS_, - MIN_X_RANGE_, - MIN_Y_RANGE_, - PILLAR_X_SIZE_, - PILLAR_Y_SIZE_, - GRID_X_SIZE_, - GRID_Y_SIZE_ - )); - - scatter_cuda_ptr_.reset(new ScatterCuda( - NUM_THREADS_, - MAX_NUM_PILLARS_, - GRID_X_SIZE_, - GRID_Y_SIZE_ - )); + anchor_mask_cuda_ptr_.reset(new AnchorMaskCuda(NUM_INDS_FOR_SCAN_, NUM_ANCHOR_X_INDS_, NUM_ANCHOR_Y_INDS_, + NUM_ANCHOR_R_INDS_, MIN_X_RANGE_, MIN_Y_RANGE_, PILLAR_X_SIZE_, + PILLAR_Y_SIZE_, GRID_X_SIZE_, GRID_Y_SIZE_)); + + scatter_cuda_ptr_.reset(new ScatterCuda(NUM_THREADS_, MAX_NUM_PILLARS_, GRID_X_SIZE_, GRID_Y_SIZE_)); const float FLOAT_MIN = std::numeric_limits::lowest(); const float FLOAT_MAX = std::numeric_limits::max(); - postprocess_cuda_ptr_.reset(new PostprocessCuda( - FLOAT_MIN, - FLOAT_MAX, - NUM_ANCHOR_X_INDS_, - NUM_ANCHOR_Y_INDS_, - NUM_ANCHOR_R_INDS_, - score_threshold_, - NUM_THREADS_, - nms_overlap_threshold_, - NUM_BOX_CORNERS_, - NUM_OUTPUT_BOX_FEATURE_ - )); + postprocess_cuda_ptr_.reset(new PostprocessCuda(FLOAT_MIN, FLOAT_MAX, NUM_ANCHOR_X_INDS_, NUM_ANCHOR_Y_INDS_, + NUM_ANCHOR_R_INDS_, score_threshold_, NUM_THREADS_, + nms_overlap_threshold_, NUM_BOX_CORNERS_, NUM_OUTPUT_BOX_FEATURE_)); deviceMemoryMalloc(); initTRT(); @@ -156,7 +111,6 @@ NUM_OUTPUT_BOX_FEATURE_(7) PointPillars::~PointPillars() { - delete[] anchors_px_; delete[] anchors_py_; delete[] anchors_pz_; @@ -185,9 +139,9 @@ PointPillars::~PointPillars() GPU_CHECK(cudaFree(dev_pillar_z_)); GPU_CHECK(cudaFree(dev_pillar_i_)); - GPU_CHECK(cudaFree( dev_x_coors_for_sub_shaped_ )); - GPU_CHECK(cudaFree( dev_y_coors_for_sub_shaped_ )); - GPU_CHECK(cudaFree( dev_pillar_feature_mask_ )); + GPU_CHECK(cudaFree(dev_x_coors_for_sub_shaped_)); + GPU_CHECK(cudaFree(dev_y_coors_for_sub_shaped_)); + GPU_CHECK(cudaFree(dev_pillar_feature_mask_)); GPU_CHECK(cudaFree(dev_cumsum_along_x_)); GPU_CHECK(cudaFree(dev_cumsum_along_y_)); @@ -208,7 +162,6 @@ PointPillars::~PointPillars() GPU_CHECK(cudaFree(pfe_buffers_[7])); GPU_CHECK(cudaFree(pfe_buffers_[8])); - GPU_CHECK(cudaFree(rpn_buffers_[0])); GPU_CHECK(cudaFree(rpn_buffers_[1])); GPU_CHECK(cudaFree(rpn_buffers_[2])); @@ -229,8 +182,6 @@ PointPillars::~PointPillars() GPU_CHECK(cudaFree(dev_box_for_nms_)); GPU_CHECK(cudaFree(dev_filter_count_)); - - pfe_context_->destroy(); rpn_context_->destroy(); @@ -242,40 +193,43 @@ PointPillars::~PointPillars() void PointPillars::deviceMemoryMalloc() { - GPU_CHECK(cudaMalloc((void**)&dev_pillar_x_in_coors_, GRID_Y_SIZE_*GRID_X_SIZE_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_y_in_coors_, GRID_Y_SIZE_*GRID_X_SIZE_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_z_in_coors_, GRID_Y_SIZE_*GRID_X_SIZE_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_i_in_coors_, GRID_Y_SIZE_*GRID_X_SIZE_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_count_histo_, GRID_Y_SIZE_*GRID_X_SIZE_*sizeof(int))); - - GPU_CHECK(cudaMalloc((void**)&dev_x_coors_, MAX_NUM_PILLARS_* sizeof(int))); - GPU_CHECK(cudaMalloc((void**)&dev_y_coors_, MAX_NUM_PILLARS_* sizeof(int))); - GPU_CHECK(cudaMalloc((void**)&dev_num_points_per_pillar_, MAX_NUM_PILLARS_*sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_sparse_pillar_map_,NUM_INDS_FOR_SCAN_*NUM_INDS_FOR_SCAN_*sizeof(int))); - - - GPU_CHECK(cudaMalloc((void**)&dev_pillar_x_, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_y_, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_z_, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_i_, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); - - - GPU_CHECK(cudaMalloc((void**)&dev_x_coors_for_sub_shaped_, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_y_coors_for_sub_shaped_, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_feature_mask_, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); - - //cumsum kernel - GPU_CHECK(cudaMalloc((void**)&dev_cumsum_along_x_, NUM_INDS_FOR_SCAN_*NUM_INDS_FOR_SCAN_*sizeof(int))); - GPU_CHECK(cudaMalloc((void**)&dev_cumsum_along_y_, NUM_INDS_FOR_SCAN_*NUM_INDS_FOR_SCAN_*sizeof(int))); - + GPU_CHECK(cudaMalloc((void**)&dev_pillar_x_in_coors_, + GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_y_in_coors_, + GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_z_in_coors_, + GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_i_in_coors_, + GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_count_histo_, GRID_Y_SIZE_ * GRID_X_SIZE_ * sizeof(int))); + + GPU_CHECK(cudaMalloc((void**)&dev_x_coors_, MAX_NUM_PILLARS_ * sizeof(int))); + GPU_CHECK(cudaMalloc((void**)&dev_y_coors_, MAX_NUM_PILLARS_ * sizeof(int))); + GPU_CHECK(cudaMalloc((void**)&dev_num_points_per_pillar_, MAX_NUM_PILLARS_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_sparse_pillar_map_, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int))); + + GPU_CHECK(cudaMalloc((void**)&dev_pillar_x_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_y_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_z_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_i_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + + GPU_CHECK( + cudaMalloc((void**)&dev_x_coors_for_sub_shaped_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK( + cudaMalloc((void**)&dev_y_coors_for_sub_shaped_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK( + cudaMalloc((void**)&dev_pillar_feature_mask_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + + // cumsum kernel + GPU_CHECK(cudaMalloc((void**)&dev_cumsum_along_x_, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int))); + GPU_CHECK(cudaMalloc((void**)&dev_cumsum_along_y_, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int))); // for make anchor mask kernel - GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_min_x_, NUM_ANCHOR_*sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_min_y_, NUM_ANCHOR_*sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_max_x_, NUM_ANCHOR_*sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_max_y_, NUM_ANCHOR_*sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_anchor_mask_, NUM_ANCHOR_*sizeof(int))); - + GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_min_x_, NUM_ANCHOR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_min_y_, NUM_ANCHOR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_max_x_, NUM_ANCHOR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_box_anchors_max_y_, NUM_ANCHOR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_anchor_mask_, NUM_ANCHOR_ * sizeof(int))); // for trt inference // create GPU buffers and a stream @@ -295,27 +249,27 @@ void PointPillars::deviceMemoryMalloc() GPU_CHECK(cudaMalloc(&rpn_buffers_[3], RPN_DIR_OUTPUT_SIZE_ * sizeof(float))); // for scatter kernel - GPU_CHECK(cudaMalloc((void**)&dev_scattered_feature_, 64*GRID_Y_SIZE_*GRID_X_SIZE_*sizeof(float) ) ); - - //for filter - GPU_CHECK(cudaMalloc((void**)&dev_anchors_px_, NUM_ANCHOR_*sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_anchors_py_, NUM_ANCHOR_*sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_anchors_pz_, NUM_ANCHOR_*sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_anchors_dx_, NUM_ANCHOR_*sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_anchors_dy_, NUM_ANCHOR_*sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_anchors_dz_, NUM_ANCHOR_*sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_anchors_ro_, NUM_ANCHOR_*sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_filtered_box_, NUM_ANCHOR_*7*sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_filtered_score_, NUM_ANCHOR_*sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_filtered_dir_, NUM_ANCHOR_*sizeof(int))); - GPU_CHECK(cudaMalloc((void**)&dev_box_for_nms_, NUM_ANCHOR_*4*sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_scattered_feature_, 64 * GRID_Y_SIZE_ * GRID_X_SIZE_ * sizeof(float))); + + // for filter + GPU_CHECK(cudaMalloc((void**)&dev_anchors_px_, NUM_ANCHOR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_anchors_py_, NUM_ANCHOR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_anchors_pz_, NUM_ANCHOR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_anchors_dx_, NUM_ANCHOR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_anchors_dy_, NUM_ANCHOR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_anchors_dz_, NUM_ANCHOR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_anchors_ro_, NUM_ANCHOR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_filtered_box_, NUM_ANCHOR_ * 7 * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_filtered_score_, NUM_ANCHOR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_filtered_dir_, NUM_ANCHOR_ * sizeof(int))); + GPU_CHECK(cudaMalloc((void**)&dev_box_for_nms_, NUM_ANCHOR_ * 4 * sizeof(float))); GPU_CHECK(cudaMalloc((void**)&dev_filter_count_, sizeof(int))); } void PointPillars::initAnchors() { // zero clear - for(size_t i = 0; i < NUM_ANCHOR_; i++) + for (size_t i = 0; i < NUM_ANCHOR_; i++) { anchors_px_[i] = 0; anchors_py_[i] = 0; @@ -330,36 +284,36 @@ void PointPillars::initAnchors() box_anchors_max_y_[i] = 0; } - float x_stride = PILLAR_X_SIZE_*2; - float y_stride = PILLAR_Y_SIZE_*2; + float x_stride = PILLAR_X_SIZE_ * 2; + float y_stride = PILLAR_Y_SIZE_ * 2; float x_offset = MIN_X_RANGE_ + PILLAR_X_SIZE_; float y_offset = MIN_Y_RANGE_ + PILLAR_Y_SIZE_; - float anchor_x_count[NUM_ANCHOR_X_INDS_] = {0}; - for(size_t i = 0; i < NUM_ANCHOR_X_INDS_; i++) + float anchor_x_count[NUM_ANCHOR_X_INDS_] = { 0 }; + for (size_t i = 0; i < NUM_ANCHOR_X_INDS_; i++) { - anchor_x_count[i] = float(i)*x_stride + x_offset; + anchor_x_count[i] = float(i) * x_stride + x_offset; } - float anchor_y_count[NUM_ANCHOR_Y_INDS_] = {0}; - for(size_t i = 0; i < NUM_ANCHOR_Y_INDS_; i++) + float anchor_y_count[NUM_ANCHOR_Y_INDS_] = { 0 }; + for (size_t i = 0; i < NUM_ANCHOR_Y_INDS_; i++) { - anchor_y_count[i] = float(i)*y_stride + y_offset; + anchor_y_count[i] = float(i) * y_stride + y_offset; } - float anchor_r_count[NUM_ANCHOR_R_INDS_] = {0, M_PI/2}; + float anchor_r_count[NUM_ANCHOR_R_INDS_] = { 0, M_PI / 2 }; // np.meshgrid - for(size_t y= 0; y < NUM_ANCHOR_Y_INDS_; y++) + for (size_t y = 0; y < NUM_ANCHOR_Y_INDS_; y++) { - for(size_t x = 0; x < NUM_ANCHOR_X_INDS_; x++) + for (size_t x = 0; x < NUM_ANCHOR_X_INDS_; x++) { - for(size_t r=0 ; r < NUM_ANCHOR_R_INDS_; r++) + for (size_t r = 0; r < NUM_ANCHOR_R_INDS_; r++) { - int ind = y*NUM_ANCHOR_X_INDS_*NUM_ANCHOR_R_INDS_ + x*NUM_ANCHOR_R_INDS_ + r; + int ind = y * NUM_ANCHOR_X_INDS_ * NUM_ANCHOR_R_INDS_ + x * NUM_ANCHOR_R_INDS_ + r; anchors_px_[ind] = anchor_x_count[x]; anchors_py_[ind] = anchor_y_count[y]; anchors_ro_[ind] = anchor_r_count[r]; - anchors_pz_[ind] = -1*SENSOR_HEIGHT_; + anchors_pz_[ind] = -1 * SENSOR_HEIGHT_; anchors_dx_[ind] = ANCHOR_DX_SIZE_; anchors_dy_[ind] = ANCHOR_DY_SIZE_; anchors_dz_[ind] = ANCHOR_DZ_SIZE_; @@ -373,49 +327,51 @@ void PointPillars::initAnchors() void PointPillars::putAnchorsInDeviceMemory() { - GPU_CHECK(cudaMemcpy(dev_box_anchors_min_x_, box_anchors_min_x_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice ) ); - GPU_CHECK(cudaMemcpy(dev_box_anchors_min_y_, box_anchors_min_y_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice ) ); - GPU_CHECK(cudaMemcpy(dev_box_anchors_max_x_, box_anchors_max_x_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice ) ); - GPU_CHECK(cudaMemcpy(dev_box_anchors_max_y_, box_anchors_max_y_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice ) ); - - GPU_CHECK(cudaMemcpy(dev_anchors_px_, anchors_px_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_anchors_py_, anchors_py_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_anchors_pz_, anchors_pz_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_anchors_dx_, anchors_dx_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_anchors_dy_, anchors_dy_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_anchors_dz_, anchors_dz_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_anchors_ro_, anchors_ro_, NUM_ANCHOR_*sizeof(float), cudaMemcpyHostToDevice)); - + GPU_CHECK( + cudaMemcpy(dev_box_anchors_min_x_, box_anchors_min_x_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK( + cudaMemcpy(dev_box_anchors_min_y_, box_anchors_min_y_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK( + cudaMemcpy(dev_box_anchors_max_x_, box_anchors_max_x_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK( + cudaMemcpy(dev_box_anchors_max_y_, box_anchors_max_y_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); + + GPU_CHECK(cudaMemcpy(dev_anchors_px_, anchors_px_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_anchors_py_, anchors_py_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_anchors_pz_, anchors_pz_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_anchors_dx_, anchors_dx_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_anchors_dy_, anchors_dy_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_anchors_dz_, anchors_dz_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_anchors_ro_, anchors_ro_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); } -void PointPillars::convertAnchors2BoxAnchors(float* anchors_px, float* anchors_py, - float* anchors_dx, float* anchors_dy) +void PointPillars::convertAnchors2BoxAnchors(float* anchors_px, float* anchors_py, float* anchors_dx, float* anchors_dy) { // flip box's dimension when the at the third axis == 1 - float flipped_anchors_dx[NUM_ANCHOR_] = {0}; - float flipped_anchors_dy[NUM_ANCHOR_] = {0}; - for(size_t x = 0; x < NUM_ANCHOR_X_INDS_; x++) + float flipped_anchors_dx[NUM_ANCHOR_] = { 0 }; + float flipped_anchors_dy[NUM_ANCHOR_] = { 0 }; + for (size_t x = 0; x < NUM_ANCHOR_X_INDS_; x++) { - for(size_t y= 0; y < NUM_ANCHOR_Y_INDS_; y++) + for (size_t y = 0; y < NUM_ANCHOR_Y_INDS_; y++) { - int base_ind = x*NUM_ANCHOR_Y_INDS_*NUM_ANCHOR_R_INDS_ + y*NUM_ANCHOR_R_INDS_; + int base_ind = x * NUM_ANCHOR_Y_INDS_ * NUM_ANCHOR_R_INDS_ + y * NUM_ANCHOR_R_INDS_; flipped_anchors_dx[base_ind + 0] = ANCHOR_DX_SIZE_; flipped_anchors_dy[base_ind + 0] = ANCHOR_DY_SIZE_; flipped_anchors_dx[base_ind + 1] = ANCHOR_DY_SIZE_; flipped_anchors_dy[base_ind + 1] = ANCHOR_DX_SIZE_; } } - for(size_t x = 0; x < NUM_ANCHOR_X_INDS_; x++) + for (size_t x = 0; x < NUM_ANCHOR_X_INDS_; x++) { - for(size_t y= 0; y < NUM_ANCHOR_Y_INDS_; y++) + for (size_t y = 0; y < NUM_ANCHOR_Y_INDS_; y++) { - for(size_t r=0 ; r < NUM_ANCHOR_R_INDS_; r++) + for (size_t r = 0; r < NUM_ANCHOR_R_INDS_; r++) { - int ind = x*NUM_ANCHOR_Y_INDS_*NUM_ANCHOR_R_INDS_ + y*NUM_ANCHOR_R_INDS_ + r; - box_anchors_min_x_[ind] = anchors_px[ind] - flipped_anchors_dx[ind]/2; - box_anchors_min_y_[ind] = anchors_py[ind] - flipped_anchors_dy[ind]/2; - box_anchors_max_x_[ind] = anchors_px[ind] + flipped_anchors_dx[ind]/2; - box_anchors_max_y_[ind] = anchors_py[ind] + flipped_anchors_dy[ind]/2; + int ind = x * NUM_ANCHOR_Y_INDS_ * NUM_ANCHOR_R_INDS_ + y * NUM_ANCHOR_R_INDS_ + r; + box_anchors_min_x_[ind] = anchors_px[ind] - flipped_anchors_dx[ind] / 2; + box_anchors_min_y_[ind] = anchors_py[ind] - flipped_anchors_dy[ind] / 2; + box_anchors_max_x_[ind] = anchors_px[ind] + flipped_anchors_dx[ind] / 2; + box_anchors_max_y_[ind] = anchors_py[ind] + flipped_anchors_dy[ind] / 2; } } } @@ -424,11 +380,11 @@ void PointPillars::convertAnchors2BoxAnchors(float* anchors_px, float* anchors_p void PointPillars::initTRT() { // create a TensorRT model from the onnx model and serialize it to a stream - nvinfer1::IHostMemory* pfe_trt_model_stream{nullptr}; - nvinfer1::IHostMemory* rpn_trt_model_stream{nullptr}; + nvinfer1::IHostMemory* pfe_trt_model_stream{ nullptr }; + nvinfer1::IHostMemory* rpn_trt_model_stream{ nullptr }; onnxToTRTModel(pfe_onnx_file_, pfe_trt_model_stream); onnxToTRTModel(rpn_onnx_file_, rpn_trt_model_stream); - if(pfe_trt_model_stream == nullptr || rpn_trt_model_stream == nullptr) + if (pfe_trt_model_stream == nullptr || rpn_trt_model_stream == nullptr) { ROS_ERROR("Failed to load %s or %s ", pfe_onnx_file_.c_str(), rpn_onnx_file_.c_str()); } @@ -436,13 +392,15 @@ void PointPillars::initTRT() // deserialize the engine pfe_runtime_ = nvinfer1::createInferRuntime(g_logger_); rpn_runtime_ = nvinfer1::createInferRuntime(g_logger_); - if(pfe_runtime_ == nullptr || rpn_runtime_ == nullptr) + if (pfe_runtime_ == nullptr || rpn_runtime_ == nullptr) { ROS_ERROR("Failed to create TensorRT Runtime object."); } - pfe_engine_ = pfe_runtime_->deserializeCudaEngine(pfe_trt_model_stream->data(), pfe_trt_model_stream->size(), nullptr); - rpn_engine_ = rpn_runtime_->deserializeCudaEngine(rpn_trt_model_stream->data(), rpn_trt_model_stream->size(), nullptr); - if(pfe_engine_ == nullptr || rpn_engine_ == nullptr) + pfe_engine_ = + pfe_runtime_->deserializeCudaEngine(pfe_trt_model_stream->data(), pfe_trt_model_stream->size(), nullptr); + rpn_engine_ = + rpn_runtime_->deserializeCudaEngine(rpn_trt_model_stream->data(), rpn_trt_model_stream->size(), nullptr); + if (pfe_engine_ == nullptr || rpn_engine_ == nullptr) { ROS_ERROR("Failed to create TensorRT Engine."); } @@ -450,16 +408,16 @@ void PointPillars::initTRT() rpn_trt_model_stream->destroy(); pfe_context_ = pfe_engine_->createExecutionContext(); rpn_context_ = rpn_engine_->createExecutionContext(); - if(pfe_context_ == nullptr || rpn_context_ == nullptr) + if (pfe_context_ == nullptr || rpn_context_ == nullptr) { ROS_ERROR("Failed to create TensorRT Execution Context."); } } -void PointPillars::onnxToTRTModel(const std::string& model_file, // name of the onnx model - nvinfer1::IHostMemory*& trt_model_stream) // output buffer for the TensorRT model +void PointPillars::onnxToTRTModel(const std::string& model_file, // name of the onnx model + nvinfer1::IHostMemory*& trt_model_stream) // output buffer for the TensorRT model { - int verbosity = (int) nvinfer1::ILogger::Severity::kWARNING; + int verbosity = (int)nvinfer1::ILogger::Severity::kWARNING; // create the builder nvinfer1::IBuilder* builder = nvinfer1::createInferBuilder(g_logger_); @@ -469,9 +427,9 @@ void PointPillars::onnxToTRTModel(const std::string& model_file, // name of the if (!parser->parseFromFile(model_file.c_str(), verbosity)) { - std::string msg("failed to parse onnx file"); - g_logger_.log(nvinfer1::ILogger::Severity::kERROR, msg.c_str()); - exit(EXIT_FAILURE); + std::string msg("failed to parse onnx file"); + g_logger_.log(nvinfer1::ILogger::Severity::kERROR, msg.c_str()); + exit(EXIT_FAILURE); } // Build the engine @@ -491,48 +449,55 @@ void PointPillars::onnxToTRTModel(const std::string& model_file, // name of the void PointPillars::preprocessCPU(const float* in_points_array, const int in_num_points) { - int x_coors[MAX_NUM_PILLARS_]= {0}; - int y_coors[MAX_NUM_PILLARS_]= {0}; - float num_points_per_pillar[MAX_NUM_PILLARS_] = {0}; - float * pillar_x = new float[MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_]; - float * pillar_y = new float[MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_]; - float * pillar_z = new float[MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_]; - float * pillar_i = new float[MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_]; - - float * x_coors_for_sub_shaped = new float[MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_]; - float * y_coors_for_sub_shaped = new float[MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_]; - float * pillar_feature_mask = new float[MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_]; - - float* sparse_pillar_map = new float[NUM_INDS_FOR_SCAN_*NUM_INDS_FOR_SCAN_]; - - preprocess_points_ptr_->preprocess(in_points_array, in_num_points, - x_coors, y_coors, num_points_per_pillar, - pillar_x, pillar_y, pillar_z, pillar_i, - x_coors_for_sub_shaped, y_coors_for_sub_shaped, - pillar_feature_mask, sparse_pillar_map, host_pillar_count_); - - GPU_CHECK( cudaMemset(dev_x_coors_, 0, MAX_NUM_PILLARS_ * sizeof( int ) ) ); - GPU_CHECK( cudaMemset(dev_y_coors_, 0, MAX_NUM_PILLARS_ * sizeof( int ) ) ); - GPU_CHECK( cudaMemset(dev_pillar_x_,0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK( cudaMemset(dev_pillar_y_,0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK( cudaMemset(dev_pillar_z_,0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK( cudaMemset(dev_pillar_i_,0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK( cudaMemset(dev_x_coors_for_sub_shaped_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ *sizeof( float ) ) ); - GPU_CHECK( cudaMemset(dev_y_coors_for_sub_shaped_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ *sizeof( float ) ) ); - GPU_CHECK( cudaMemset(dev_num_points_per_pillar_, 0, MAX_NUM_PILLARS_ * sizeof( float ) ) ); - GPU_CHECK( cudaMemset(dev_sparse_pillar_map_, 0, NUM_INDS_FOR_SCAN_*NUM_INDS_FOR_SCAN_*sizeof( int ) ) ); - - GPU_CHECK(cudaMemcpy(dev_x_coors_, x_coors, MAX_NUM_PILLARS_*sizeof(int), cudaMemcpyHostToDevice )); - GPU_CHECK(cudaMemcpy(dev_y_coors_, y_coors, MAX_NUM_PILLARS_*sizeof(int), cudaMemcpyHostToDevice )); - GPU_CHECK(cudaMemcpy(dev_pillar_x_, pillar_x, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_*sizeof(float), cudaMemcpyHostToDevice )); - GPU_CHECK(cudaMemcpy(dev_pillar_y_, pillar_y, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_*sizeof(float), cudaMemcpyHostToDevice )); - GPU_CHECK(cudaMemcpy(dev_pillar_z_, pillar_z, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_*sizeof(float), cudaMemcpyHostToDevice )); - GPU_CHECK(cudaMemcpy(dev_pillar_i_, pillar_i, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_*sizeof(float), cudaMemcpyHostToDevice )); - GPU_CHECK(cudaMemcpy(dev_x_coors_for_sub_shaped_, x_coors_for_sub_shaped,MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_*sizeof(float), cudaMemcpyHostToDevice )); - GPU_CHECK(cudaMemcpy(dev_y_coors_for_sub_shaped_, y_coors_for_sub_shaped,MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_*sizeof(float), cudaMemcpyHostToDevice )); - GPU_CHECK(cudaMemcpy(dev_num_points_per_pillar_,num_points_per_pillar,MAX_NUM_PILLARS_*sizeof(float), cudaMemcpyHostToDevice )); - GPU_CHECK(cudaMemcpy(dev_pillar_feature_mask_, pillar_feature_mask, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_*sizeof(float), cudaMemcpyHostToDevice )); - GPU_CHECK(cudaMemcpy(dev_sparse_pillar_map_, sparse_pillar_map, NUM_INDS_FOR_SCAN_*NUM_INDS_FOR_SCAN_*sizeof(float), cudaMemcpyHostToDevice )); + int x_coors[MAX_NUM_PILLARS_] = { 0 }; + int y_coors[MAX_NUM_PILLARS_] = { 0 }; + float num_points_per_pillar[MAX_NUM_PILLARS_] = { 0 }; + float* pillar_x = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_]; + float* pillar_y = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_]; + float* pillar_z = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_]; + float* pillar_i = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_]; + + float* x_coors_for_sub_shaped = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_]; + float* y_coors_for_sub_shaped = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_]; + float* pillar_feature_mask = new float[MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_]; + + float* sparse_pillar_map = new float[NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_]; + + preprocess_points_ptr_->preprocess(in_points_array, in_num_points, x_coors, y_coors, num_points_per_pillar, pillar_x, + pillar_y, pillar_z, pillar_i, x_coors_for_sub_shaped, y_coors_for_sub_shaped, + pillar_feature_mask, sparse_pillar_map, host_pillar_count_); + + GPU_CHECK(cudaMemset(dev_x_coors_, 0, MAX_NUM_PILLARS_ * sizeof(int))); + GPU_CHECK(cudaMemset(dev_y_coors_, 0, MAX_NUM_PILLARS_ * sizeof(int))); + GPU_CHECK(cudaMemset(dev_pillar_x_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMemset(dev_pillar_y_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMemset(dev_pillar_z_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMemset(dev_pillar_i_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMemset(dev_x_coors_for_sub_shaped_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMemset(dev_y_coors_for_sub_shaped_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMemset(dev_num_points_per_pillar_, 0, MAX_NUM_PILLARS_ * sizeof(float))); + GPU_CHECK(cudaMemset(dev_sparse_pillar_map_, 0, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int))); + + GPU_CHECK(cudaMemcpy(dev_x_coors_, x_coors, MAX_NUM_PILLARS_ * sizeof(int), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_y_coors_, y_coors, MAX_NUM_PILLARS_ * sizeof(int), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_pillar_x_, pillar_x, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), + cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_pillar_y_, pillar_y, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), + cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_pillar_z_, pillar_z, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), + cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_pillar_i_, pillar_i, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), + cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_x_coors_for_sub_shaped_, x_coors_for_sub_shaped, + MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_y_coors_for_sub_shaped_, y_coors_for_sub_shaped, + MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_num_points_per_pillar_, num_points_per_pillar, MAX_NUM_PILLARS_ * sizeof(float), + cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_pillar_feature_mask_, pillar_feature_mask, + MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_sparse_pillar_map_, sparse_pillar_map, + NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(float), cudaMemcpyHostToDevice)); delete[] pillar_x; delete[] pillar_y; @@ -546,33 +511,32 @@ void PointPillars::preprocessCPU(const float* in_points_array, const int in_num_ void PointPillars::preprocessGPU(const float* in_points_array, const int in_num_points) { - float * dev_points; - GPU_CHECK(cudaMalloc((void**)&dev_points, in_num_points*4*sizeof(float))); - GPU_CHECK(cudaMemcpy(dev_points, in_points_array, in_num_points*4*sizeof(float), cudaMemcpyHostToDevice ) ); - - - GPU_CHECK(cudaMemset(dev_pillar_count_histo_, 0, GRID_Y_SIZE_*GRID_X_SIZE_*sizeof(int))); - GPU_CHECK(cudaMemset(dev_sparse_pillar_map_, 0, NUM_INDS_FOR_SCAN_*NUM_INDS_FOR_SCAN_*sizeof( int ) ) ); - GPU_CHECK(cudaMemset(dev_pillar_x_, 0, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMemset(dev_pillar_y_, 0, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMemset(dev_pillar_z_, 0, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMemset(dev_pillar_i_, 0, MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMemset(dev_x_coors_, 0, MAX_NUM_PILLARS_ * sizeof( int ) ) ); - GPU_CHECK(cudaMemset(dev_y_coors_, 0, MAX_NUM_PILLARS_ * sizeof( int ) ) ); - GPU_CHECK(cudaMemset(dev_num_points_per_pillar_, 0, MAX_NUM_PILLARS_ * sizeof( float ) ) ); - GPU_CHECK(cudaMemset(dev_anchor_mask_, 0, NUM_ANCHOR_*sizeof(int))); - - preprocess_points_cuda_ptr_->doPreprocessPointsCuda(dev_points, in_num_points, dev_x_coors_, dev_y_coors_, - dev_num_points_per_pillar_, dev_pillar_x_, dev_pillar_y_, dev_pillar_z_, dev_pillar_i_, - dev_x_coors_for_sub_shaped_, dev_y_coors_for_sub_shaped_, - dev_pillar_feature_mask_, dev_sparse_pillar_map_, host_pillar_count_); + float* dev_points; + GPU_CHECK(cudaMalloc((void**)&dev_points, in_num_points * 4 * sizeof(float))); + GPU_CHECK(cudaMemcpy(dev_points, in_points_array, in_num_points * 4 * sizeof(float), cudaMemcpyHostToDevice)); + + GPU_CHECK(cudaMemset(dev_pillar_count_histo_, 0, GRID_Y_SIZE_ * GRID_X_SIZE_ * sizeof(int))); + GPU_CHECK(cudaMemset(dev_sparse_pillar_map_, 0, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int))); + GPU_CHECK(cudaMemset(dev_pillar_x_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMemset(dev_pillar_y_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMemset(dev_pillar_z_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMemset(dev_pillar_i_, 0, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMemset(dev_x_coors_, 0, MAX_NUM_PILLARS_ * sizeof(int))); + GPU_CHECK(cudaMemset(dev_y_coors_, 0, MAX_NUM_PILLARS_ * sizeof(int))); + GPU_CHECK(cudaMemset(dev_num_points_per_pillar_, 0, MAX_NUM_PILLARS_ * sizeof(float))); + GPU_CHECK(cudaMemset(dev_anchor_mask_, 0, NUM_ANCHOR_ * sizeof(int))); + + preprocess_points_cuda_ptr_->doPreprocessPointsCuda( + dev_points, in_num_points, dev_x_coors_, dev_y_coors_, dev_num_points_per_pillar_, dev_pillar_x_, dev_pillar_y_, + dev_pillar_z_, dev_pillar_i_, dev_x_coors_for_sub_shaped_, dev_y_coors_for_sub_shaped_, dev_pillar_feature_mask_, + dev_sparse_pillar_map_, host_pillar_count_); GPU_CHECK(cudaFree(dev_points)); } void PointPillars::preprocess(const float* in_points_array, const int in_num_points) { - if(reproduce_result_mode_) + if (reproduce_result_mode_) { preprocessCPU(in_points_array, in_num_points); } @@ -582,44 +546,56 @@ void PointPillars::preprocess(const float* in_points_array, const int in_num_poi } } -void PointPillars::doInference(const float* in_points_array, const int in_num_points, - std::vector& out_detection, int& out_num_objects) +void PointPillars::doInference(const float* in_points_array, const int in_num_points, std::vector& out_detection, + int& out_num_objects) { preprocess(in_points_array, in_num_points); - anchor_mask_cuda_ptr_->doAnchorMaskCuda(dev_sparse_pillar_map_, dev_cumsum_along_x_, dev_cumsum_along_y_, dev_box_anchors_min_x_, - dev_box_anchors_min_y_, dev_box_anchors_max_x_, dev_box_anchors_max_y_, dev_anchor_mask_); - + anchor_mask_cuda_ptr_->doAnchorMaskCuda(dev_sparse_pillar_map_, dev_cumsum_along_x_, dev_cumsum_along_y_, + dev_box_anchors_min_x_, dev_box_anchors_min_y_, dev_box_anchors_max_x_, + dev_box_anchors_max_y_, dev_anchor_mask_); cudaStream_t stream; GPU_CHECK(cudaStreamCreate(&stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[0], dev_pillar_x_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[1], dev_pillar_y_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[2], dev_pillar_z_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[3], dev_pillar_i_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[4], dev_num_points_per_pillar_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[5], dev_x_coors_for_sub_shaped_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[6], dev_y_coors_for_sub_shaped_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[7], dev_pillar_feature_mask_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[0], dev_pillar_x_, + BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), + cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[1], dev_pillar_y_, + BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), + cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[2], dev_pillar_z_, + BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), + cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[3], dev_pillar_i_, + BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), + cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[4], dev_num_points_per_pillar_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * sizeof(float), + cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[5], dev_x_coors_for_sub_shaped_, + BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), + cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[6], dev_y_coors_for_sub_shaped_, + BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), + cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[7], dev_pillar_feature_mask_, + BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), + cudaMemcpyDeviceToDevice, stream)); pfe_context_->enqueue(BATCH_SIZE_, pfe_buffers_, stream, nullptr); + GPU_CHECK(cudaMemset(dev_scattered_feature_, 0, RPN_INPUT_SIZE_ * sizeof(float))); + scatter_cuda_ptr_->doScatterCuda(host_pillar_count_[0], dev_x_coors_, dev_y_coors_, (float*)pfe_buffers_[8], + dev_scattered_feature_); - - GPU_CHECK( cudaMemset( dev_scattered_feature_, 0, RPN_INPUT_SIZE_*sizeof(float) ) ); - scatter_cuda_ptr_->doScatterCuda(host_pillar_count_[0], dev_x_coors_, dev_y_coors_, - (float *)pfe_buffers_[8], dev_scattered_feature_); - - - GPU_CHECK(cudaMemcpyAsync(rpn_buffers_[0], dev_scattered_feature_, BATCH_SIZE_ * RPN_INPUT_SIZE_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(rpn_buffers_[0], dev_scattered_feature_, BATCH_SIZE_ * RPN_INPUT_SIZE_ * sizeof(float), + cudaMemcpyDeviceToDevice, stream)); rpn_context_->enqueue(BATCH_SIZE_, rpn_buffers_, stream, nullptr); - - GPU_CHECK(cudaMemset( dev_filter_count_, 0, sizeof( int ))); - postprocess_cuda_ptr_->doPostprocessCuda((float *)rpn_buffers_[1], (float *)rpn_buffers_[2],(float *)rpn_buffers_[3] , dev_anchor_mask_, - dev_anchors_px_, dev_anchors_py_, dev_anchors_pz_, - dev_anchors_dx_, dev_anchors_dy_, dev_anchors_dz_, dev_anchors_ro_, - dev_filtered_box_, dev_filtered_score_, dev_filtered_dir_, dev_box_for_nms_, - dev_filter_count_, out_detection, out_num_objects); + GPU_CHECK(cudaMemset(dev_filter_count_, 0, sizeof(int))); + postprocess_cuda_ptr_->doPostprocessCuda((float*)rpn_buffers_[1], (float*)rpn_buffers_[2], (float*)rpn_buffers_[3], + dev_anchor_mask_, dev_anchors_px_, dev_anchors_py_, dev_anchors_pz_, + dev_anchors_dx_, dev_anchors_dy_, dev_anchors_dz_, dev_anchors_ro_, + dev_filtered_box_, dev_filtered_score_, dev_filtered_dir_, dev_box_for_nms_, + dev_filter_count_, out_detection, out_num_objects); // release the stream and the buffers cudaStreamDestroy(stream); diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp index a7287b3f60e..0d4b3df7148 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp @@ -14,30 +14,30 @@ * limitations under the License. */ -//headers in STL +// headers in STL #include #include -//headers in PCL +// headers in PCL #include #include #include -//headers in ROS +// headers in ROS #include -//headers in local files +// headers in local files #include "autoware_msgs/DetectedObjectArray.h" #include "point_pillars_ros.h" -PointPillarsROS::PointPillarsROS(): -private_nh_("~"), -has_subscribed_baselink_(false), -NUM_POINT_FEATURE_(4), -OUTPUT_NUM_BOX_FEATURE_(7), -TRAINED_SENSOR_HEIGHT_(1.73), -NORMALIZING_INTENSITY_VALUE_(255.0), -BASELINK_FRAME_("base_link") +PointPillarsROS::PointPillarsROS() + : private_nh_("~") + , has_subscribed_baselink_(false) + , NUM_POINT_FEATURE_(4) + , OUTPUT_NUM_BOX_FEATURE_(7) + , TRAINED_SENSOR_HEIGHT_(1.73) + , NORMALIZING_INTENSITY_VALUE_(255.0) + , BASELINK_FRAME_("base_link") { private_nh_.param("baselink_support", baselink_support_, true); private_nh_.param("reproduce_result_mode", reproduce_result_mode_, false); @@ -46,34 +46,30 @@ BASELINK_FRAME_("base_link") private_nh_.param("pfe_onnx_file", pfe_onnx_file_, ""); private_nh_.param("rpn_onnx_file", rpn_onnx_file_, ""); - point_pillars_ptr_.reset(new PointPillars( - reproduce_result_mode_, - score_threshold_, - nms_overlap_threshold_, - pfe_onnx_file_, - rpn_onnx_file_)); + point_pillars_ptr_.reset(new PointPillars(reproduce_result_mode_, score_threshold_, nms_overlap_threshold_, + pfe_onnx_file_, rpn_onnx_file_)); } void PointPillarsROS::createROSPubSub() { - sub_points_ = nh_.subscribe("/points_raw", 1, &PointPillarsROS::pointsCallback, this); - pub_objects_ = nh_.advertise("/detection/lidar_detector/objects", 1); + sub_points_ = nh_.subscribe("/points_raw", 1, &PointPillarsROS::pointsCallback, this); + pub_objects_ = nh_.advertise("/detection/lidar_detector/objects", 1); } - -geometry_msgs::Pose PointPillarsROS::getTransformedPose(const geometry_msgs::Pose& in_pose, - const tf::Transform& tf) +geometry_msgs::Pose PointPillarsROS::getTransformedPose(const geometry_msgs::Pose& in_pose, const tf::Transform& tf) { tf::Transform transform; geometry_msgs::PoseStamped out_pose; transform.setOrigin(tf::Vector3(in_pose.position.x, in_pose.position.y, in_pose.position.z)); - transform.setRotation(tf::Quaternion(in_pose.orientation.x, in_pose.orientation.y, in_pose.orientation.z, in_pose.orientation.w)); + transform.setRotation( + tf::Quaternion(in_pose.orientation.x, in_pose.orientation.y, in_pose.orientation.z, in_pose.orientation.w)); geometry_msgs::PoseStamped pose_out; - tf::poseTFToMsg(tf*transform, out_pose.pose); + tf::poseTFToMsg(tf * transform, out_pose.pose); return out_pose.pose; } -void PointPillarsROS::pubDetectedObject(const std::vector& detections, const int num_objects, const std_msgs::Header& pc_header) +void PointPillarsROS::pubDetectedObject(const std::vector& detections, const int num_objects, + const std_msgs::Header& pc_header) { autoware_msgs::DetectedObjectArray objects; objects.header = pc_header; @@ -84,24 +80,23 @@ void PointPillarsROS::pubDetectedObject(const std::vector& detections, co object.valid = true; object.pose_reliable = true; - object.pose.position.x = detections[i*OUTPUT_NUM_BOX_FEATURE_+0]; - object.pose.position.y = detections[i*OUTPUT_NUM_BOX_FEATURE_+1]; - object.pose.position.z = detections[i*OUTPUT_NUM_BOX_FEATURE_+2]; - + object.pose.position.x = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 0]; + object.pose.position.y = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 1]; + object.pose.position.z = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 2]; - float yaw = detections[i*OUTPUT_NUM_BOX_FEATURE_+6]; + float yaw = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 6]; yaw = std::atan2(std::sin(yaw), std::cos(yaw)); geometry_msgs::Quaternion q = tf::createQuaternionMsgFromYaw(-yaw); object.pose.orientation = q; - if(baselink_support_) + if (baselink_support_) { object.pose = getTransformedPose(object.pose, angle_transform_inversed_); } - object.dimensions.x = detections[i*OUTPUT_NUM_BOX_FEATURE_+3]; - object.dimensions.y = detections[i*OUTPUT_NUM_BOX_FEATURE_+4]; - object.dimensions.z = detections[i*OUTPUT_NUM_BOX_FEATURE_+5]; + object.dimensions.x = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 3]; + object.dimensions.y = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 4]; + object.dimensions.z = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 5]; objects.objects.push_back(object); } @@ -113,7 +108,7 @@ void PointPillarsROS::getBaselinkToLidarTF(const std::string& target_frameid) try { tf_listener_.waitForTransform(BASELINK_FRAME_, target_frameid, ros::Time(0), ros::Duration(1.0)); - tf_listener_.lookupTransform( BASELINK_FRAME_, target_frameid, ros::Time(0), baselink2lidar_); + tf_listener_.lookupTransform(BASELINK_FRAME_, target_frameid, ros::Time(0), baselink2lidar_); getTFInfo(baselink2lidar_); has_subscribed_baselink_ = true; } @@ -131,39 +126,37 @@ void PointPillarsROS::getTFInfo(tf::StampedTransform baselink2lidar) tf::Quaternion q = baselink2lidar_.getRotation(); angle_transform_ = tf::Transform(q); angle_transform_inversed_ = angle_transform_.inverse(); - } -void PointPillarsROS::pclToArray(const pcl::PointCloud::Ptr & in_pcl_pc_ptr, float* out_points_array, const float offset_z) +void PointPillarsROS::pclToArray(const pcl::PointCloud::Ptr& in_pcl_pc_ptr, float* out_points_array, + const float offset_z) { - for(size_t i = 0; i < in_pcl_pc_ptr->size(); i++) + for (size_t i = 0; i < in_pcl_pc_ptr->size(); i++) { pcl::PointXYZI point = in_pcl_pc_ptr->at(i); - out_points_array[i*NUM_POINT_FEATURE_ + 0] = point.x; - out_points_array[i*NUM_POINT_FEATURE_ + 1] = point.y; - out_points_array[i*NUM_POINT_FEATURE_ + 2] = point.z + offset_z; - out_points_array[i*NUM_POINT_FEATURE_ + 3] = float(point.intensity/NORMALIZING_INTENSITY_VALUE_); + out_points_array[i * NUM_POINT_FEATURE_ + 0] = point.x; + out_points_array[i * NUM_POINT_FEATURE_ + 1] = point.y; + out_points_array[i * NUM_POINT_FEATURE_ + 2] = point.z + offset_z; + out_points_array[i * NUM_POINT_FEATURE_ + 3] = float(point.intensity / NORMALIZING_INTENSITY_VALUE_); } } - void PointPillarsROS::pointsCallback(const sensor_msgs::PointCloud2::ConstPtr& msg) { - pcl::PointCloud::Ptr pcl_pc_ptr(new pcl::PointCloud); pcl::fromROSMsg(*msg, *pcl_pc_ptr); - if(baselink_support_) + if (baselink_support_) { - if(!has_subscribed_baselink_) + if (!has_subscribed_baselink_) { getBaselinkToLidarTF(msg->header.frame_id); } pcl_ros::transformPointCloud(*pcl_pc_ptr, *pcl_pc_ptr, angle_transform_); } - float * points_array = new float[pcl_pc_ptr->size()*NUM_POINT_FEATURE_]; - if(baselink_support_ && has_subscribed_baselink_) + float* points_array = new float[pcl_pc_ptr->size() * NUM_POINT_FEATURE_]; + if (baselink_support_ && has_subscribed_baselink_) { pclToArray(pcl_pc_ptr, points_array, offset_z_from_trained_data_); } diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp index 51fe2a07884..e36055debc9 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp @@ -14,52 +14,43 @@ * limitations under the License. */ -//headers in STL +// headers in STL #include #include -//headers in local files +// headers in local files #include "preprocess_points.h" -PreprocessPoints::PreprocessPoints(const int MAX_NUM_PILLARS, - const int MAX_POINTS_PER_PILLAR, - const int GRID_X_SIZE, - const int GRID_Y_SIZE, - const int GRID_Z_SIZE, - const float PILLAR_X_SIZE, - const float PILLAR_Y_SIZE, - const float PILLAR_Z_SIZE, - const float MIN_X_RANGE, - const float MIN_Y_RANGE, - const float MIN_Z_RANGE, - const int NUM_INDS_FOR_SCAN, +PreprocessPoints::PreprocessPoints(const int MAX_NUM_PILLARS, const int MAX_POINTS_PER_PILLAR, const int GRID_X_SIZE, + const int GRID_Y_SIZE, const int GRID_Z_SIZE, const float PILLAR_X_SIZE, + const float PILLAR_Y_SIZE, const float PILLAR_Z_SIZE, const float MIN_X_RANGE, + const float MIN_Y_RANGE, const float MIN_Z_RANGE, const int NUM_INDS_FOR_SCAN, const int NUM_BOX_CORNERS) -: -MAX_NUM_PILLARS_(MAX_NUM_PILLARS), -MAX_NUM_POINTS_PER_PILLAR_(MAX_POINTS_PER_PILLAR), -GRID_X_SIZE_(GRID_X_SIZE), -GRID_Y_SIZE_(GRID_Y_SIZE), -GRID_Z_SIZE_(GRID_Z_SIZE), -PILLAR_X_SIZE_(PILLAR_X_SIZE), -PILLAR_Y_SIZE_(PILLAR_Y_SIZE), -PILLAR_Z_SIZE_(PILLAR_Z_SIZE), -MIN_X_RANGE_(MIN_X_RANGE), -MIN_Y_RANGE_(MIN_Y_RANGE), -MIN_Z_RANGE_(MIN_Z_RANGE), -NUM_INDS_FOR_SCAN_(NUM_INDS_FOR_SCAN), -NUM_BOX_CORNERS_(NUM_BOX_CORNERS) + : MAX_NUM_PILLARS_(MAX_NUM_PILLARS) + , MAX_NUM_POINTS_PER_PILLAR_(MAX_POINTS_PER_PILLAR) + , GRID_X_SIZE_(GRID_X_SIZE) + , GRID_Y_SIZE_(GRID_Y_SIZE) + , GRID_Z_SIZE_(GRID_Z_SIZE) + , PILLAR_X_SIZE_(PILLAR_X_SIZE) + , PILLAR_Y_SIZE_(PILLAR_Y_SIZE) + , PILLAR_Z_SIZE_(PILLAR_Z_SIZE) + , MIN_X_RANGE_(MIN_X_RANGE) + , MIN_Y_RANGE_(MIN_Y_RANGE) + , MIN_Z_RANGE_(MIN_Z_RANGE) + , NUM_INDS_FOR_SCAN_(NUM_INDS_FOR_SCAN) + , NUM_BOX_CORNERS_(NUM_BOX_CORNERS) { } -void PreprocessPoints::initializeVariables(int* coor_to_pillaridx, float* sparse_pillar_map, - float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, - float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped) +void PreprocessPoints::initializeVariables(int* coor_to_pillaridx, float* sparse_pillar_map, float* pillar_x, + float* pillar_y, float* pillar_z, float* pillar_i, + float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped) { for (int i = 0; i < GRID_Y_SIZE_; i++) { for (int j = 0; j < GRID_X_SIZE_; j++) { - coor_to_pillaridx[i*GRID_X_SIZE_ + j] = -1; + coor_to_pillaridx[i * GRID_X_SIZE_ + j] = -1; } } @@ -67,11 +58,11 @@ void PreprocessPoints::initializeVariables(int* coor_to_pillaridx, float* sparse { for (int j = 0; j < NUM_INDS_FOR_SCAN_; j++) { - sparse_pillar_map[i*NUM_INDS_FOR_SCAN_+j] = 0; + sparse_pillar_map[i * NUM_INDS_FOR_SCAN_ + j] = 0; } } - for(int i = 0; i < MAX_NUM_PILLARS_*MAX_NUM_POINTS_PER_PILLAR_; i++) + for (int i = 0; i < MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_; i++) { pillar_x[i] = 0; pillar_y[i] = 0; @@ -82,63 +73,60 @@ void PreprocessPoints::initializeVariables(int* coor_to_pillaridx, float* sparse } } -void PreprocessPoints::preprocess(const float* in_points_array, int in_num_points, - int* x_coors, int* y_coors, float* num_points_per_pillar, - float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, - float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, - float* pillar_feature_mask, float* sparse_pillar_map, int* host_pillar_count) +void PreprocessPoints::preprocess(const float* in_points_array, int in_num_points, int* x_coors, int* y_coors, + float* num_points_per_pillar, float* pillar_x, float* pillar_y, float* pillar_z, + float* pillar_i, float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, + float* pillar_feature_mask, float* sparse_pillar_map, int* host_pillar_count) { int pillar_count = 0; - float x_coors_for_sub[MAX_NUM_PILLARS_]= {0}; - float y_coors_for_sub[MAX_NUM_PILLARS_]= {0}; - //init variables - int coor_to_pillaridx[GRID_Y_SIZE_*GRID_X_SIZE_]; - initializeVariables(coor_to_pillaridx, sparse_pillar_map, - pillar_x, pillar_y, pillar_z, pillar_i, - x_coors_for_sub_shaped, y_coors_for_sub_shaped); - for(int i = 0; i < in_num_points; i++) + float x_coors_for_sub[MAX_NUM_PILLARS_] = { 0 }; + float y_coors_for_sub[MAX_NUM_PILLARS_] = { 0 }; + // init variables + int coor_to_pillaridx[GRID_Y_SIZE_ * GRID_X_SIZE_]; + initializeVariables(coor_to_pillaridx, sparse_pillar_map, pillar_x, pillar_y, pillar_z, pillar_i, + x_coors_for_sub_shaped, y_coors_for_sub_shaped); + for (int i = 0; i < in_num_points; i++) { - int x_coor = std::floor((in_points_array[i*NUM_BOX_CORNERS_ + 0] - MIN_X_RANGE_)/PILLAR_X_SIZE_); - int y_coor = std::floor((in_points_array[i*NUM_BOX_CORNERS_ + 1] - MIN_Y_RANGE_)/PILLAR_Y_SIZE_); - int z_coor = std::floor((in_points_array[i*NUM_BOX_CORNERS_ + 2] - MIN_Z_RANGE_)/PILLAR_Z_SIZE_); - if(x_coor < 0 || x_coor >= GRID_X_SIZE_ || - y_coor < 0 || y_coor >= GRID_Y_SIZE_ || - z_coor < 0 || z_coor >= GRID_Z_SIZE_) + int x_coor = std::floor((in_points_array[i * NUM_BOX_CORNERS_ + 0] - MIN_X_RANGE_) / PILLAR_X_SIZE_); + int y_coor = std::floor((in_points_array[i * NUM_BOX_CORNERS_ + 1] - MIN_Y_RANGE_) / PILLAR_Y_SIZE_); + int z_coor = std::floor((in_points_array[i * NUM_BOX_CORNERS_ + 2] - MIN_Z_RANGE_) / PILLAR_Z_SIZE_); + if (x_coor < 0 || x_coor >= GRID_X_SIZE_ || y_coor < 0 || y_coor >= GRID_Y_SIZE_ || z_coor < 0 || + z_coor >= GRID_Z_SIZE_) { continue; } - //reverse index - int pillar_index = coor_to_pillaridx[y_coor*GRID_X_SIZE_ + x_coor]; - if(pillar_index == -1) + // reverse index + int pillar_index = coor_to_pillaridx[y_coor * GRID_X_SIZE_ + x_coor]; + if (pillar_index == -1) { pillar_index = pillar_count; - if(pillar_count >= MAX_NUM_PILLARS_) + if (pillar_count >= MAX_NUM_PILLARS_) { break; } pillar_count += 1; - coor_to_pillaridx[y_coor*GRID_X_SIZE_ + x_coor] = pillar_index; + coor_to_pillaridx[y_coor * GRID_X_SIZE_ + x_coor] = pillar_index; - //reverse index + // reverse index y_coors[pillar_index] = std::floor(y_coor); x_coors[pillar_index] = std::floor(x_coor); // float y_offset = PILLAR_Y_SIZE_/ 2 + MIN_Y_RANGE_; // float x_offset = PILLAR_X_SIZE_/ 2 + MIN_X_RANGE_; // TODO Need to be modified after proper trining code - y_coors_for_sub[pillar_index] = std::floor(y_coor)* PILLAR_Y_SIZE_ + -39.9; - x_coors_for_sub[pillar_index] = std::floor(x_coor)* PILLAR_X_SIZE_ + 0.1; + y_coors_for_sub[pillar_index] = std::floor(y_coor) * PILLAR_Y_SIZE_ + -39.9; + x_coors_for_sub[pillar_index] = std::floor(x_coor) * PILLAR_X_SIZE_ + 0.1; - //sparse pillar map - sparse_pillar_map[y_coor*512 + x_coor] = 1; + // sparse pillar map + sparse_pillar_map[y_coor * 512 + x_coor] = 1; } int num = num_points_per_pillar[pillar_index]; if (num < MAX_NUM_POINTS_PER_PILLAR_) { - pillar_x[pillar_index*MAX_NUM_POINTS_PER_PILLAR_ + num]= in_points_array[i*NUM_BOX_CORNERS_ + 0]; - pillar_y[pillar_index*MAX_NUM_POINTS_PER_PILLAR_ + num]= in_points_array[i*NUM_BOX_CORNERS_ + 1]; - pillar_z[pillar_index*MAX_NUM_POINTS_PER_PILLAR_ + num]= in_points_array[i*NUM_BOX_CORNERS_ + 2]; - pillar_i[pillar_index*MAX_NUM_POINTS_PER_PILLAR_ + num]= in_points_array[i*NUM_BOX_CORNERS_ + 3]; + pillar_x[pillar_index * MAX_NUM_POINTS_PER_PILLAR_ + num] = in_points_array[i * NUM_BOX_CORNERS_ + 0]; + pillar_y[pillar_index * MAX_NUM_POINTS_PER_PILLAR_ + num] = in_points_array[i * NUM_BOX_CORNERS_ + 1]; + pillar_z[pillar_index * MAX_NUM_POINTS_PER_PILLAR_ + num] = in_points_array[i * NUM_BOX_CORNERS_ + 2]; + pillar_i[pillar_index * MAX_NUM_POINTS_PER_PILLAR_ + num] = in_points_array[i * NUM_BOX_CORNERS_ + 3]; num_points_per_pillar[pillar_index] += 1; } } @@ -148,20 +136,19 @@ void PreprocessPoints::preprocess(const float* in_points_array, int in_num_point float x = x_coors_for_sub[i]; float y = y_coors_for_sub[i]; int num_points_for_a_pillar = num_points_per_pillar[i]; - for(int j = 0; j < MAX_NUM_POINTS_PER_PILLAR_; j++) + for (int j = 0; j < MAX_NUM_POINTS_PER_PILLAR_; j++) { - x_coors_for_sub_shaped[i*MAX_NUM_POINTS_PER_PILLAR_ + j] = x; - y_coors_for_sub_shaped[i*MAX_NUM_POINTS_PER_PILLAR_ + j] = y; - if(j < num_points_for_a_pillar) - { - pillar_feature_mask[i*MAX_NUM_POINTS_PER_PILLAR_ + j] = 1.0; - } - else - { - pillar_feature_mask[i*MAX_NUM_POINTS_PER_PILLAR_ + j] = 0.0; - } + x_coors_for_sub_shaped[i * MAX_NUM_POINTS_PER_PILLAR_ + j] = x; + y_coors_for_sub_shaped[i * MAX_NUM_POINTS_PER_PILLAR_ + j] = y; + if (j < num_points_for_a_pillar) + { + pillar_feature_mask[i * MAX_NUM_POINTS_PER_PILLAR_ + j] = 1.0; + } + else + { + pillar_feature_mask[i * MAX_NUM_POINTS_PER_PILLAR_ + j] = 0.0; + } } } host_pillar_count[0] = pillar_count; - } diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp index 0b209a92471..a45cef2bdef 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp @@ -14,12 +14,12 @@ * limitations under the License. */ - /** - * @file test_point_pillars.cpp - * @brief unit test file - * @author Kosuke Murakami - * @date 2019/02/26 - */ +/** +* @file test_point_pillars.cpp +* @brief unit test file +* @author Kosuke Murakami +* @date 2019/02/26 +*/ #include #include @@ -46,17 +46,9 @@ class TestSuite : public ::testing::Test class TestClass { public: - TestClass(const int MAX_NUM_PILLARS, - const int MAX_NUM_POINTS_PER_PILLAR, - const int GRID_X_SIZE, - const int GRID_Y_SIZE, - const int GRID_Z_SIZE, - const float PILLAR_X_SIZE, - const float PILLAR_Y_SIZE, - const float PILLAR_Z_SIZE, - const float MIN_X_RANGE, - const float MIN_Y_RANGE, - const float MIN_Z_RANGE, + TestClass(const int MAX_NUM_PILLARS, const int MAX_NUM_POINTS_PER_PILLAR, const int GRID_X_SIZE, + const int GRID_Y_SIZE, const int GRID_Z_SIZE, const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE, + const float PILLAR_Z_SIZE, const float MIN_X_RANGE, const float MIN_Y_RANGE, const float MIN_Z_RANGE, const int NUM_INDS_FOR_SCAN); const int MAX_NUM_PILLARS_; const int MAX_NUM_POINTS_PER_PILLAR_; @@ -70,90 +62,64 @@ class TestClass const float MIN_Y_RANGE_; const float MIN_Z_RANGE_; const int NUM_INDS_FOR_SCAN_; - void loadPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr, - const std::string& in_file ); - void pclToArray(const pcl::PointCloud::Ptr & in_pcl_pc_ptr, float* out_points_array); - void preprocess(const float* in_points_array, int in_num_points, - int* x_coors, int* y_coors, float* num_points_per_pillar, - float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, - float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, - float* pillar_feature_mask, float* sparse_pillar_map, int* host_pillar_count); -private: + void loadPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr, const std::string& in_file); + void pclToArray(const pcl::PointCloud::Ptr& in_pcl_pc_ptr, float* out_points_array); + void preprocess(const float* in_points_array, int in_num_points, int* x_coors, int* y_coors, + float* num_points_per_pillar, float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, + float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, float* pillar_feature_mask, + float* sparse_pillar_map, int* host_pillar_count); +private: std::unique_ptr preprocess_points_ptr_; }; -TestClass::TestClass( - const int MAX_NUM_PILLARS, - const int MAX_NUM_POINTS_PER_PILLAR, - const int GRID_X_SIZE, - const int GRID_Y_SIZE, - const int GRID_Z_SIZE, - const float PILLAR_X_SIZE, - const float PILLAR_Y_SIZE, - const float PILLAR_Z_SIZE, - const float MIN_X_RANGE, - const float MIN_Y_RANGE, - const float MIN_Z_RANGE, - const int NUM_INDS_FOR_SCAN): -MAX_NUM_PILLARS_(MAX_NUM_PILLARS), -MAX_NUM_POINTS_PER_PILLAR_(MAX_NUM_POINTS_PER_PILLAR), -GRID_X_SIZE_(GRID_X_SIZE), -GRID_Y_SIZE_(GRID_Y_SIZE), -GRID_Z_SIZE_(GRID_Z_SIZE), -PILLAR_X_SIZE_(PILLAR_X_SIZE), -PILLAR_Y_SIZE_(PILLAR_Y_SIZE), -PILLAR_Z_SIZE_(PILLAR_Z_SIZE), -MIN_X_RANGE_(MIN_X_RANGE), -MIN_Y_RANGE_(MIN_Y_RANGE), -MIN_Z_RANGE_(MIN_Z_RANGE), -NUM_INDS_FOR_SCAN_(NUM_INDS_FOR_SCAN) +TestClass::TestClass(const int MAX_NUM_PILLARS, const int MAX_NUM_POINTS_PER_PILLAR, const int GRID_X_SIZE, + const int GRID_Y_SIZE, const int GRID_Z_SIZE, const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE, + const float PILLAR_Z_SIZE, const float MIN_X_RANGE, const float MIN_Y_RANGE, + const float MIN_Z_RANGE, const int NUM_INDS_FOR_SCAN) + : MAX_NUM_PILLARS_(MAX_NUM_PILLARS) + , MAX_NUM_POINTS_PER_PILLAR_(MAX_NUM_POINTS_PER_PILLAR) + , GRID_X_SIZE_(GRID_X_SIZE) + , GRID_Y_SIZE_(GRID_Y_SIZE) + , GRID_Z_SIZE_(GRID_Z_SIZE) + , PILLAR_X_SIZE_(PILLAR_X_SIZE) + , PILLAR_Y_SIZE_(PILLAR_Y_SIZE) + , PILLAR_Z_SIZE_(PILLAR_Z_SIZE) + , MIN_X_RANGE_(MIN_X_RANGE) + , MIN_Y_RANGE_(MIN_Y_RANGE) + , MIN_Z_RANGE_(MIN_Z_RANGE) + , NUM_INDS_FOR_SCAN_(NUM_INDS_FOR_SCAN) { preprocess_points_ptr_.reset(new PreprocessPoints( - MAX_NUM_PILLARS_, - MAX_NUM_POINTS_PER_PILLAR_, - GRID_X_SIZE_, - GRID_Y_SIZE_, - GRID_Z_SIZE_, - PILLAR_X_SIZE_, - PILLAR_Y_SIZE_, - PILLAR_Z_SIZE_, - MIN_X_RANGE_, - MIN_Y_RANGE_, - MIN_Z_RANGE_, - NUM_INDS_FOR_SCAN_ - )); + MAX_NUM_PILLARS_, MAX_NUM_POINTS_PER_PILLAR_, GRID_X_SIZE_, GRID_Y_SIZE_, GRID_Z_SIZE_, PILLAR_X_SIZE_, + PILLAR_Y_SIZE_, PILLAR_Z_SIZE_, MIN_X_RANGE_, MIN_Y_RANGE_, MIN_Z_RANGE_, NUM_INDS_FOR_SCAN_)); }; -void TestClass::preprocess(const float* in_points_array, int in_num_points, - int* x_coors, int* y_coors, float* num_points_per_pillar, - float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, - float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, - float* pillar_feature_mask, float* sparse_pillar_map, int* host_pillar_count) +void TestClass::preprocess(const float* in_points_array, int in_num_points, int* x_coors, int* y_coors, + float* num_points_per_pillar, float* pillar_x, float* pillar_y, float* pillar_z, + float* pillar_i, float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, + float* pillar_feature_mask, float* sparse_pillar_map, int* host_pillar_count) { - preprocess_points_ptr_->preprocess(in_points_array, in_num_points, - x_coors, y_coors, num_points_per_pillar, - pillar_x, pillar_y, pillar_z, pillar_i, - x_coors_for_sub_shaped, y_coors_for_sub_shaped, - pillar_feature_mask, sparse_pillar_map, host_pillar_count); + preprocess_points_ptr_->preprocess(in_points_array, in_num_points, x_coors, y_coors, num_points_per_pillar, pillar_x, + pillar_y, pillar_z, pillar_i, x_coors_for_sub_shaped, y_coors_for_sub_shaped, + pillar_feature_mask, sparse_pillar_map, host_pillar_count); } -void TestClass::pclToArray(const pcl::PointCloud::Ptr & in_pcl_pc_ptr, float* out_points_array) +void TestClass::pclToArray(const pcl::PointCloud::Ptr& in_pcl_pc_ptr, float* out_points_array) { - for(size_t i = 0; i < in_pcl_pc_ptr->size(); i++) + for (size_t i = 0; i < in_pcl_pc_ptr->size(); i++) { pcl::PointXYZI point = in_pcl_pc_ptr->at(i); - out_points_array[i*4 + 0] = point.x; - out_points_array[i*4 + 1] = point.y; - out_points_array[i*4 + 2] = point.z; - out_points_array[i*4 + 3] = point.intensity; + out_points_array[i * 4 + 0] = point.x; + out_points_array[i * 4 + 1] = point.y; + out_points_array[i * 4 + 2] = point.z; + out_points_array[i * 4 + 3] = point.intensity; } } -void TestClass::loadPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr, - const std::string& in_file ) +void TestClass::loadPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr, const std::string& in_file) { - if (pcl::io::loadPCDFile (in_file, *in_pcl_pc_ptr) == -1) + if (pcl::io::loadPCDFile(in_file, *in_pcl_pc_ptr) == -1) { ROS_ERROR("Couldn't read test pcd file \n"); } @@ -161,54 +127,39 @@ void TestClass::loadPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr, TEST(TestSuite, CheckPreprocessPointsCPU) { - TestClass test_obj( - 12000, - 100, - 432, - 496, - 1, - 0.16, - 0.16, - 4.0, - 0, - -39.68, - -3.0, - 512); + TestClass test_obj(12000, 100, 432, 496, 1, 0.16, 0.16, 4.0, 0, -39.68, -3.0, 512); pcl::PointCloud::Ptr pcl_pc_ptr(new pcl::PointCloud); std::string package_path = ros::package::getPath("lidar_point_pillars"); std::string in_file = package_path + "/test/data/1527836009720148.pcd"; test_obj.loadPoints(pcl_pc_ptr, in_file); - float * points_array = new float[pcl_pc_ptr->size()*4]; + float* points_array = new float[pcl_pc_ptr->size() * 4]; test_obj.pclToArray(pcl_pc_ptr, points_array); + int x_coors[test_obj.MAX_NUM_PILLARS_] = { 0 }; + int y_coors[test_obj.MAX_NUM_PILLARS_] = { 0 }; + float num_points_per_pillar[test_obj.MAX_NUM_PILLARS_] = { 0 }; + float* pillar_x = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_]; + float* pillar_y = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_]; + float* pillar_z = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_]; + float* pillar_i = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_]; - int x_coors[test_obj.MAX_NUM_PILLARS_]= {0}; - int y_coors[test_obj.MAX_NUM_PILLARS_]= {0}; - float num_points_per_pillar[test_obj.MAX_NUM_PILLARS_] = {0}; - float * pillar_x = new float[test_obj.MAX_NUM_PILLARS_*test_obj.MAX_NUM_POINTS_PER_PILLAR_]; - float * pillar_y = new float[test_obj.MAX_NUM_PILLARS_*test_obj.MAX_NUM_POINTS_PER_PILLAR_]; - float * pillar_z = new float[test_obj.MAX_NUM_PILLARS_*test_obj.MAX_NUM_POINTS_PER_PILLAR_]; - float * pillar_i = new float[test_obj.MAX_NUM_PILLARS_*test_obj.MAX_NUM_POINTS_PER_PILLAR_]; - - float * x_coors_for_sub_shaped = new float[test_obj.MAX_NUM_PILLARS_*test_obj.MAX_NUM_POINTS_PER_PILLAR_]; - float * y_coors_for_sub_shaped = new float[test_obj.MAX_NUM_PILLARS_*test_obj.MAX_NUM_POINTS_PER_PILLAR_]; - float * pillar_feature_mask = new float[test_obj.MAX_NUM_PILLARS_*test_obj.MAX_NUM_POINTS_PER_PILLAR_]; + float* x_coors_for_sub_shaped = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_]; + float* y_coors_for_sub_shaped = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_]; + float* pillar_feature_mask = new float[test_obj.MAX_NUM_PILLARS_ * test_obj.MAX_NUM_POINTS_PER_PILLAR_]; - float* sparse_pillar_map = new float[512*512]; + float* sparse_pillar_map = new float[512 * 512]; - int host_pillar_count[1] = {0}; - test_obj.preprocess(points_array, pcl_pc_ptr->size(), - x_coors, y_coors, num_points_per_pillar, - pillar_x, pillar_y, pillar_z, pillar_i, - x_coors_for_sub_shaped, y_coors_for_sub_shaped, - pillar_feature_mask, sparse_pillar_map, host_pillar_count); + int host_pillar_count[1] = { 0 }; + test_obj.preprocess(points_array, pcl_pc_ptr->size(), x_coors, y_coors, num_points_per_pillar, pillar_x, pillar_y, + pillar_z, pillar_i, x_coors_for_sub_shaped, y_coors_for_sub_shaped, pillar_feature_mask, + sparse_pillar_map, host_pillar_count); EXPECT_EQ(15, num_points_per_pillar[0]); EXPECT_FLOAT_EQ(3.7517259, pillar_x[14]); EXPECT_EQ(71, x_coors[100]); EXPECT_EQ(177, y_coors[100]); - EXPECT_EQ(1, sparse_pillar_map[177*512 + 71]); + EXPECT_EQ(1, sparse_pillar_map[177 * 512 + 71]); EXPECT_EQ(6270, host_pillar_count[0]); delete[] points_array; delete[] pillar_x; From ac9b9a9de3b4e4809399d1d542c05115e861cfb5 Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Thu, 28 Feb 2019 08:35:54 +0900 Subject: [PATCH 024/139] Refactor codes --- .../lidar_point_pillars/CMakeLists.txt | 1 + .../include/point_pillars.h | 30 +++++++++++++++---- .../nodes/point_pillars.cpp | 20 ++++++++++--- 3 files changed, 42 insertions(+), 9 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt index fad7f1a04c6..b4c451a393b 100755 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt @@ -80,6 +80,7 @@ if(TRT_AVAIL AND CUDA_AVAIL) nodes/point_pillars.cpp nodes/preprocess_points.cpp ) + # Need ${catkin_LIBRARIES} because of #include for ROS_ERROR target_link_libraries(point_pillars_lib ${catkin_LIBRARIES} nvinfer diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h index e65a5c02433..541e1d9b347 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h @@ -220,6 +220,20 @@ class PointPillars */ void initTRT(); + /** + * @brief Generate anchors + * @param[in] anchors_px_ Represents x-coordinate value for corresponding anchor + * @param[in] anchors_py_ Represents y-coordinate value for corresponding anchor + * @param[in] anchors_pz_ Represents z-coordinate value for corresponding anchor + * @param[in] anchors_dx_ Represents x-dimension value for corresponding anchor + * @param[in] anchors_dy_ Represents y-dimension value for corresponding anchor + * @param[in] anchors_dz_ Represents z-dimension value for corresponding anchor + * @param[in] anchors_ro_ Represents rotation value for corresponding anchor + * @details Generate anchors for each grid + */ + void generateAnchors(float* anchors_px_, float* anchors_py_, float* anchors_pz_, + float* anchors_dx_, float* anchors_dy_, float* anchors_dz_, float* anchors_ro_); + /** * @brief Convert ONNX to TensorRT model * @param[in] model_file ONNX model file path @@ -254,13 +268,19 @@ class PointPillars /** * @brief Convert anchors to box form like min_x, min_y, max_x, max_y anchors - * @param[in] anchors_px Represents x-coordinate value for corresponding anchor - * @param[in] anchors_py Represents y-coordinate value for corresponding anchor - * @param[in] anchors_dx Represents x-dimension value for corresponding anchor - * @param[in] anchors_dy Represents y-dimension value for corresponding anchor + * @param[in] anchors_px_ Represents x-coordinate value for a corresponding anchor + * @param[in] anchors_py_ Represents y-coordinate value for a corresponding anchor + * @param[in] anchors_dx_ Represents x-dimension value for a corresponding anchor + * @param[in] anchors_dy_ Represents y-dimension value for a corresponding anchor + * @param[in] box_anchors_min_x_ Represents minimum x value for a correspomding anchor + * @param[in] box_anchors_min_y_ Represents minimum y value for a correspomding anchor + * @param[in] box_anchors_max_x_ Represents maximum x value for a correspomding anchor + * @param[in] box_anchors_max_y_ Represents maximum y value for a correspomding anchor * @details Make box anchors for nms */ - void convertAnchors2BoxAnchors(float* anchors_px, float* anchors_py, float* anchors_dx, float* anchors_dy); + void convertAnchors2BoxAnchors(float* anchors_px_, float* anchors_py_, float* anchors_dx_, float* anchors_dy_, + float* box_anchors_min_x_, float* box_anchors_min_y_, + float* box_anchors_max_x_, float* box_anchors_max_y_); /** * @brief Memory allocation for anchors diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp index 117fb5c2a5e..bb5f33050f6 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp @@ -267,6 +267,19 @@ void PointPillars::deviceMemoryMalloc() } void PointPillars::initAnchors() +{ + generateAnchors(anchors_px_, anchors_py_, anchors_pz_, + anchors_dx_, anchors_dy_, anchors_dz_, anchors_ro_); + + convertAnchors2BoxAnchors(anchors_px_, anchors_py_, anchors_dx_, anchors_dy_, + box_anchors_min_x_, box_anchors_min_y_, + box_anchors_max_x_, box_anchors_max_y_); + + putAnchorsInDeviceMemory(); +} + +void PointPillars::generateAnchors(float* anchors_px_, float* anchors_py_, float* anchors_pz_, + float* anchors_dx_, float* anchors_dy_, float* anchors_dz_, float* anchors_ro_) { // zero clear for (size_t i = 0; i < NUM_ANCHOR_; i++) @@ -320,9 +333,6 @@ void PointPillars::initAnchors() } } } - convertAnchors2BoxAnchors(anchors_px_, anchors_py_, anchors_dx_, anchors_dy_); - - putAnchorsInDeviceMemory(); } void PointPillars::putAnchorsInDeviceMemory() @@ -345,7 +355,9 @@ void PointPillars::putAnchorsInDeviceMemory() GPU_CHECK(cudaMemcpy(dev_anchors_ro_, anchors_ro_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); } -void PointPillars::convertAnchors2BoxAnchors(float* anchors_px, float* anchors_py, float* anchors_dx, float* anchors_dy) +void PointPillars::convertAnchors2BoxAnchors(float* anchors_px, float* anchors_py, float* anchors_dx, float* anchors_dy, + float* box_anchors_min_x_, float* box_anchors_min_y_, + float* box_anchors_max_x_, float* box_anchors_max_y_) { // flip box's dimension when the at the third axis == 1 float flipped_anchors_dx[NUM_ANCHOR_] = { 0 }; From 32c0158949e081252d14f6ca88ab9eda42019df0 Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Thu, 28 Feb 2019 09:27:03 +0900 Subject: [PATCH 025/139] fix some test --- .../test/src/test_point_pillars.cpp | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp index a45cef2bdef..e3ca4a7dd28 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp @@ -49,7 +49,7 @@ class TestClass TestClass(const int MAX_NUM_PILLARS, const int MAX_NUM_POINTS_PER_PILLAR, const int GRID_X_SIZE, const int GRID_Y_SIZE, const int GRID_Z_SIZE, const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE, const float PILLAR_Z_SIZE, const float MIN_X_RANGE, const float MIN_Y_RANGE, const float MIN_Z_RANGE, - const int NUM_INDS_FOR_SCAN); + const int NUM_INDS_FOR_SCAN, const int NUM_BOX_CORNERS); const int MAX_NUM_PILLARS_; const int MAX_NUM_POINTS_PER_PILLAR_; const int GRID_X_SIZE_; @@ -62,6 +62,8 @@ class TestClass const float MIN_Y_RANGE_; const float MIN_Z_RANGE_; const int NUM_INDS_FOR_SCAN_; + const int NUM_BOX_CORNERS_; + void loadPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr, const std::string& in_file); void pclToArray(const pcl::PointCloud::Ptr& in_pcl_pc_ptr, float* out_points_array); void preprocess(const float* in_points_array, int in_num_points, int* x_coors, int* y_coors, @@ -76,7 +78,7 @@ class TestClass TestClass::TestClass(const int MAX_NUM_PILLARS, const int MAX_NUM_POINTS_PER_PILLAR, const int GRID_X_SIZE, const int GRID_Y_SIZE, const int GRID_Z_SIZE, const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE, const float PILLAR_Z_SIZE, const float MIN_X_RANGE, const float MIN_Y_RANGE, - const float MIN_Z_RANGE, const int NUM_INDS_FOR_SCAN) + const float MIN_Z_RANGE, const int NUM_INDS_FOR_SCAN, const int NUM_BOX_CORNERS) : MAX_NUM_PILLARS_(MAX_NUM_PILLARS) , MAX_NUM_POINTS_PER_PILLAR_(MAX_NUM_POINTS_PER_PILLAR) , GRID_X_SIZE_(GRID_X_SIZE) @@ -89,10 +91,11 @@ TestClass::TestClass(const int MAX_NUM_PILLARS, const int MAX_NUM_POINTS_PER_PIL , MIN_Y_RANGE_(MIN_Y_RANGE) , MIN_Z_RANGE_(MIN_Z_RANGE) , NUM_INDS_FOR_SCAN_(NUM_INDS_FOR_SCAN) + , NUM_BOX_CORNERS_(NUM_BOX_CORNERS) { preprocess_points_ptr_.reset(new PreprocessPoints( MAX_NUM_PILLARS_, MAX_NUM_POINTS_PER_PILLAR_, GRID_X_SIZE_, GRID_Y_SIZE_, GRID_Z_SIZE_, PILLAR_X_SIZE_, - PILLAR_Y_SIZE_, PILLAR_Z_SIZE_, MIN_X_RANGE_, MIN_Y_RANGE_, MIN_Z_RANGE_, NUM_INDS_FOR_SCAN_)); + PILLAR_Y_SIZE_, PILLAR_Z_SIZE_, MIN_X_RANGE_, MIN_Y_RANGE_, MIN_Z_RANGE_, NUM_INDS_FOR_SCAN_, NUM_BOX_CORNERS_)); }; void TestClass::preprocess(const float* in_points_array, int in_num_points, int* x_coors, int* y_coors, @@ -127,7 +130,7 @@ void TestClass::loadPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr, c TEST(TestSuite, CheckPreprocessPointsCPU) { - TestClass test_obj(12000, 100, 432, 496, 1, 0.16, 0.16, 4.0, 0, -39.68, -3.0, 512); + TestClass test_obj(12000, 100, 432, 496, 1, 0.16, 0.16, 4.0, 0, -39.68, -3.0, 512, 4); pcl::PointCloud::Ptr pcl_pc_ptr(new pcl::PointCloud); std::string package_path = ros::package::getPath("lidar_point_pillars"); From 76cc1215addf417510efaf6784b8b3dec4967508 Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Thu, 28 Feb 2019 10:13:59 +0900 Subject: [PATCH 026/139] fix test --- .../test/src/test_point_pillars.cpp | 65 +++++++++++++++---- 1 file changed, 52 insertions(+), 13 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp index e3ca4a7dd28..51a54579963 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp @@ -64,13 +64,14 @@ class TestClass const int NUM_INDS_FOR_SCAN_; const int NUM_BOX_CORNERS_; - void loadPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr, const std::string& in_file); + void initPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr); void pclToArray(const pcl::PointCloud::Ptr& in_pcl_pc_ptr, float* out_points_array); void preprocess(const float* in_points_array, int in_num_points, int* x_coors, int* y_coors, float* num_points_per_pillar, float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, float* pillar_feature_mask, float* sparse_pillar_map, int* host_pillar_count); + private: std::unique_ptr preprocess_points_ptr_; }; @@ -120,12 +121,49 @@ void TestClass::pclToArray(const pcl::PointCloud::Ptr& in_pcl_pc } } -void TestClass::loadPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr, const std::string& in_file) +void TestClass::initPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr) { - if (pcl::io::loadPCDFile(in_file, *in_pcl_pc_ptr) == -1) - { - ROS_ERROR("Couldn't read test pcd file \n"); - } + pcl::PointXYZI point; + point.x = 12.9892; + point.y = -9.98058; + point.z = 0; + point.intensity = 4; + in_pcl_pc_ptr->push_back(point); + point.x = 11.8697; + point.y = -11.123; + point.z = -0.189377; + point.intensity = 35; + in_pcl_pc_ptr->push_back(point); + point.x = 12.489; + point.y = -9.59703; + point.z = -2.15565; + point.intensity =11; + in_pcl_pc_ptr->push_back(point); + point.x = 12.9084; + point.y = -10.9626; + point.z = -2.15565; + point.intensity = 11; + in_pcl_pc_ptr->push_back(point); + point.x = 13.8676; + point.y = -9.61668; + point.z = 0.0980819; + point.intensity = 14; + in_pcl_pc_ptr->push_back(point); + point.x = 13.5673; + point.y = -12.9834; + point.z = 0.21862; + point.intensity = 1; + in_pcl_pc_ptr->push_back(point); + point.x = 13.8213; + point.y = -10.8529; + point.z =-1.22883; + point.intensity = 19; + in_pcl_pc_ptr->push_back(point); + point.x = 11.8957; + point.y = -10.3189; + point.z =-1.28556; + point.intensity = 13; + in_pcl_pc_ptr->push_back(point); } TEST(TestSuite, CheckPreprocessPointsCPU) @@ -135,7 +173,8 @@ TEST(TestSuite, CheckPreprocessPointsCPU) pcl::PointCloud::Ptr pcl_pc_ptr(new pcl::PointCloud); std::string package_path = ros::package::getPath("lidar_point_pillars"); std::string in_file = package_path + "/test/data/1527836009720148.pcd"; - test_obj.loadPoints(pcl_pc_ptr, in_file); + test_obj.initPoints(pcl_pc_ptr); + float* points_array = new float[pcl_pc_ptr->size() * 4]; test_obj.pclToArray(pcl_pc_ptr, points_array); @@ -158,12 +197,12 @@ TEST(TestSuite, CheckPreprocessPointsCPU) test_obj.preprocess(points_array, pcl_pc_ptr->size(), x_coors, y_coors, num_points_per_pillar, pillar_x, pillar_y, pillar_z, pillar_i, x_coors_for_sub_shaped, y_coors_for_sub_shaped, pillar_feature_mask, sparse_pillar_map, host_pillar_count); - EXPECT_EQ(15, num_points_per_pillar[0]); - EXPECT_FLOAT_EQ(3.7517259, pillar_x[14]); - EXPECT_EQ(71, x_coors[100]); - EXPECT_EQ(177, y_coors[100]); - EXPECT_EQ(1, sparse_pillar_map[177 * 512 + 71]); - EXPECT_EQ(6270, host_pillar_count[0]); + EXPECT_EQ(1, num_points_per_pillar[0]); + EXPECT_FLOAT_EQ(12.9892, pillar_x[0]); + EXPECT_EQ(74, x_coors[1]); + EXPECT_EQ(178, y_coors[1]); + EXPECT_EQ(1, sparse_pillar_map[178 * 512 + 74]); + EXPECT_EQ(8, host_pillar_count[0]); delete[] points_array; delete[] pillar_x; delete[] pillar_y; From 446326a7b54049bc6fd6fbdcb722c1131c0dbe2b Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Thu, 28 Feb 2019 10:32:22 +0900 Subject: [PATCH 027/139] refactor codes --- .../packages/lidar_point_pillars/include/point_pillars_ros.h | 2 +- .../packages/lidar_point_pillars/nodes/point_pillars_ros.cpp | 5 +++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h index 8a40722a896..97e6ff51f1f 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h @@ -88,7 +88,7 @@ class PointPillarsROS * @param[in] lidar2baselink transofomation info * @details Calculate z offset compared with trained sensor height and get rotation matrix */ - void getTFInfo(tf::StampedTransform lidar2baselink); + void analyzeTFInfo(tf::StampedTransform lidar2baselink); /** * @brief Transform pose based on tf stamp info diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp index 0d4b3df7148..17dcc8ecabc 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp @@ -86,6 +86,7 @@ void PointPillarsROS::pubDetectedObject(const std::vector& detections, co float yaw = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 6]; yaw = std::atan2(std::sin(yaw), std::cos(yaw)); + // Trained this way geometry_msgs::Quaternion q = tf::createQuaternionMsgFromYaw(-yaw); object.pose.orientation = q; @@ -109,7 +110,7 @@ void PointPillarsROS::getBaselinkToLidarTF(const std::string& target_frameid) { tf_listener_.waitForTransform(BASELINK_FRAME_, target_frameid, ros::Time(0), ros::Duration(1.0)); tf_listener_.lookupTransform(BASELINK_FRAME_, target_frameid, ros::Time(0), baselink2lidar_); - getTFInfo(baselink2lidar_); + analyzeTFInfo(baselink2lidar_); has_subscribed_baselink_ = true; } catch (tf::TransformException ex) @@ -118,7 +119,7 @@ void PointPillarsROS::getBaselinkToLidarTF(const std::string& target_frameid) } } -void PointPillarsROS::getTFInfo(tf::StampedTransform baselink2lidar) +void PointPillarsROS::analyzeTFInfo(tf::StampedTransform baselink2lidar) { tf::Vector3 v = baselink2lidar.getOrigin(); offset_z_from_trained_data_ = v.getZ() - TRAINED_SENSOR_HEIGHT_; From 0aaf34f1e5055edb8abc09048614278af6965e1e Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Thu, 28 Feb 2019 11:09:57 +0900 Subject: [PATCH 028/139] refactor codes --- .../lidar_point_pillars/include/point_pillars.h | 4 +--- .../lidar_point_pillars/include/point_pillars_ros.h | 3 +-- .../lidar_point_pillars/include/postprocess_cuda.h | 3 +-- .../lidar_point_pillars/nodes/point_pillars.cpp | 13 ++++++------- .../lidar_point_pillars/nodes/point_pillars_ros.cpp | 8 ++++---- .../lidar_point_pillars/nodes/postprocess_cuda.cu | 11 ++++++----- 6 files changed, 19 insertions(+), 23 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h index 541e1d9b347..b2f6c04728f 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h @@ -307,11 +307,9 @@ class PointPillars * @param[in] in_points_array pointcloud array * @param[in] in_num_points Number of points * @param[in] out_detections Network output bounding box - * @param[in] out_num_objects Number of output bounding box * @details This is interface for the algorithm */ - void doInference(const float* in_points_array, const int in_num_points, std::vector& out_detection, - int& out_num_objects); + void doInference(const float* in_points_array, const int in_num_points, std::vector& out_detection); }; #endif // POINTS_PILLAR_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h index 97e6ff51f1f..43c0994f547 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h @@ -119,11 +119,10 @@ class PointPillarsROS /** * @brief publish DetectedObject * @param[in] detections Network output bounding box - * @param[in] num_objects Number of objects * @param[in] pc_header Header from pointcloud * @details Convert std::vector to DetectedObject, and publish them */ - void pubDetectedObject(const std::vector& detections, const int num_objects, + void pubDetectedObject(const std::vector& detections, const std_msgs::Header& pc_header); public: diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h index b60a427ca3f..2add152f904 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h @@ -86,7 +86,6 @@ class PostprocessCuda * @param[in] dev_box_for_nms Decoded box from pose and dimension to min_x min_y max_x max_y represenation for nms * @param[in] dev_filter_count The number of filtered output * @param[out] out_detection Output bounding boxes - * @param[out] out_num_objects The number of output bounding boxes * @details dev_* represents device memory allocated variables */ void doPostprocessCuda(const float* rpn_box_output, const float* rpn_cls_output, const float* rpn_dir_output, @@ -94,7 +93,7 @@ class PostprocessCuda const float* dev_anchors_pz, const float* dev_anchors_dx, const float* dev_anchors_dy, const float* dev_anchors_dz, const float* dev_anchors_ro, float* dev_filtered_box, float* dev_filtered_score, int* dev_filtered_dir, float* dev_box_for_nms, - int* dev_filter_count, std::vector& out_detection, int& out_num_objects); + int* dev_filter_count, std::vector& out_detection); }; #endif // POSTPROCESS_CUDA_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp index bb5f33050f6..1e0cf78a85a 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp @@ -259,10 +259,10 @@ void PointPillars::deviceMemoryMalloc() GPU_CHECK(cudaMalloc((void**)&dev_anchors_dy_, NUM_ANCHOR_ * sizeof(float))); GPU_CHECK(cudaMalloc((void**)&dev_anchors_dz_, NUM_ANCHOR_ * sizeof(float))); GPU_CHECK(cudaMalloc((void**)&dev_anchors_ro_, NUM_ANCHOR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_filtered_box_, NUM_ANCHOR_ * 7 * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_filtered_box_, NUM_ANCHOR_ * NUM_OUTPUT_BOX_FEATURE_ * sizeof(float))); GPU_CHECK(cudaMalloc((void**)&dev_filtered_score_, NUM_ANCHOR_ * sizeof(float))); GPU_CHECK(cudaMalloc((void**)&dev_filtered_dir_, NUM_ANCHOR_ * sizeof(int))); - GPU_CHECK(cudaMalloc((void**)&dev_box_for_nms_, NUM_ANCHOR_ * 4 * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_box_for_nms_, NUM_ANCHOR_ * NUM_BOX_CORNERS_ * sizeof(float))); GPU_CHECK(cudaMalloc((void**)&dev_filter_count_, sizeof(int))); } @@ -524,8 +524,8 @@ void PointPillars::preprocessCPU(const float* in_points_array, const int in_num_ void PointPillars::preprocessGPU(const float* in_points_array, const int in_num_points) { float* dev_points; - GPU_CHECK(cudaMalloc((void**)&dev_points, in_num_points * 4 * sizeof(float))); - GPU_CHECK(cudaMemcpy(dev_points, in_points_array, in_num_points * 4 * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMalloc((void**)&dev_points, in_num_points * NUM_BOX_CORNERS_ * sizeof(float))); + GPU_CHECK(cudaMemcpy(dev_points, in_points_array, in_num_points * NUM_BOX_CORNERS_ * sizeof(float), cudaMemcpyHostToDevice)); GPU_CHECK(cudaMemset(dev_pillar_count_histo_, 0, GRID_Y_SIZE_ * GRID_X_SIZE_ * sizeof(int))); GPU_CHECK(cudaMemset(dev_sparse_pillar_map_, 0, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int))); @@ -558,8 +558,7 @@ void PointPillars::preprocess(const float* in_points_array, const int in_num_poi } } -void PointPillars::doInference(const float* in_points_array, const int in_num_points, std::vector& out_detection, - int& out_num_objects) +void PointPillars::doInference(const float* in_points_array, const int in_num_points, std::vector& out_detection) { preprocess(in_points_array, in_num_points); @@ -607,7 +606,7 @@ void PointPillars::doInference(const float* in_points_array, const int in_num_po dev_anchor_mask_, dev_anchors_px_, dev_anchors_py_, dev_anchors_pz_, dev_anchors_dx_, dev_anchors_dy_, dev_anchors_dz_, dev_anchors_ro_, dev_filtered_box_, dev_filtered_score_, dev_filtered_dir_, dev_box_for_nms_, - dev_filter_count_, out_detection, out_num_objects); + dev_filter_count_, out_detection); // release the stream and the buffers cudaStreamDestroy(stream); diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp index 17dcc8ecabc..2d6c88907d2 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp @@ -68,11 +68,12 @@ geometry_msgs::Pose PointPillarsROS::getTransformedPose(const geometry_msgs::Pos return out_pose.pose; } -void PointPillarsROS::pubDetectedObject(const std::vector& detections, const int num_objects, +void PointPillarsROS::pubDetectedObject(const std::vector& detections, const std_msgs::Header& pc_header) { autoware_msgs::DetectedObjectArray objects; objects.header = pc_header; + int num_objects = detections.size()/OUTPUT_NUM_BOX_FEATURE_; for (size_t i = 0; i < num_objects; i++) { autoware_msgs::DetectedObject object; @@ -166,10 +167,9 @@ void PointPillarsROS::pointsCallback(const sensor_msgs::PointCloud2::ConstPtr& m pclToArray(pcl_pc_ptr, points_array); } - int out_num_objects = 0; std::vector out_detection; - point_pillars_ptr_->doInference(points_array, pcl_pc_ptr->size(), out_detection, out_num_objects); + point_pillars_ptr_->doInference(points_array, pcl_pc_ptr->size(), out_detection); delete[] points_array; - pubDetectedObject(out_detection, out_num_objects, msg->header); + pubDetectedObject(out_detection, msg->header); } diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu index 2b5501e3541..cf82496926a 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu @@ -73,9 +73,9 @@ __global__ void filter_kernel(const float* box_preds, const float* cls_preds, co //convrt normal box(normal boxes: x, y, z, w, l, h, r) to box(xmin, ymin, xmax, ymax) for nms calculation //First: dx, dy -> box(x0y0, x0y1, x1y0, x1y1) float corners[2*4] = {float(-0.5*box_dx), float(-0.5*box_dy), - float(-0.5*box_dx), float( 0.5*box_dy), - float( 0.5*box_dx), float( 0.5*box_dy), - float( 0.5*box_dx), float(-0.5*box_dy)}; + float(-0.5*box_dx), float( 0.5*box_dy), + float( 0.5*box_dx), float( 0.5*box_dy), + float( 0.5*box_dx), float(-0.5*box_dy)}; //Second: Rotate, Offset and convert to point(xmin. ymin, xmax, ymax) //cannot use variable initialization since "error: expression must have a constant value" @@ -159,7 +159,7 @@ void PostprocessCuda::doPostprocessCuda(const float* rpn_box_output, const float int* dev_anchor_mask, const float* dev_anchors_px, const float* dev_anchors_py, const float* dev_anchors_pz, const float* dev_anchors_dx, const float* dev_anchors_dy, const float* dev_anchors_dz, const float* dev_anchors_ro, float* dev_filtered_box, float* dev_filtered_score, int* dev_filtered_dir, float* dev_box_for_nms, int* dev_filter_count, - std::vector& out_detection, int& out_num_objects) + std::vector& out_detection) { filter_kernel<<>> @@ -194,10 +194,11 @@ void PostprocessCuda::doPostprocessCuda(const float* rpn_box_output, const float NUM_BOX_CORNERS_, NUM_OUTPUT_BOX_FEATURE_); int keep_inds[host_filter_count[0]] = {0}; + int out_num_objects = 0; nms_cuda_ptr_->doNMSCuda(host_filter_count[0], dev_sorted_box_for_nms, keep_inds, out_num_objects); - float host_filtered_box[host_filter_count[0]*7]; + float host_filtered_box[host_filter_count[0]*NUM_OUTPUT_BOX_FEATURE_]; int host_filtered_dir[host_filter_count[0]]; GPU_CHECK( cudaMemcpy(host_filtered_box, dev_sorted_filtered_box, NUM_OUTPUT_BOX_FEATURE_*host_filter_count[0] *sizeof(float), cudaMemcpyDeviceToHost ) ); GPU_CHECK( cudaMemcpy(host_filtered_dir, dev_sorted_filtered_dir, host_filter_count[0] *sizeof(int), cudaMemcpyDeviceToHost ) ); From df730579e079fede46aa09f7f5445866f1755e9f Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Thu, 28 Feb 2019 11:18:06 +0900 Subject: [PATCH 029/139] refactor code --- .../nodes/point_pillars.cpp | 101 +++++++----------- 1 file changed, 38 insertions(+), 63 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp index 1e0cf78a85a..4d23bfcb6c5 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp @@ -193,15 +193,13 @@ PointPillars::~PointPillars() void PointPillars::deviceMemoryMalloc() { - GPU_CHECK(cudaMalloc((void**)&dev_pillar_x_in_coors_, - GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_y_in_coors_, - GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_z_in_coors_, - GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK(cudaMalloc((void**)&dev_pillar_i_in_coors_, - GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + // clang-format off + GPU_CHECK(cudaMalloc((void**)&dev_pillar_x_in_coors_,GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_y_in_coors_,GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_z_in_coors_,GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_i_in_coors_,GRID_Y_SIZE_ * GRID_X_SIZE_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); GPU_CHECK(cudaMalloc((void**)&dev_pillar_count_histo_, GRID_Y_SIZE_ * GRID_X_SIZE_ * sizeof(int))); + // clang-format on GPU_CHECK(cudaMalloc((void**)&dev_x_coors_, MAX_NUM_PILLARS_ * sizeof(int))); GPU_CHECK(cudaMalloc((void**)&dev_y_coors_, MAX_NUM_PILLARS_ * sizeof(int))); @@ -213,12 +211,11 @@ void PointPillars::deviceMemoryMalloc() GPU_CHECK(cudaMalloc((void**)&dev_pillar_z_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); GPU_CHECK(cudaMalloc((void**)&dev_pillar_i_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK( - cudaMalloc((void**)&dev_x_coors_for_sub_shaped_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK( - cudaMalloc((void**)&dev_y_coors_for_sub_shaped_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); - GPU_CHECK( - cudaMalloc((void**)&dev_pillar_feature_mask_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + // clang-format off + GPU_CHECK(cudaMalloc((void**)&dev_x_coors_for_sub_shaped_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_y_coors_for_sub_shaped_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_pillar_feature_mask_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float))); + // clang-format on // cumsum kernel GPU_CHECK(cudaMalloc((void**)&dev_cumsum_along_x_, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int))); @@ -337,14 +334,12 @@ void PointPillars::generateAnchors(float* anchors_px_, float* anchors_py_, float void PointPillars::putAnchorsInDeviceMemory() { - GPU_CHECK( - cudaMemcpy(dev_box_anchors_min_x_, box_anchors_min_x_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK( - cudaMemcpy(dev_box_anchors_min_y_, box_anchors_min_y_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK( - cudaMemcpy(dev_box_anchors_max_x_, box_anchors_max_x_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK( - cudaMemcpy(dev_box_anchors_max_y_, box_anchors_max_y_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); + // clang-format off + GPU_CHECK(cudaMemcpy(dev_box_anchors_min_x_, box_anchors_min_x_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_box_anchors_min_y_, box_anchors_min_y_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_box_anchors_max_x_, box_anchors_max_x_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_box_anchors_max_y_, box_anchors_max_y_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); + // clang-format on GPU_CHECK(cudaMemcpy(dev_anchors_px_, anchors_px_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); GPU_CHECK(cudaMemcpy(dev_anchors_py_, anchors_py_, NUM_ANCHOR_ * sizeof(float), cudaMemcpyHostToDevice)); @@ -490,26 +485,19 @@ void PointPillars::preprocessCPU(const float* in_points_array, const int in_num_ GPU_CHECK(cudaMemset(dev_num_points_per_pillar_, 0, MAX_NUM_PILLARS_ * sizeof(float))); GPU_CHECK(cudaMemset(dev_sparse_pillar_map_, 0, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int))); + // clang-format off GPU_CHECK(cudaMemcpy(dev_x_coors_, x_coors, MAX_NUM_PILLARS_ * sizeof(int), cudaMemcpyHostToDevice)); GPU_CHECK(cudaMemcpy(dev_y_coors_, y_coors, MAX_NUM_PILLARS_ * sizeof(int), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_pillar_x_, pillar_x, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), - cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_pillar_y_, pillar_y, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), - cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_pillar_z_, pillar_z, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), - cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_pillar_i_, pillar_i, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), - cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_x_coors_for_sub_shaped_, x_coors_for_sub_shaped, - MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_y_coors_for_sub_shaped_, y_coors_for_sub_shaped, - MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_num_points_per_pillar_, num_points_per_pillar, MAX_NUM_PILLARS_ * sizeof(float), - cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_pillar_feature_mask_, pillar_feature_mask, - MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyHostToDevice)); - GPU_CHECK(cudaMemcpy(dev_sparse_pillar_map_, sparse_pillar_map, - NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_pillar_x_, pillar_x, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float),cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_pillar_y_, pillar_y, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float),cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_pillar_z_, pillar_z, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float),cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_pillar_i_, pillar_i, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float),cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_x_coors_for_sub_shaped_, x_coors_for_sub_shaped, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_y_coors_for_sub_shaped_, y_coors_for_sub_shaped,MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_num_points_per_pillar_, num_points_per_pillar, MAX_NUM_PILLARS_ * sizeof(float),cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_pillar_feature_mask_, pillar_feature_mask,MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_sparse_pillar_map_, sparse_pillar_map,NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(float), cudaMemcpyHostToDevice)); + // clang-format on delete[] pillar_x; delete[] pillar_y; @@ -568,29 +556,16 @@ void PointPillars::doInference(const float* in_points_array, const int in_num_po cudaStream_t stream; GPU_CHECK(cudaStreamCreate(&stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[0], dev_pillar_x_, - BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), - cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[1], dev_pillar_y_, - BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), - cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[2], dev_pillar_z_, - BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), - cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[3], dev_pillar_i_, - BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), - cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[4], dev_num_points_per_pillar_, BATCH_SIZE_ * MAX_NUM_PILLARS_ * sizeof(float), - cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[5], dev_x_coors_for_sub_shaped_, - BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), - cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[6], dev_y_coors_for_sub_shaped_, - BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), - cudaMemcpyDeviceToDevice, stream)); - GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[7], dev_pillar_feature_mask_, - BATCH_SIZE_ * MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), - cudaMemcpyDeviceToDevice, stream)); + // clang-format off + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[0], dev_pillar_x_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[1], dev_pillar_y_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[2], dev_pillar_z_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[3], dev_pillar_i_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[4], dev_num_points_per_pillar_, MAX_NUM_PILLARS_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[5], dev_x_coors_for_sub_shaped_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[6], dev_y_coors_for_sub_shaped_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); + GPU_CHECK(cudaMemcpyAsync(pfe_buffers_[7], dev_pillar_feature_mask_, MAX_NUM_PILLARS_ * MAX_NUM_POINTS_PER_PILLAR_ * sizeof(float), cudaMemcpyDeviceToDevice, stream)); + // clang-format on pfe_context_->enqueue(BATCH_SIZE_, pfe_buffers_, stream, nullptr); GPU_CHECK(cudaMemset(dev_scattered_feature_, 0, RPN_INPUT_SIZE_ * sizeof(float))); From 70fb9be658d94d26286ff64a65fad91c92176cf9 Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Thu, 28 Feb 2019 11:24:33 +0900 Subject: [PATCH 030/139] apply ros clang --- .../include/point_pillars.h | 8 +++---- .../include/point_pillars_ros.h | 3 +-- .../nodes/point_pillars.cpp | 23 +++++++++---------- .../nodes/point_pillars_ros.cpp | 5 ++-- .../test/src/test_point_pillars.cpp | 8 +++---- 5 files changed, 21 insertions(+), 26 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h index b2f6c04728f..735b80e36b4 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h @@ -231,8 +231,8 @@ class PointPillars * @param[in] anchors_ro_ Represents rotation value for corresponding anchor * @details Generate anchors for each grid */ - void generateAnchors(float* anchors_px_, float* anchors_py_, float* anchors_pz_, - float* anchors_dx_, float* anchors_dy_, float* anchors_dz_, float* anchors_ro_); + void generateAnchors(float* anchors_px_, float* anchors_py_, float* anchors_pz_, float* anchors_dx_, + float* anchors_dy_, float* anchors_dz_, float* anchors_ro_); /** * @brief Convert ONNX to TensorRT model @@ -279,8 +279,8 @@ class PointPillars * @details Make box anchors for nms */ void convertAnchors2BoxAnchors(float* anchors_px_, float* anchors_py_, float* anchors_dx_, float* anchors_dy_, - float* box_anchors_min_x_, float* box_anchors_min_y_, - float* box_anchors_max_x_, float* box_anchors_max_y_); + float* box_anchors_min_x_, float* box_anchors_min_y_, float* box_anchors_max_x_, + float* box_anchors_max_y_); /** * @brief Memory allocation for anchors diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h index 43c0994f547..4aa50f3160d 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h @@ -122,8 +122,7 @@ class PointPillarsROS * @param[in] pc_header Header from pointcloud * @details Convert std::vector to DetectedObject, and publish them */ - void pubDetectedObject(const std::vector& detections, - const std_msgs::Header& pc_header); + void pubDetectedObject(const std::vector& detections, const std_msgs::Header& pc_header); public: PointPillarsROS(); diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp index 4d23bfcb6c5..be307a5d68a 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp @@ -265,18 +265,16 @@ void PointPillars::deviceMemoryMalloc() void PointPillars::initAnchors() { - generateAnchors(anchors_px_, anchors_py_, anchors_pz_, - anchors_dx_, anchors_dy_, anchors_dz_, anchors_ro_); + generateAnchors(anchors_px_, anchors_py_, anchors_pz_, anchors_dx_, anchors_dy_, anchors_dz_, anchors_ro_); - convertAnchors2BoxAnchors(anchors_px_, anchors_py_, anchors_dx_, anchors_dy_, - box_anchors_min_x_, box_anchors_min_y_, + convertAnchors2BoxAnchors(anchors_px_, anchors_py_, anchors_dx_, anchors_dy_, box_anchors_min_x_, box_anchors_min_y_, box_anchors_max_x_, box_anchors_max_y_); putAnchorsInDeviceMemory(); } -void PointPillars::generateAnchors(float* anchors_px_, float* anchors_py_, float* anchors_pz_, - float* anchors_dx_, float* anchors_dy_, float* anchors_dz_, float* anchors_ro_) +void PointPillars::generateAnchors(float* anchors_px_, float* anchors_py_, float* anchors_pz_, float* anchors_dx_, + float* anchors_dy_, float* anchors_dz_, float* anchors_ro_) { // zero clear for (size_t i = 0; i < NUM_ANCHOR_; i++) @@ -512,8 +510,10 @@ void PointPillars::preprocessCPU(const float* in_points_array, const int in_num_ void PointPillars::preprocessGPU(const float* in_points_array, const int in_num_points) { float* dev_points; + // clang-format off GPU_CHECK(cudaMalloc((void**)&dev_points, in_num_points * NUM_BOX_CORNERS_ * sizeof(float))); - GPU_CHECK(cudaMemcpy(dev_points, in_points_array, in_num_points * NUM_BOX_CORNERS_ * sizeof(float), cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_points, in_points_array, in_num_points * NUM_BOX_CORNERS_ * sizeof(float),　cudaMemcpyHostToDevice)); + // clang-format on GPU_CHECK(cudaMemset(dev_pillar_count_histo_, 0, GRID_Y_SIZE_ * GRID_X_SIZE_ * sizeof(int))); GPU_CHECK(cudaMemset(dev_sparse_pillar_map_, 0, NUM_INDS_FOR_SCAN_ * NUM_INDS_FOR_SCAN_ * sizeof(int))); @@ -577,11 +577,10 @@ void PointPillars::doInference(const float* in_points_array, const int in_num_po rpn_context_->enqueue(BATCH_SIZE_, rpn_buffers_, stream, nullptr); GPU_CHECK(cudaMemset(dev_filter_count_, 0, sizeof(int))); - postprocess_cuda_ptr_->doPostprocessCuda((float*)rpn_buffers_[1], (float*)rpn_buffers_[2], (float*)rpn_buffers_[3], - dev_anchor_mask_, dev_anchors_px_, dev_anchors_py_, dev_anchors_pz_, - dev_anchors_dx_, dev_anchors_dy_, dev_anchors_dz_, dev_anchors_ro_, - dev_filtered_box_, dev_filtered_score_, dev_filtered_dir_, dev_box_for_nms_, - dev_filter_count_, out_detection); + postprocess_cuda_ptr_->doPostprocessCuda( + (float*)rpn_buffers_[1], (float*)rpn_buffers_[2], (float*)rpn_buffers_[3], dev_anchor_mask_, dev_anchors_px_, + dev_anchors_py_, dev_anchors_pz_, dev_anchors_dx_, dev_anchors_dy_, dev_anchors_dz_, dev_anchors_ro_, + dev_filtered_box_, dev_filtered_score_, dev_filtered_dir_, dev_box_for_nms_, dev_filter_count_, out_detection); // release the stream and the buffers cudaStreamDestroy(stream); diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp index 2d6c88907d2..93969a403a7 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp @@ -68,12 +68,11 @@ geometry_msgs::Pose PointPillarsROS::getTransformedPose(const geometry_msgs::Pos return out_pose.pose; } -void PointPillarsROS::pubDetectedObject(const std::vector& detections, - const std_msgs::Header& pc_header) +void PointPillarsROS::pubDetectedObject(const std::vector& detections, const std_msgs::Header& pc_header) { autoware_msgs::DetectedObjectArray objects; objects.header = pc_header; - int num_objects = detections.size()/OUTPUT_NUM_BOX_FEATURE_; + int num_objects = detections.size() / OUTPUT_NUM_BOX_FEATURE_; for (size_t i = 0; i < num_objects; i++) { autoware_msgs::DetectedObject object; diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp index 51a54579963..d0736414ef0 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp @@ -71,7 +71,6 @@ class TestClass float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, float* pillar_feature_mask, float* sparse_pillar_map, int* host_pillar_count); - private: std::unique_ptr preprocess_points_ptr_; }; @@ -137,7 +136,7 @@ void TestClass::initPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr) point.x = 12.489; point.y = -9.59703; point.z = -2.15565; - point.intensity =11; + point.intensity = 11; in_pcl_pc_ptr->push_back(point); point.x = 12.9084; point.y = -10.9626; @@ -156,12 +155,12 @@ void TestClass::initPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr) in_pcl_pc_ptr->push_back(point); point.x = 13.8213; point.y = -10.8529; - point.z =-1.22883; + point.z = -1.22883; point.intensity = 19; in_pcl_pc_ptr->push_back(point); point.x = 11.8957; point.y = -10.3189; - point.z =-1.28556; + point.z = -1.28556; point.intensity = 13; in_pcl_pc_ptr->push_back(point); } @@ -175,7 +174,6 @@ TEST(TestSuite, CheckPreprocessPointsCPU) std::string in_file = package_path + "/test/data/1527836009720148.pcd"; test_obj.initPoints(pcl_pc_ptr); - float* points_array = new float[pcl_pc_ptr->size() * 4]; test_obj.pclToArray(pcl_pc_ptr, points_array); From 7c75d4b4e61113d6fd2beba2a6d66f7ae48c634d Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Thu, 28 Feb 2019 11:52:44 +0900 Subject: [PATCH 031/139] refactor codes --- .../packages/lidar_point_pillars/CMakeLists.txt | 3 +-- .../packages/lidar_point_pillars/README.md | 13 ++++++++++++- .../lidar_point_pillars/nodes/point_pillars.cpp | 13 +++++-------- 3 files changed, 18 insertions(+), 11 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt index b4c451a393b..1978f5f47eb 100755 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt @@ -80,9 +80,8 @@ if(TRT_AVAIL AND CUDA_AVAIL) nodes/point_pillars.cpp nodes/preprocess_points.cpp ) - # Need ${catkin_LIBRARIES} because of #include for ROS_ERROR + target_link_libraries(point_pillars_lib - ${catkin_LIBRARIES} nvinfer nvonnxparser gpu_point_pillars_lib diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md index ffae0b6c011..d20ad5b2bfc 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md @@ -1,4 +1,4 @@ -# Point Pillars for 3D Object Detection +# Point Pillars for 3D Object Detection: ver. 1.0 Autoware package for Point Pillars. ([reference paper](https://arxiv.org/abs/1812.05784)) @@ -14,6 +14,17 @@ TensorRT : [How to install](https://docs.nvidia.com/deeplearning/sdk/tensorrt-in Using launch file: `roslaunch lidar_point_pillars lidar_point_pillars.launch pfe_onnx_file:=/PATH/TO/FILE.onnx rpn_onnx_file:=/PATH/TO/FILE.onnx input_topic:=/points_raw` +## API +``` +/** +* @brief Call PointPillars for the inference +* @param[in] in_points_array pointcloud array +* @param[in] in_num_points Number of points +* @param[in] out_detections Network output bounding box +* @details This is interface for the algorithm +*/ +void doInference(const float* in_points_array, const int in_num_points, std::vector& out_detection); +``` ## Parameters diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp index be307a5d68a..0c4293a95d3 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp @@ -18,9 +18,6 @@ #include #include -// headers in ROS -#include - // headers in local files #include "point_pillars.h" @@ -391,7 +388,7 @@ void PointPillars::initTRT() onnxToTRTModel(rpn_onnx_file_, rpn_trt_model_stream); if (pfe_trt_model_stream == nullptr || rpn_trt_model_stream == nullptr) { - ROS_ERROR("Failed to load %s or %s ", pfe_onnx_file_.c_str(), rpn_onnx_file_.c_str()); + std::cerr<< "Failed to load ONNX file " << std::endl; } // deserialize the engine @@ -399,7 +396,7 @@ void PointPillars::initTRT() rpn_runtime_ = nvinfer1::createInferRuntime(g_logger_); if (pfe_runtime_ == nullptr || rpn_runtime_ == nullptr) { - ROS_ERROR("Failed to create TensorRT Runtime object."); + std::cerr<<"Failed to create TensorRT Runtime object."<deserializeCudaEngine(pfe_trt_model_stream->data(), pfe_trt_model_stream->size(), nullptr); @@ -407,7 +404,7 @@ void PointPillars::initTRT() rpn_runtime_->deserializeCudaEngine(rpn_trt_model_stream->data(), rpn_trt_model_stream->size(), nullptr); if (pfe_engine_ == nullptr || rpn_engine_ == nullptr) { - ROS_ERROR("Failed to create TensorRT Engine."); + std::cerr << "Failed to create TensorRT Engine." << std::endl; } pfe_trt_model_stream->destroy(); rpn_trt_model_stream->destroy(); @@ -415,7 +412,7 @@ void PointPillars::initTRT() rpn_context_ = rpn_engine_->createExecutionContext(); if (pfe_context_ == nullptr || rpn_context_ == nullptr) { - ROS_ERROR("Failed to create TensorRT Execution Context."); + std::cerr << "Failed to create TensorRT Execution Context." << std::endl;; } } @@ -512,7 +509,7 @@ void PointPillars::preprocessGPU(const float* in_points_array, const int in_num_ float* dev_points; // clang-format off GPU_CHECK(cudaMalloc((void**)&dev_points, in_num_points * NUM_BOX_CORNERS_ * sizeof(float))); - GPU_CHECK(cudaMemcpy(dev_points, in_points_array, in_num_points * NUM_BOX_CORNERS_ * sizeof(float),　cudaMemcpyHostToDevice)); + GPU_CHECK(cudaMemcpy(dev_points, in_points_array, in_num_points * NUM_BOX_CORNERS_ * sizeof(float), cudaMemcpyHostToDevice)); // clang-format on GPU_CHECK(cudaMemset(dev_pillar_count_histo_, 0, GRID_Y_SIZE_ * GRID_X_SIZE_ * sizeof(int))); From 338de2131ecc06787be06c05b71a4334c3cfd0bf Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Thu, 28 Feb 2019 12:09:43 +0900 Subject: [PATCH 032/139] remove cuda description in package.xml --- .../packages/lidar_point_pillars/CMakeLists.txt | 7 ++++--- .../packages/lidar_point_pillars/package.xml | 4 +--- 2 files changed, 5 insertions(+), 6 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt index 1978f5f47eb..1a832d99e8a 100755 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt @@ -1,7 +1,7 @@ cmake_minimum_required(VERSION 2.8.3) project(lidar_point_pillars) -# set flags for CUDA and TensorRT availability +# set flags for CUDA availability option(CUDA_AVAIL "CUDA available" OFF) find_package(CUDA) if (CUDA_FOUND) @@ -14,8 +14,9 @@ else() set(CUDA_AVAIL OFF) endif (CUDA_FOUND) -# try to find the tensorRT modules +# set flags for TensorRT availability option(TRT_AVAIL "TensorRT available" OFF) +# try to find the tensorRT modules find_library(NVINFER NAMES nvinfer) find_library(NVPARSERS NAMES nvparsers) if(NVINFER AND NVPARSERS) @@ -80,7 +81,7 @@ if(TRT_AVAIL AND CUDA_AVAIL) nodes/point_pillars.cpp nodes/preprocess_points.cpp ) - + target_link_libraries(point_pillars_lib nvinfer nvonnxparser diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/package.xml b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/package.xml index 2c79d3dbb70..082e644fa5d 100755 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/package.xml +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/package.xml @@ -5,19 +5,17 @@ lidar_point_pillars Kosuke Murakami - BSD + Apache 2.0 catkin roscpp pcl_ros - cuda-toolkit-10-0 autoware_msgs roscpp pcl_ros - cuda-toolkit-10-0 autoware_msgs From 0b0f8cf047480df27accacc1c54acb7f0f360b53 Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Thu, 28 Feb 2019 12:10:09 +0900 Subject: [PATCH 033/139] Add specific version for TensorRT in README.md --- .../packages/lidar_point_pillars/README.md | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md index d20ad5b2bfc..e105af0d2a6 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md @@ -2,11 +2,12 @@ Autoware package for Point Pillars. ([reference paper](https://arxiv.org/abs/1812.05784)) -## Pre requisites +## Requirements CUDA Toolkit v9.0 or 10.0 -TensorRT : [How to install](https://docs.nvidia.com/deeplearning/sdk/tensorrt-install-guide/index.html#installing) +TensorRT: Tested with 5.0.2 -> [How to install](https://docs.nvidia.com/deeplearning/sdk/tensorrt-install-guide/index.html#installing) + ## How to launch @@ -17,11 +18,11 @@ Using launch file: ## API ``` /** -* @brief Call PointPillars for the inference +* @brief Call PointPillars for the inference. * @param[in] in_points_array pointcloud array * @param[in] in_num_points Number of points -* @param[in] out_detections Network output bounding box -* @details This is interface for the algorithm +* @param[in] out_detections Output bounding box from the network +* @details This is an interface for the algorithm. */ void doInference(const float* in_points_array, const int in_num_points, std::vector& out_detection); ``` From 7881cbb8423c21d7236767046c0e4673dc34b190 Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Thu, 28 Feb 2019 12:18:39 +0900 Subject: [PATCH 034/139] update readme --- .../packages/lidar_point_pillars/README.md | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md index e105af0d2a6..ff08e3108e8 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md @@ -1,10 +1,10 @@ # Point Pillars for 3D Object Detection: ver. 1.0 -Autoware package for Point Pillars. ([reference paper](https://arxiv.org/abs/1812.05784)) +Autoware package for Point Pillars. [Referenced paper](https://arxiv.org/abs/1812.05784). ## Requirements -CUDA Toolkit v9.0 or 10.0 +CUDA Toolkit v9.0 or v10.0 TensorRT: Tested with 5.0.2 -> [How to install](https://docs.nvidia.com/deeplearning/sdk/tensorrt-install-guide/index.html#installing) @@ -12,19 +12,21 @@ TensorRT: Tested with 5.0.2 -> [How to install](https://docs.nvidia.com/deeplear ## How to launch -Using launch file: +* Launch file: `roslaunch lidar_point_pillars lidar_point_pillars.launch pfe_onnx_file:=/PATH/TO/FILE.onnx rpn_onnx_file:=/PATH/TO/FILE.onnx input_topic:=/points_raw` +* You can launch it through the runtime manager in Computing tab, as well. + ## API ``` /** * @brief Call PointPillars for the inference. * @param[in] in_points_array pointcloud array * @param[in] in_num_points Number of points -* @param[in] out_detections Output bounding box from the network +* @param[out] out_detections Output bounding box from the network * @details This is an interface for the algorithm. */ -void doInference(const float* in_points_array, const int in_num_points, std::vector& out_detection); +void doInference(float* in_points_array, int in_num_points, std::vector out_detection); ``` ## Parameters @@ -50,6 +52,6 @@ void doInference(const float* in_points_array, const int in_num_points, std::vec * To display the results in Rviz `objects_visualizer` is required. (Launch file launches automatically this node). -* Pre trained models can be downloaded from the [github repository](https://github.com/cirpue49/kitti_pretrained_pp).Notice that this model is under `BY-NC-SA 3.0` license. +* Pre trained models can be downloaded from the [github repository](https://github.com/cirpue49/kitti_pretrained_pp). Notice that this model is under `BY-NC-SA 3.0` license. -* If trained model comes from KITTI data, users might not be allowed to use the model for Commercial purpose. +* If trained model comes from KITTI data, users might not be allowed to use the model for commercial purposes. From e70f51f9c7d465e2006f27a21f39d6c2434d5ffa Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Thu, 28 Feb 2019 12:46:12 +0900 Subject: [PATCH 035/139] refactor codes --- .../include/point_pillars_ros.h | 4 +-- .../nodes/point_pillars.cpp | 33 ++++++++++--------- .../nodes/point_pillars_ros.cpp | 9 +++-- 3 files changed, 26 insertions(+), 20 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h index 4aa50f3160d..c190fb56a97 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h @@ -119,10 +119,10 @@ class PointPillarsROS /** * @brief publish DetectedObject * @param[in] detections Network output bounding box - * @param[in] pc_header Header from pointcloud + * @param[in] in_header Header from pointcloud * @details Convert std::vector to DetectedObject, and publish them */ - void pubDetectedObject(const std::vector& detections, const std_msgs::Header& pc_header); + void pubDetectedObject(const std::vector& detections, const std_msgs::Header& in_header); public: PointPillarsROS(); diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp index 0c4293a95d3..24ce3b021a7 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp @@ -21,6 +21,7 @@ // headers in local files #include "point_pillars.h" +// clang-format off PointPillars::PointPillars(const bool reproduce_result_mode, const float score_threshold, const float nms_overlap_threshold, const std::string pfe_onnx_file, const std::string rpn_onnx_file) @@ -54,27 +55,14 @@ PointPillars::PointPillars(const bool reproduce_result_mode, const float score_t , MAX_Z_RANGE_(1) , BATCH_SIZE_(1) , NUM_INDS_FOR_SCAN_(512) - , NUM_THREADS_(64) - , // if you chancge NUM_THREADS_, need to modify nms_kernel's shared mempry size - SENSOR_HEIGHT_(1.73) + , NUM_THREADS_(64) // if you chancge NUM_THREADS_, need to modify nms_kernel's shared mempry size + , SENSOR_HEIGHT_(1.73) , ANCHOR_DX_SIZE_(1.6) , ANCHOR_DY_SIZE_(3.9) , ANCHOR_DZ_SIZE_(1.56) , NUM_BOX_CORNERS_(4) , NUM_OUTPUT_BOX_FEATURE_(7) { - anchors_px_ = new float[NUM_ANCHOR_]; - anchors_py_ = new float[NUM_ANCHOR_]; - anchors_pz_ = new float[NUM_ANCHOR_]; - anchors_dx_ = new float[NUM_ANCHOR_]; - anchors_dy_ = new float[NUM_ANCHOR_]; - anchors_dz_ = new float[NUM_ANCHOR_]; - anchors_ro_ = new float[NUM_ANCHOR_]; - box_anchors_min_x_ = new float[NUM_ANCHOR_]; - box_anchors_min_y_ = new float[NUM_ANCHOR_]; - box_anchors_max_x_ = new float[NUM_ANCHOR_]; - box_anchors_max_y_ = new float[NUM_ANCHOR_]; - if (reproduce_result_mode_) { preprocess_points_ptr_.reset(new PreprocessPoints(MAX_NUM_PILLARS_, MAX_NUM_POINTS_PER_PILLAR_, GRID_X_SIZE_, @@ -105,6 +93,7 @@ PointPillars::PointPillars(const bool reproduce_result_mode, const float score_t initTRT(); initAnchors(); } +// clang-format on PointPillars::~PointPillars() { @@ -262,6 +251,20 @@ void PointPillars::deviceMemoryMalloc() void PointPillars::initAnchors() { + // allocate memory for anchors + anchors_px_ = new float[NUM_ANCHOR_]; + anchors_py_ = new float[NUM_ANCHOR_]; + anchors_pz_ = new float[NUM_ANCHOR_]; + anchors_dx_ = new float[NUM_ANCHOR_]; + anchors_dy_ = new float[NUM_ANCHOR_]; + anchors_dz_ = new float[NUM_ANCHOR_]; + anchors_ro_ = new float[NUM_ANCHOR_]; + box_anchors_min_x_ = new float[NUM_ANCHOR_]; + box_anchors_min_y_ = new float[NUM_ANCHOR_]; + box_anchors_max_x_ = new float[NUM_ANCHOR_]; + box_anchors_max_y_ = new float[NUM_ANCHOR_]; + // deallocate these memory in deconstructor + generateAnchors(anchors_px_, anchors_py_, anchors_pz_, anchors_dx_, anchors_dy_, anchors_dz_, anchors_ro_); convertAnchors2BoxAnchors(anchors_px_, anchors_py_, anchors_dx_, anchors_dy_, box_anchors_min_x_, box_anchors_min_y_, diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp index 93969a403a7..def9759cf7c 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp @@ -39,7 +39,10 @@ PointPillarsROS::PointPillarsROS() , NORMALIZING_INTENSITY_VALUE_(255.0) , BASELINK_FRAME_("base_link") { + //ros related param private_nh_.param("baselink_support", baselink_support_, true); + + //algorithm related params private_nh_.param("reproduce_result_mode", reproduce_result_mode_, false); private_nh_.param("score_threshold", score_threshold_, 0.5); private_nh_.param("nms_overlap_threshold", nms_overlap_threshold_, 0.5); @@ -68,15 +71,15 @@ geometry_msgs::Pose PointPillarsROS::getTransformedPose(const geometry_msgs::Pos return out_pose.pose; } -void PointPillarsROS::pubDetectedObject(const std::vector& detections, const std_msgs::Header& pc_header) +void PointPillarsROS::pubDetectedObject(const std::vector& detections, const std_msgs::Header& in_header) { autoware_msgs::DetectedObjectArray objects; - objects.header = pc_header; + objects.header = in_header; int num_objects = detections.size() / OUTPUT_NUM_BOX_FEATURE_; for (size_t i = 0; i < num_objects; i++) { autoware_msgs::DetectedObject object; - object.header = pc_header; + object.header = in_header; object.valid = true; object.pose_reliable = true; From 8e6da539dd4680dd9debed8592e50c299fd4125a Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Thu, 28 Feb 2019 13:22:10 +0900 Subject: [PATCH 036/139] add empty package declaration when not finding cuda/tensorrt --- .../lidar_detector/packages/lidar_point_pillars/CMakeLists.txt | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt index 1a832d99e8a..ef411001240 100755 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt @@ -24,7 +24,6 @@ if(NVINFER AND NVPARSERS) message("NVINFER: ${NVINFER}") message("NVPARSERS: ${NVPARSERS}") set(TRT_AVAIL ON) - add_definitions(-DTRT_AVAIL) else() message("TensorRT is NOT Available") set(TRT_AVAIL OFF) @@ -116,5 +115,7 @@ if(TRT_AVAIL AND CUDA_AVAIL) target_link_libraries(test-point_pillars ${catkin_LIBRARIES} point_pillars_lib) endif() ELSE() + find_package(catkin REQUIRED) + catkin_package() message("PointPillars won't be built, CUDA and/or TensorRT were not found.") ENDIF () From a6b23413b79a73d748bd9c54ac24b1eec219901f Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Thu, 28 Feb 2019 14:39:22 +0900 Subject: [PATCH 037/139] add more tests --- .../include/point_pillars.h | 1 + .../test/src/test_point_pillars.cpp | 185 +++++++++++++++++- 2 files changed, 183 insertions(+), 3 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h index 735b80e36b4..983c785c618 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h @@ -86,6 +86,7 @@ class Logger : public nvinfer1::ILogger class PointPillars { private: + friend class TestClass; // initize in initializer list const bool reproduce_result_mode_; const float score_threshold_; diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp index d0736414ef0..d42fa7d7c44 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp @@ -70,9 +70,15 @@ class TestClass float* num_points_per_pillar, float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, float* pillar_feature_mask, float* sparse_pillar_map, int* host_pillar_count); + void generateAnchors(float* anchors_px, float* anchors_py, float* anchors_pz, float* anchors_dx, + float* anchors_dy, float* anchors_dz, float* anchors_ro); + void convertAnchors2BoxAnchors(float* anchors_px, float* anchors_py, float* anchors_dx, float* anchors_dy, + float* box_anchors_min_x, float* box_anchors_min_y, + float* box_anchors_max_x, float* box_anchors_max_y); private: std::unique_ptr preprocess_points_ptr_; + std::unique_ptr point_pillars_ptr_; }; TestClass::TestClass(const int MAX_NUM_PILLARS, const int MAX_NUM_POINTS_PER_PILLAR, const int GRID_X_SIZE, @@ -96,6 +102,18 @@ TestClass::TestClass(const int MAX_NUM_PILLARS, const int MAX_NUM_POINTS_PER_PIL preprocess_points_ptr_.reset(new PreprocessPoints( MAX_NUM_PILLARS_, MAX_NUM_POINTS_PER_PILLAR_, GRID_X_SIZE_, GRID_Y_SIZE_, GRID_Z_SIZE_, PILLAR_X_SIZE_, PILLAR_Y_SIZE_, PILLAR_Z_SIZE_, MIN_X_RANGE_, MIN_Y_RANGE_, MIN_Z_RANGE_, NUM_INDS_FOR_SCAN_, NUM_BOX_CORNERS_)); + + bool baselink_support=true; + bool reproduce_result_mode=false; + float score_threshold = 0.5; + float nms_overlap_threshold = 0.5; + std::string package_path = ros::package::getPath("lidar_point_pillars"); + std::string onnx_path = package_path + "/test/data/dummy.onnx"; + std::string pfe_onnx_file = onnx_path; + std::string rpn_onnx_file = onnx_path; + + point_pillars_ptr_.reset(new PointPillars(reproduce_result_mode, score_threshold, nms_overlap_threshold, + pfe_onnx_file, rpn_onnx_file)); }; void TestClass::preprocess(const float* in_points_array, int in_num_points, int* x_coors, int* y_coors, @@ -165,13 +183,52 @@ void TestClass::initPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr) in_pcl_pc_ptr->push_back(point); } +void TestClass::generateAnchors(float* anchors_px, float* anchors_py, float* anchors_pz, float* anchors_dx, + float* anchors_dy, float* anchors_dz, float* anchors_ro) +{ + return point_pillars_ptr_->generateAnchors(anchors_px, anchors_py, anchors_pz, anchors_dx, + anchors_dy, anchors_dz, anchors_ro); +} + +void TestClass::convertAnchors2BoxAnchors(float* anchors_px, float* anchors_py, float* anchors_dx, float* anchors_dy, + float* box_anchors_min_x, float* box_anchors_min_y, + float* box_anchors_max_x, float* box_anchors_max_y) +{ + return point_pillars_ptr_->convertAnchors2BoxAnchors(anchors_px, anchors_py, anchors_dx, anchors_dy, + box_anchors_min_x, box_anchors_min_y, + box_anchors_max_x, box_anchors_max_y); +} + TEST(TestSuite, CheckPreprocessPointsCPU) { - TestClass test_obj(12000, 100, 432, 496, 1, 0.16, 0.16, 4.0, 0, -39.68, -3.0, 512, 4); + const int MAX_NUM_PILLARS = 12000; + const int MAX_NUM_POINTS_PER_PILLAR = 100; + const int GRID_X_SIZE = 432; + const int GRID_Y_SIZE = 496; + const int GRID_Z_SIZE = 1; + const float PILLAR_X_SIZE = 0.16; + const float PILLAR_Y_SIZE = 0.16; + const float PILLAR_Z_SIZE = 4.0; + const float MIN_X_RANGE = 0; + const float MIN_Y_RANGE = -39.68; + const float MIN_Z_RANGE = -3.0; + const int NUM_INDS_FOR_SCAN = 512; + const int NUM_BOX_CORNERS = 4; + TestClass test_obj(MAX_NUM_PILLARS, + MAX_NUM_POINTS_PER_PILLAR, + GRID_X_SIZE, + GRID_Y_SIZE, + GRID_Z_SIZE, + PILLAR_X_SIZE, + PILLAR_Y_SIZE, + PILLAR_Z_SIZE, + MIN_X_RANGE, + MIN_Y_RANGE, + MIN_Z_RANGE, + NUM_INDS_FOR_SCAN, + NUM_BOX_CORNERS); pcl::PointCloud::Ptr pcl_pc_ptr(new pcl::PointCloud); - std::string package_path = ros::package::getPath("lidar_point_pillars"); - std::string in_file = package_path + "/test/data/1527836009720148.pcd"; test_obj.initPoints(pcl_pc_ptr); float* points_array = new float[pcl_pc_ptr->size() * 4]; @@ -212,6 +269,128 @@ TEST(TestSuite, CheckPreprocessPointsCPU) delete[] sparse_pillar_map; } +TEST(TestSuite, CheckGenerateAnchors) +{ + const int MAX_NUM_PILLARS = 12000; + const int MAX_NUM_POINTS_PER_PILLAR = 100; + const int GRID_X_SIZE = 432; + const int GRID_Y_SIZE = 496; + const int GRID_Z_SIZE = 1; + const float PILLAR_X_SIZE = 0.16; + const float PILLAR_Y_SIZE = 0.16; + const float PILLAR_Z_SIZE = 4.0; + const float MIN_X_RANGE = 0; + const float MIN_Y_RANGE = -39.68; + const float MIN_Z_RANGE = -3.0; + const int NUM_INDS_FOR_SCAN = 512; + const int NUM_BOX_CORNERS = 4; + TestClass test_obj(MAX_NUM_PILLARS, + MAX_NUM_POINTS_PER_PILLAR, + GRID_X_SIZE, + GRID_Y_SIZE, + GRID_Z_SIZE, + PILLAR_X_SIZE, + PILLAR_Y_SIZE, + PILLAR_Z_SIZE, + MIN_X_RANGE, + MIN_Y_RANGE, + MIN_Z_RANGE, + NUM_INDS_FOR_SCAN, + NUM_BOX_CORNERS); + + const int NUM_ANCHOR = 432*0.5*496*0.5*2; + float* anchors_px = new float[NUM_ANCHOR]; + float* anchors_py = new float[NUM_ANCHOR]; + float* anchors_pz = new float[NUM_ANCHOR]; + float* anchors_dx = new float[NUM_ANCHOR]; + float* anchors_dy = new float[NUM_ANCHOR]; + float* anchors_dz = new float[NUM_ANCHOR]; + float* anchors_ro = new float[NUM_ANCHOR]; + test_obj.generateAnchors(anchors_px, anchors_py, anchors_pz, anchors_dx, anchors_dy, anchors_dz, anchors_ro); + + EXPECT_NEAR(0.48, anchors_px[3], 0.001); + EXPECT_NEAR(-39.52, anchors_py[109], 0.001); + EXPECT_NEAR(-1.73, anchors_pz[76], 0.001); + EXPECT_NEAR(1.6, anchors_dx[338], 0.001); + EXPECT_NEAR(3.9, anchors_dy[22], 0.001); + EXPECT_NEAR(1.56, anchors_dz[993], 0.001); + EXPECT_NEAR(1.5708, anchors_ro[1765], 0.001); + + delete[] anchors_px; + delete[] anchors_py; + delete[] anchors_pz; + delete[] anchors_dx; + delete[] anchors_dy; + delete[] anchors_dz; + delete[] anchors_ro; +} + +TEST(TestSuite, CheckGenerateBoxAnchors) +{ + const int MAX_NUM_PILLARS = 12000; + const int MAX_NUM_POINTS_PER_PILLAR = 100; + const int GRID_X_SIZE = 432; + const int GRID_Y_SIZE = 496; + const int GRID_Z_SIZE = 1; + const float PILLAR_X_SIZE = 0.16; + const float PILLAR_Y_SIZE = 0.16; + const float PILLAR_Z_SIZE = 4.0; + const float MIN_X_RANGE = 0; + const float MIN_Y_RANGE = -39.68; + const float MIN_Z_RANGE = -3.0; + const int NUM_INDS_FOR_SCAN = 512; + const int NUM_BOX_CORNERS = 4; + TestClass test_obj(MAX_NUM_PILLARS, + MAX_NUM_POINTS_PER_PILLAR, + GRID_X_SIZE, + GRID_Y_SIZE, + GRID_Z_SIZE, + PILLAR_X_SIZE, + PILLAR_Y_SIZE, + PILLAR_Z_SIZE, + MIN_X_RANGE, + MIN_Y_RANGE, + MIN_Z_RANGE, + NUM_INDS_FOR_SCAN, + NUM_BOX_CORNERS); + + const int NUM_ANCHOR = 432*0.5*496*0.5*2; + + float* anchors_px = new float[NUM_ANCHOR]; + float* anchors_py = new float[NUM_ANCHOR]; + float* anchors_pz = new float[NUM_ANCHOR]; + float* anchors_dx = new float[NUM_ANCHOR]; + float* anchors_dy = new float[NUM_ANCHOR]; + float* anchors_dz = new float[NUM_ANCHOR]; + float* anchors_ro = new float[NUM_ANCHOR]; + float* box_anchors_min_x = new float[NUM_ANCHOR]; + float* box_anchors_min_y = new float[NUM_ANCHOR]; + float* box_anchors_max_x = new float[NUM_ANCHOR]; + float* box_anchors_max_y = new float[NUM_ANCHOR]; + test_obj.generateAnchors(anchors_px, anchors_py, anchors_pz, anchors_dx, anchors_dy, anchors_dz, anchors_ro); + test_obj.convertAnchors2BoxAnchors(anchors_px, anchors_py, anchors_dx, anchors_dy, + box_anchors_min_x, box_anchors_min_y, + box_anchors_max_x, box_anchors_max_y); + + EXPECT_NEAR(53.25, box_anchors_min_x[345], 0.001); + EXPECT_NEAR(-41.47, box_anchors_min_y[22], 0.001); + EXPECT_NEAR(38.4, box_anchors_max_x[1098], 0.001); + EXPECT_NEAR(-38.4, box_anchors_max_y[675], 0.001); + + + delete[] anchors_px; + delete[] anchors_py; + delete[] anchors_pz; + delete[] anchors_dx; + delete[] anchors_dy; + delete[] anchors_dz; + delete[] anchors_ro; + delete[] box_anchors_min_x; + delete[] box_anchors_min_y; + delete[] box_anchors_max_x; + delete[] box_anchors_max_y; +} + int main(int argc, char** argv) { testing::InitGoogleTest(&argc, argv); From 8ee723b46ecf0549e68f4456d03fd434755ad85d Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Thu, 28 Feb 2019 18:07:38 +0900 Subject: [PATCH 038/139] Update README.md --- .../lidar_detector/packages/lidar_point_pillars/README.md | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md index ff08e3108e8..447cf5ca13c 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md @@ -52,6 +52,4 @@ void doInference(float* in_points_array, int in_num_points, std::vector o * To display the results in Rviz `objects_visualizer` is required. (Launch file launches automatically this node). -* Pre trained models can be downloaded from the [github repository](https://github.com/cirpue49/kitti_pretrained_pp). Notice that this model is under `BY-NC-SA 3.0` license. - -* If trained model comes from KITTI data, users might not be allowed to use the model for commercial purposes. +* Pretrained models are available [here](https://github.com/cirpue49/kitti_pretrained_pp), trained with the help of the KITTI dataset. For this reason, these are not suitable for commercial purposes. Derivative works are bound to the BY-NC-SA 3.0 License. (https://creativecommons.org/licenses/by-nc-sa/3.0/) From ebf1dd843de783cd196555287ffd488a9f0fe124 Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Thu, 28 Feb 2019 18:53:15 +0900 Subject: [PATCH 039/139] refactor codes --- .../packages/lidar_point_pillars/README.md | 12 ++++++------ .../lidar_point_pillars/include/point_pillars.h | 2 +- .../lidar_point_pillars/nodes/point_pillars.cpp | 4 ++-- 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md index 447cf5ca13c..ddca50651f5 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md @@ -26,18 +26,18 @@ TensorRT: Tested with 5.0.2 -> [How to install](https://docs.nvidia.com/deeplear * @param[out] out_detections Output bounding box from the network * @details This is an interface for the algorithm. */ -void doInference(float* in_points_array, int in_num_points, std::vector out_detection); +void doInference(float* in_points_array, int in_num_points, std::vector out_detections); ``` ## Parameters |Parameter| Type| Description|Default| ----------|-----|--------|----| -|`input_topic`|*String*|Input topic Pointcloud. Default.|`/points_raw`| -|`baselink_support`|*Bool*|Whether to use baselink to adjust parameters. Default.|`True`| -|`reproduce_result_mode`|*Bool*|Whether to enable reproducible result mode at the cost of the runtime. Default.|`False`| -|`score_threshold`|*Float*|Minimum score required to include the result (0.1)|0.5| -|`nms_overlap_threshold`|*Float*|Minimum IOU required to have when applying NMS (0.1)|0.5| +|`input_topic`|*String*|Input topic Pointcloud. |`/points_raw`| +|`baselink_support`|*Bool*|Whether to use baselink to adjust parameters. |`True`| +|`reproduce_result_mode`|*Bool*|Whether to enable reproducible result mode at the cost of the runtime. |`False`| +|`score_threshold`|*Float*|Minimum score required to include the result [0,1]|0.5| +|`nms_overlap_threshold`|*Float*|Minimum IOU required to have when applying NMS [0,1]|0.5| |`pfe_onnx_file`|*String* |Path to the PFE onnx file|| |`rpn_onnx_file`|*String* |Path to the RPN onnx file|| diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h index 983c785c618..7945df61354 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h @@ -310,7 +310,7 @@ class PointPillars * @param[in] out_detections Network output bounding box * @details This is interface for the algorithm */ - void doInference(const float* in_points_array, const int in_num_points, std::vector& out_detection); + void doInference(const float* in_points_array, const int in_num_points, std::vector& out_detections); }; #endif // POINTS_PILLAR_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp index 24ce3b021a7..35beffa4bb0 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp @@ -546,7 +546,7 @@ void PointPillars::preprocess(const float* in_points_array, const int in_num_poi } } -void PointPillars::doInference(const float* in_points_array, const int in_num_points, std::vector& out_detection) +void PointPillars::doInference(const float* in_points_array, const int in_num_points, std::vector& out_detections) { preprocess(in_points_array, in_num_points); @@ -580,7 +580,7 @@ void PointPillars::doInference(const float* in_points_array, const int in_num_po postprocess_cuda_ptr_->doPostprocessCuda( (float*)rpn_buffers_[1], (float*)rpn_buffers_[2], (float*)rpn_buffers_[3], dev_anchor_mask_, dev_anchors_px_, dev_anchors_py_, dev_anchors_pz_, dev_anchors_dx_, dev_anchors_dy_, dev_anchors_dz_, dev_anchors_ro_, - dev_filtered_box_, dev_filtered_score_, dev_filtered_dir_, dev_box_for_nms_, dev_filter_count_, out_detection); + dev_filtered_box_, dev_filtered_score_, dev_filtered_dir_, dev_box_for_nms_, dev_filter_count_, out_detections); // release the stream and the buffers cudaStreamDestroy(stream); From bc55cf60507772fe1215a58a8a242bfea4435e9a Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Thu, 28 Feb 2019 19:02:03 +0900 Subject: [PATCH 040/139] refactor codes --- .../packages/lidar_point_pillars/nodes/point_pillars.cpp | 6 +++--- .../lidar_point_pillars/nodes/preprocess_points_cuda.cu | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp index 35beffa4bb0..a202a0b2e14 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp @@ -55,7 +55,7 @@ PointPillars::PointPillars(const bool reproduce_result_mode, const float score_t , MAX_Z_RANGE_(1) , BATCH_SIZE_(1) , NUM_INDS_FOR_SCAN_(512) - , NUM_THREADS_(64) // if you chancge NUM_THREADS_, need to modify nms_kernel's shared mempry size + , NUM_THREADS_(64) // if you change NUM_THREADS_, need to modify nms_kernel's shared memory size , SENSOR_HEIGHT_(1.73) , ANCHOR_DX_SIZE_(1.6) , ANCHOR_DY_SIZE_(3.9) @@ -352,7 +352,7 @@ void PointPillars::convertAnchors2BoxAnchors(float* anchors_px, float* anchors_p float* box_anchors_min_x_, float* box_anchors_min_y_, float* box_anchors_max_x_, float* box_anchors_max_y_) { - // flip box's dimension when the at the third axis == 1 + // flip box's dimension when the third axis == 1 float flipped_anchors_dx[NUM_ANCHOR_] = { 0 }; float flipped_anchors_dy[NUM_ANCHOR_] = { 0 }; for (size_t x = 0; x < NUM_ANCHOR_X_INDS_; x++) @@ -390,7 +390,7 @@ void PointPillars::initTRT() onnxToTRTModel(pfe_onnx_file_, pfe_trt_model_stream); onnxToTRTModel(rpn_onnx_file_, rpn_trt_model_stream); if (pfe_trt_model_stream == nullptr || rpn_trt_model_stream == nullptr) - { + {//use std:cerr instead of ROS_ERROR because want to keep this fille ros-agnostics std::cerr<< "Failed to load ONNX file " << std::endl; } diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points_cuda.cu index 0ee9bba397e..c175ac36b3e 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points_cuda.cu +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points_cuda.cu @@ -107,7 +107,7 @@ __global__ void make_pillar_index_kernel( dev_x_coors[count] = x; dev_y_coors[count] = y; - //TODO Need to be modified after making properly training model + //TODO Need to be modified after making properly trained model // x_offset = self.vx / 2 + pc_range[0] // y_offset = self.vy / 2 + pc_range[1] // x_sub = coors_x.unsqueeze(1) * 0.16 + x_offset From 33a24c6e7cf8e4489a59b98c208780af5432448d Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Fri, 1 Mar 2019 17:29:21 +0900 Subject: [PATCH 041/139] Add plugin edit tool and update plugins --- .../src/autoware_launcher/tool/editor.py | 163 ++++++++++++++++-- 1 file changed, 146 insertions(+), 17 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py index c06d4c38785..c691b1543a6 100644 --- a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py @@ -1,28 +1,157 @@ -#import xml.etree.ElementTree as xmltree - -import rospkg +from autoware_launcher.core import plugin +from autoware_launcher.core import myutils from python_qt_binding import QtCore from python_qt_binding import QtWidgets +import argparse +import collections +import re +import rospkg +import yaml +import xml.etree.ElementTree as xtree + + +def represent_ordered_dict(dumper, instance): + return dumper.represent_mapping('tag:yaml.org,2002:map', instance.items()) +yaml.add_representer(collections.OrderedDict, represent_ordered_dict) + def main(sys_argv): + if len(sys_argv) < 2: + print("missing plugin file path") + return 2 application = QtWidgets.QApplication(sys_argv) + widget = PluginEditWidget() + ynode = plugin.AwPluginNode(None, sys_argv[1]) + ynode.load(myutils.package("plugins")) + xnode = load_launch_xml(ynode.rosxml()) + + fields = [PluginEditField(child.attrib) for child in xnode if child.tag == "arg"] + for field in fields: widget.add_field(field) + widget.add_button() + for field in ynode.args(): widget.set_yaml(field) - rospack = rospkg.RosPack() - combo = QtWidgets.QComboBox() - for package in sorted(rospack.list()): - combo.addItem(package) - combo.setEditable(True) - combo.setCurrentIndex(combo.findText("autoware_launcher")) - - widget = QtWidgets.QWidget() - widget.setLayout(QtWidgets.QHBoxLayout()) - widget.layout().addWidget(QtWidgets.QLabel("Package")) - widget.layout().addWidget(combo) - widget.layout().addWidget(QtWidgets.QLabel("File")) - widget.layout().addWidget(QtWidgets.QLineEdit()) - widget.layout().addWidget(QtWidgets.QPushButton()) widget.show() return application.exec_() + + +def load_launch_xml(rosxml): + + rospack = rospkg.RosPack() + regex = re.compile("\$\(find (.*?)\)") + match = regex.match(rosxml) + xpath = regex.sub(rospack.get_path(match.group(1)), rosxml) + return xtree.parse(xpath).getroot() + + +class PluginEditWidget(QtWidgets.QWidget): + + header = ["Field Name", "Field Type", "Array Type", "Default Value"] + + def __init__(self): + + super(PluginEditWidget, self).__init__() + self.fields = collections.OrderedDict() + self.setLayout(QtWidgets.QGridLayout()) + for col,text in enumerate(PluginEditWidget.header): + self.layout().addWidget(QtWidgets.QLabel(text), 0, col) + self.export = QtWidgets.QPushButton("Export") + self.export.clicked.connect(self.export_yaml) + + def add_field(self, field): + + row = self.layout().rowCount() + self.layout().addWidget(field.name, row, 0) + self.layout().addWidget(field.type, row, 1) + self.layout().addWidget(field.list, row, 2) + self.layout().addWidget(field.default, row, 3) + self.fields[field.name.text()] = field + + def add_button(self): + + row = self.layout().rowCount() + self.layout().addWidget(self.export, row, 0, 1, 4) + + def set_yaml(self, data): + + self.fields[data.name].set_yaml(data) + + def export_yaml(self): + + views = [field.export_view() for field in self.fields.values()] + fields = [field.export_dict() for field in self.fields.values()] + data = collections.OrderedDict() + data["args"] = fields + data["panel"] = collections.OrderedDict() + data["panel"]["widget"] = "node.panel" + data["panel"]["frames"] = views + text = yaml.dump(data, default_flow_style=None) + print text + clipboard = QtWidgets.QApplication.clipboard() + clipboard.setText(text) + + +class PluginEditField(object): + + viewtypes = {"str":"text", "int":"int", "real":"real", "bool":"bool"} + + def __init__(self, attr): + + self.name = QtWidgets.QLabel() + self.type = QtWidgets.QComboBox() + self.list = QtWidgets.QComboBox() + self.default = QtWidgets.QLineEdit() + + self.name.setText(attr["name"]) + self.type.addItems(["str", "int", "real", "bool"]) + self.list.addItems(["none", "space", "yaml"]) + self.default.setText(attr.get("default")) + + self.type.setCurrentIndex(-1) + if attr.get("default"): + itype = self.type_inference(attr["default"]) + self.type.setCurrentIndex(self.type.findText(itype)) + + def type_inference(self, value): + + if value.lower() in ["true", "false"]: return "bool" + if value.isdigit(): return "int" + if value.replace('.','',1).isdigit(): return "real" + return "str" + + def set_yaml(self, data): + + self.type.setCurrentIndex(self.type.findText(data.type)) + if data.list: + self.list.setCurrentIndex(self.list.findText(data.list)) + if data.rest.get("default"): + self.default.setText(str(data.rest["default"])) + + def export_dict(self): + + data = collections.OrderedDict() + data["name"] = str(self.name.text()) + data["type"] = str(self.type.currentText()) + if self.list.currentText() != "none": + data["list"] = str(self.list.currentText()) + if self.default.text(): + data["default"] = self.export_default(data, self.default.text()) + return data + + def export_default(self, data, value): + + if data.get("list") is None: + if data["type"] == "str" : return str(value) + if data["type"] == "int" : return int(value) + if data["type"] == "real": return float(value) + if data["type"] == "bool": return (value.lower() == "true") + raise NotImplementedError("Unkown Type: " + str(data)) + + def export_view(self): + + data = collections.OrderedDict() + data["target"] = "args." + str(self.name.text()) + data["widget"] = "basic." + PluginEditField.viewtypes[self.type.currentText()] + return data \ No newline at end of file From 3f85cae8f5e921627b861d3634d36dc2ca6bdbfb Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Sun, 3 Mar 2019 16:52:21 +0900 Subject: [PATCH 042/139] Update the code for compatibility with python3 --- .../autoware_launcher/src/autoware_launcher/tool/editor.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py index c691b1543a6..99f03a6551a 100644 --- a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py @@ -88,7 +88,7 @@ def export_yaml(self): data["panel"]["widget"] = "node.panel" data["panel"]["frames"] = views text = yaml.dump(data, default_flow_style=None) - print text + print(text) clipboard = QtWidgets.QApplication.clipboard() clipboard.setText(text) From bd7db2d0847ff4ee13bbdad5d46655e940dc4de0 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Sun, 3 Mar 2019 18:39:01 +0900 Subject: [PATCH 043/139] Update the code for colcon build --- .../src/autoware_launcher/gui/guimgr.py | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py index 4db24ac8ebd..60d73cfada2 100644 --- a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py @@ -19,13 +19,11 @@ def __init__(self, client): self.__client = client self.__widgets = {} - for filepath in os.listdir(myutils.package("src/autoware_launcher/gui/plugins")): - fkey, fext = os.path.splitext(os.path.basename(filepath)) - if (fkey != "__init__") and (fext == ".py"): - logger.debug("load plugin module: " + fkey) - module = importlib.import_module("autoware_launcher.gui.plugins." + fkey) - for wkey, wcls in module.plugin_widgets().items(): - self.__widgets[fkey + "." + wkey] = wcls + import autoware_launcher.gui.plugins as plugins + for modkey, modcls in plugins.modules.items(): + for guikey, guicls in modcls.plugin_widgets().items(): + logger.debug("load plugin module: " + modkey + "." + guikey) + self.__widgets[modkey + "." + guikey] = guicls def client(self): return self.__client From 463a51294829b5f6910985f17e85eab86f75d9b2 Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Mon, 4 Mar 2019 09:12:34 +0900 Subject: [PATCH 044/139] Modify cmake --- .../lidar_detector/packages/lidar_point_pillars/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt index ef411001240..4174b349c51 100755 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt @@ -97,7 +97,7 @@ if(TRT_AVAIL AND CUDA_AVAIL) lidar_point_pillars ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) install(DIRECTORY launch/ From 7d8825b5ef40b75122ce202f53dbe99eb302f583 Mon Sep 17 00:00:00 2001 From: Kosuke Murakami Date: Mon, 4 Mar 2019 09:27:07 +0900 Subject: [PATCH 045/139] update readme --- .../packages/lidar_point_pillars/README.md | 23 +++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md index ddca50651f5..2a4b5d3697b 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md @@ -8,6 +8,29 @@ CUDA Toolkit v9.0 or v10.0 TensorRT: Tested with 5.0.2 -> [How to install](https://docs.nvidia.com/deeplearning/sdk/tensorrt-install-guide/index.html#installing) +## How to setup + +1. Install CUDA from this [website](https://developer.nvidia.com/cuda-downloads) + +2. [Download](https://docs.nvidia.com/deeplearning/sdk/tensorrt-install-guide/index.html#downloading) the TensorRT local repo file that matches the Ubuntu version you are using. + +3. Install TensorRT from the Debian local repo package. + +``` +$ sudo dpkg -i +nv-tensorrt-repo-ubuntu1x04-cudax.x-trt5.x.x.x-ga-yyyymmdd_1-1_amd64.deb +$ sudo apt-key add /var/nv-tensorrt-repo-cudax.x-trt5.x.x.x-ga-yyyymmdd/7fa2af80.pub + +$ sudo apt-get update +$ sudo apt-get install tensorrt +``` + +4. Download the pretrained file from [here](https://github.com/cirpue49/kitti_pretrained_pp). + +``` +$ git clone git@github.com:cirpue49/kitti_pretrained_point_pillars.git +``` + ## How to launch From 830034518d74085f127eb168e7693ee964e5377c Mon Sep 17 00:00:00 2001 From: dimethylether Date: Mon, 4 Mar 2019 12:32:28 +0900 Subject: [PATCH 046/139] updated plugin for lane_rule, lane_stop, and voxel_grid_filter --- .../plugins/leaf/lane_stop.xml | 28 ++++++++----------- 1 file changed, 12 insertions(+), 16 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml index b3be15d70a7..d19954f3ddb 100644 --- a/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml @@ -3,25 +3,21 @@ - + - + + + + From 4a8cc18b0fe224508f8a0cd1b3b94b726bbd7fc2 Mon Sep 17 00:00:00 2001 From: dimethylether Date: Tue, 5 Mar 2019 04:01:53 -0600 Subject: [PATCH 047/139] added point_pillar plugin files for autoware_launcher --- .../plugins/node/detect_obj.yaml | 3 ++- .../plugins/refs/lidar_point_pillars.yaml | 20 +++++++++++++++++++ 2 files changed, 22 insertions(+), 1 deletion(-) create mode 100644 ros/src/util/packages/autoware_launcher/plugins/refs/lidar_point_pillars.yaml diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/detect_obj.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/detect_obj.yaml index 7dbb4c0cedb..2b9dfc489ef 100644 --- a/ros/src/util/packages/autoware_launcher/plugins/node/detect_obj.yaml +++ b/ros/src/util/packages/autoware_launcher/plugins/node/detect_obj.yaml @@ -5,4 +5,5 @@ rules: - { name: points_detect, plugin: refs/euclidean_cluster } - { name: images_detect, plugin: refs/yolov3 } - { name: fusion, plugin: refs/range_vision_fusion } -- { name: tracking, plugin: refs/imm_ukf_pda_track } +- { name: tracking, plugin: refs/imm_ukf_pda_track } +- { name: lidar_point_pillars, plugin: refs/lidar_point_pillars } diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/lidar_point_pillars.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/lidar_point_pillars.yaml new file mode 100644 index 00000000000..280165491ae --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/lidar_point_pillars.yaml @@ -0,0 +1,20 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find lidar_point_pillars)/launch/lidar_point_pillars.launch +args: +- {name: input_topic, type: str, default: /points_raw} +- {name: baselink_support, type: bool, default: true} +- {name: reproduce_result_mode, type: bool, default: true} +- {name: score_threshold, type: real, default: 0.5} +- {name: nms_overlap_threshold, type: real, default: 0.5} +- {name: pfe_onnx_file, type: str} +- {name: rpn_onnx_file, type: str} +panel: + widget: node.panel + frames: + - {target: args.input_topic, widget: basic.text} + - {target: args.baselink_support, widget: basic.bool} + - {target: args.reproduce_result_mode, widget: basic.bool} + - {target: args.score_threshold, widget: basic.real} + - {target: args.nms_overlap_threshold, widget: basic.real} + - {target: args.pfe_onnx_file, widget: basic.file} + - {target: args.rpn_onnx_file, widget: basic.file} From f1ab08d2835e618d88a9f5706960f1dc3e2f6df3 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Thu, 21 Feb 2019 23:18:29 +0900 Subject: [PATCH 048/139] Add prototype of plugin file editor --- .../src/autoware_launcher/tool/editor.py | 163 ++---------------- 1 file changed, 17 insertions(+), 146 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py index 99f03a6551a..c06d4c38785 100644 --- a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py @@ -1,157 +1,28 @@ -from autoware_launcher.core import plugin -from autoware_launcher.core import myutils +#import xml.etree.ElementTree as xmltree + +import rospkg from python_qt_binding import QtCore from python_qt_binding import QtWidgets -import argparse -import collections -import re -import rospkg -import yaml -import xml.etree.ElementTree as xtree - - -def represent_ordered_dict(dumper, instance): - return dumper.represent_mapping('tag:yaml.org,2002:map', instance.items()) -yaml.add_representer(collections.OrderedDict, represent_ordered_dict) - def main(sys_argv): - if len(sys_argv) < 2: - print("missing plugin file path") - return 2 application = QtWidgets.QApplication(sys_argv) - widget = PluginEditWidget() - ynode = plugin.AwPluginNode(None, sys_argv[1]) - ynode.load(myutils.package("plugins")) - xnode = load_launch_xml(ynode.rosxml()) - - fields = [PluginEditField(child.attrib) for child in xnode if child.tag == "arg"] - for field in fields: widget.add_field(field) - widget.add_button() - for field in ynode.args(): widget.set_yaml(field) + rospack = rospkg.RosPack() + combo = QtWidgets.QComboBox() + for package in sorted(rospack.list()): + combo.addItem(package) + combo.setEditable(True) + combo.setCurrentIndex(combo.findText("autoware_launcher")) + + widget = QtWidgets.QWidget() + widget.setLayout(QtWidgets.QHBoxLayout()) + widget.layout().addWidget(QtWidgets.QLabel("Package")) + widget.layout().addWidget(combo) + widget.layout().addWidget(QtWidgets.QLabel("File")) + widget.layout().addWidget(QtWidgets.QLineEdit()) + widget.layout().addWidget(QtWidgets.QPushButton()) widget.show() return application.exec_() - - -def load_launch_xml(rosxml): - - rospack = rospkg.RosPack() - regex = re.compile("\$\(find (.*?)\)") - match = regex.match(rosxml) - xpath = regex.sub(rospack.get_path(match.group(1)), rosxml) - return xtree.parse(xpath).getroot() - - -class PluginEditWidget(QtWidgets.QWidget): - - header = ["Field Name", "Field Type", "Array Type", "Default Value"] - - def __init__(self): - - super(PluginEditWidget, self).__init__() - self.fields = collections.OrderedDict() - self.setLayout(QtWidgets.QGridLayout()) - for col,text in enumerate(PluginEditWidget.header): - self.layout().addWidget(QtWidgets.QLabel(text), 0, col) - self.export = QtWidgets.QPushButton("Export") - self.export.clicked.connect(self.export_yaml) - - def add_field(self, field): - - row = self.layout().rowCount() - self.layout().addWidget(field.name, row, 0) - self.layout().addWidget(field.type, row, 1) - self.layout().addWidget(field.list, row, 2) - self.layout().addWidget(field.default, row, 3) - self.fields[field.name.text()] = field - - def add_button(self): - - row = self.layout().rowCount() - self.layout().addWidget(self.export, row, 0, 1, 4) - - def set_yaml(self, data): - - self.fields[data.name].set_yaml(data) - - def export_yaml(self): - - views = [field.export_view() for field in self.fields.values()] - fields = [field.export_dict() for field in self.fields.values()] - data = collections.OrderedDict() - data["args"] = fields - data["panel"] = collections.OrderedDict() - data["panel"]["widget"] = "node.panel" - data["panel"]["frames"] = views - text = yaml.dump(data, default_flow_style=None) - print(text) - clipboard = QtWidgets.QApplication.clipboard() - clipboard.setText(text) - - -class PluginEditField(object): - - viewtypes = {"str":"text", "int":"int", "real":"real", "bool":"bool"} - - def __init__(self, attr): - - self.name = QtWidgets.QLabel() - self.type = QtWidgets.QComboBox() - self.list = QtWidgets.QComboBox() - self.default = QtWidgets.QLineEdit() - - self.name.setText(attr["name"]) - self.type.addItems(["str", "int", "real", "bool"]) - self.list.addItems(["none", "space", "yaml"]) - self.default.setText(attr.get("default")) - - self.type.setCurrentIndex(-1) - if attr.get("default"): - itype = self.type_inference(attr["default"]) - self.type.setCurrentIndex(self.type.findText(itype)) - - def type_inference(self, value): - - if value.lower() in ["true", "false"]: return "bool" - if value.isdigit(): return "int" - if value.replace('.','',1).isdigit(): return "real" - return "str" - - def set_yaml(self, data): - - self.type.setCurrentIndex(self.type.findText(data.type)) - if data.list: - self.list.setCurrentIndex(self.list.findText(data.list)) - if data.rest.get("default"): - self.default.setText(str(data.rest["default"])) - - def export_dict(self): - - data = collections.OrderedDict() - data["name"] = str(self.name.text()) - data["type"] = str(self.type.currentText()) - if self.list.currentText() != "none": - data["list"] = str(self.list.currentText()) - if self.default.text(): - data["default"] = self.export_default(data, self.default.text()) - return data - - def export_default(self, data, value): - - if data.get("list") is None: - if data["type"] == "str" : return str(value) - if data["type"] == "int" : return int(value) - if data["type"] == "real": return float(value) - if data["type"] == "bool": return (value.lower() == "true") - raise NotImplementedError("Unkown Type: " + str(data)) - - def export_view(self): - - data = collections.OrderedDict() - data["target"] = "args." + str(self.name.text()) - data["widget"] = "basic." + PluginEditField.viewtypes[self.type.currentText()] - return data \ No newline at end of file From 2242c83605635e552464f00c4e7348f0565e3aaf Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Tue, 26 Feb 2019 15:24:42 +0900 Subject: [PATCH 049/139] Change logger level --- ros/src/util/packages/autoware_launcher/scripts/main | 9 +-------- .../src/autoware_launcher/gui/guimgr.py | 12 +++++++----- 2 files changed, 8 insertions(+), 13 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/scripts/main b/ros/src/util/packages/autoware_launcher/scripts/main index 7efb1b5ed47..3976c95a727 100755 --- a/ros/src/util/packages/autoware_launcher/scripts/main +++ b/ros/src/util/packages/autoware_launcher/scripts/main @@ -7,14 +7,7 @@ import argparse from autoware_launcher.core import AwLaunchServer from autoware_launcher.gui import AwQtGuiClient -parser = argparse.ArgumentParser(description='Autoware Launcher') -parser.add_argument("-v", "--verbose", dest="verbose", action="store_true", help="show debug log message") -parser.add_argument("-p", "--profile", dest="profile", action="store", help="name of profile") -parser.add_argument("-s", "--skin", dest="skin", action="store", help="name of style sheet") -args = parser.parse_args() - -loglevel = logging.INFO if not args.verbose else logging.DEBUG -logging.basicConfig(level=loglevel, format="%(levelname)-5s: %(name)s: %(message)s") +logging.basicConfig(level=logging.INFO, format="%(levelname)-5s: %(name)s: %(message)s") server = AwLaunchServer(sys.argv) client = AwQtGuiClient(sys.argv, server) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py index 60d73cfada2..4db24ac8ebd 100644 --- a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py @@ -19,11 +19,13 @@ def __init__(self, client): self.__client = client self.__widgets = {} - import autoware_launcher.gui.plugins as plugins - for modkey, modcls in plugins.modules.items(): - for guikey, guicls in modcls.plugin_widgets().items(): - logger.debug("load plugin module: " + modkey + "." + guikey) - self.__widgets[modkey + "." + guikey] = guicls + for filepath in os.listdir(myutils.package("src/autoware_launcher/gui/plugins")): + fkey, fext = os.path.splitext(os.path.basename(filepath)) + if (fkey != "__init__") and (fext == ".py"): + logger.debug("load plugin module: " + fkey) + module = importlib.import_module("autoware_launcher.gui.plugins." + fkey) + for wkey, wcls in module.plugin_widgets().items(): + self.__widgets[fkey + "." + wkey] = wcls def client(self): return self.__client From 6d934518f3911e79497eaa18cc018732fd6c0cd6 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Tue, 26 Feb 2019 16:14:35 +0900 Subject: [PATCH 050/139] Support command line options --- ros/src/util/packages/autoware_launcher/scripts/main | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/ros/src/util/packages/autoware_launcher/scripts/main b/ros/src/util/packages/autoware_launcher/scripts/main index 3976c95a727..d00692af767 100755 --- a/ros/src/util/packages/autoware_launcher/scripts/main +++ b/ros/src/util/packages/autoware_launcher/scripts/main @@ -7,7 +7,15 @@ import argparse from autoware_launcher.core import AwLaunchServer from autoware_launcher.gui import AwQtGuiClient -logging.basicConfig(level=logging.INFO, format="%(levelname)-5s: %(name)s: %(message)s") +parser = argparse.ArgumentParser(description='Autoware Launcher') +parser.add_argument("-v", "--verbose", dest="verbose", action="store_true", help="show debug log message") +parser.add_argument("-p", "--profile", dest="profile", action="store", help="name of profile") +parser.add_argument("-s", "--skin", dest="skin", action="store", help="name of style sheet") +args = parser.parse_args() + +loglevel = logging.INFO if not args.verbose else logging.DEBUG +logging.basicConfig(level=loglevel, format="%(levelname)-5s: %(name)s: %(message)s") + server = AwLaunchServer(sys.argv) client = AwQtGuiClient(sys.argv, server) From 20f8887e6f998acb1b119aafab573c6721c3da99 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Tue, 26 Feb 2019 19:03:33 +0900 Subject: [PATCH 051/139] Update gazebo simulator panel --- ros/src/util/packages/autoware_launcher/scripts/main | 1 - 1 file changed, 1 deletion(-) diff --git a/ros/src/util/packages/autoware_launcher/scripts/main b/ros/src/util/packages/autoware_launcher/scripts/main index d00692af767..7efb1b5ed47 100755 --- a/ros/src/util/packages/autoware_launcher/scripts/main +++ b/ros/src/util/packages/autoware_launcher/scripts/main @@ -16,7 +16,6 @@ args = parser.parse_args() loglevel = logging.INFO if not args.verbose else logging.DEBUG logging.basicConfig(level=loglevel, format="%(levelname)-5s: %(name)s: %(message)s") - server = AwLaunchServer(sys.argv) client = AwQtGuiClient(sys.argv, server) sys.exit(client.start(profile=args.profile, skin=args.skin)) From ffe2f365586e9120a0eba3bff41951d71e55761b Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Fri, 1 Mar 2019 17:29:21 +0900 Subject: [PATCH 052/139] Add plugin edit tool and update plugins --- .../src/autoware_launcher/tool/editor.py | 163 ++++++++++++++++-- .../autoware_launcher/tests/test_plugins.py | 2 +- 2 files changed, 147 insertions(+), 18 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py index c06d4c38785..c691b1543a6 100644 --- a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py @@ -1,28 +1,157 @@ -#import xml.etree.ElementTree as xmltree - -import rospkg +from autoware_launcher.core import plugin +from autoware_launcher.core import myutils from python_qt_binding import QtCore from python_qt_binding import QtWidgets +import argparse +import collections +import re +import rospkg +import yaml +import xml.etree.ElementTree as xtree + + +def represent_ordered_dict(dumper, instance): + return dumper.represent_mapping('tag:yaml.org,2002:map', instance.items()) +yaml.add_representer(collections.OrderedDict, represent_ordered_dict) + def main(sys_argv): + if len(sys_argv) < 2: + print("missing plugin file path") + return 2 application = QtWidgets.QApplication(sys_argv) + widget = PluginEditWidget() + ynode = plugin.AwPluginNode(None, sys_argv[1]) + ynode.load(myutils.package("plugins")) + xnode = load_launch_xml(ynode.rosxml()) + + fields = [PluginEditField(child.attrib) for child in xnode if child.tag == "arg"] + for field in fields: widget.add_field(field) + widget.add_button() + for field in ynode.args(): widget.set_yaml(field) - rospack = rospkg.RosPack() - combo = QtWidgets.QComboBox() - for package in sorted(rospack.list()): - combo.addItem(package) - combo.setEditable(True) - combo.setCurrentIndex(combo.findText("autoware_launcher")) - - widget = QtWidgets.QWidget() - widget.setLayout(QtWidgets.QHBoxLayout()) - widget.layout().addWidget(QtWidgets.QLabel("Package")) - widget.layout().addWidget(combo) - widget.layout().addWidget(QtWidgets.QLabel("File")) - widget.layout().addWidget(QtWidgets.QLineEdit()) - widget.layout().addWidget(QtWidgets.QPushButton()) widget.show() return application.exec_() + + +def load_launch_xml(rosxml): + + rospack = rospkg.RosPack() + regex = re.compile("\$\(find (.*?)\)") + match = regex.match(rosxml) + xpath = regex.sub(rospack.get_path(match.group(1)), rosxml) + return xtree.parse(xpath).getroot() + + +class PluginEditWidget(QtWidgets.QWidget): + + header = ["Field Name", "Field Type", "Array Type", "Default Value"] + + def __init__(self): + + super(PluginEditWidget, self).__init__() + self.fields = collections.OrderedDict() + self.setLayout(QtWidgets.QGridLayout()) + for col,text in enumerate(PluginEditWidget.header): + self.layout().addWidget(QtWidgets.QLabel(text), 0, col) + self.export = QtWidgets.QPushButton("Export") + self.export.clicked.connect(self.export_yaml) + + def add_field(self, field): + + row = self.layout().rowCount() + self.layout().addWidget(field.name, row, 0) + self.layout().addWidget(field.type, row, 1) + self.layout().addWidget(field.list, row, 2) + self.layout().addWidget(field.default, row, 3) + self.fields[field.name.text()] = field + + def add_button(self): + + row = self.layout().rowCount() + self.layout().addWidget(self.export, row, 0, 1, 4) + + def set_yaml(self, data): + + self.fields[data.name].set_yaml(data) + + def export_yaml(self): + + views = [field.export_view() for field in self.fields.values()] + fields = [field.export_dict() for field in self.fields.values()] + data = collections.OrderedDict() + data["args"] = fields + data["panel"] = collections.OrderedDict() + data["panel"]["widget"] = "node.panel" + data["panel"]["frames"] = views + text = yaml.dump(data, default_flow_style=None) + print text + clipboard = QtWidgets.QApplication.clipboard() + clipboard.setText(text) + + +class PluginEditField(object): + + viewtypes = {"str":"text", "int":"int", "real":"real", "bool":"bool"} + + def __init__(self, attr): + + self.name = QtWidgets.QLabel() + self.type = QtWidgets.QComboBox() + self.list = QtWidgets.QComboBox() + self.default = QtWidgets.QLineEdit() + + self.name.setText(attr["name"]) + self.type.addItems(["str", "int", "real", "bool"]) + self.list.addItems(["none", "space", "yaml"]) + self.default.setText(attr.get("default")) + + self.type.setCurrentIndex(-1) + if attr.get("default"): + itype = self.type_inference(attr["default"]) + self.type.setCurrentIndex(self.type.findText(itype)) + + def type_inference(self, value): + + if value.lower() in ["true", "false"]: return "bool" + if value.isdigit(): return "int" + if value.replace('.','',1).isdigit(): return "real" + return "str" + + def set_yaml(self, data): + + self.type.setCurrentIndex(self.type.findText(data.type)) + if data.list: + self.list.setCurrentIndex(self.list.findText(data.list)) + if data.rest.get("default"): + self.default.setText(str(data.rest["default"])) + + def export_dict(self): + + data = collections.OrderedDict() + data["name"] = str(self.name.text()) + data["type"] = str(self.type.currentText()) + if self.list.currentText() != "none": + data["list"] = str(self.list.currentText()) + if self.default.text(): + data["default"] = self.export_default(data, self.default.text()) + return data + + def export_default(self, data, value): + + if data.get("list") is None: + if data["type"] == "str" : return str(value) + if data["type"] == "int" : return int(value) + if data["type"] == "real": return float(value) + if data["type"] == "bool": return (value.lower() == "true") + raise NotImplementedError("Unkown Type: " + str(data)) + + def export_view(self): + + data = collections.OrderedDict() + data["target"] = "args." + str(self.name.text()) + data["widget"] = "basic." + PluginEditField.viewtypes[self.type.currentText()] + return data \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/tests/test_plugins.py b/ros/src/util/packages/autoware_launcher/tests/test_plugins.py index c441fa58872..232bff1779a 100644 --- a/ros/src/util/packages/autoware_launcher/tests/test_plugins.py +++ b/ros/src/util/packages/autoware_launcher/tests/test_plugins.py @@ -14,7 +14,7 @@ def test_plugin_type(): for frame in plugin.panel().frames: print(plugin.path() + " " + str(frame.target)) yield ok_, guimgr.widget(frame).validate_argtypes(fields, frame) - print("") + print def test_plugin_field(): rospack = rospkg.RosPack() From f8d487cefe4ebb0c71de2d0520cdb2766f1ad0fe Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Sun, 3 Mar 2019 16:52:21 +0900 Subject: [PATCH 053/139] Update the code for compatibility with python3 --- .../autoware_launcher/src/autoware_launcher/tool/editor.py | 2 +- ros/src/util/packages/autoware_launcher/tests/test_plugins.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py index c691b1543a6..99f03a6551a 100644 --- a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py @@ -88,7 +88,7 @@ def export_yaml(self): data["panel"]["widget"] = "node.panel" data["panel"]["frames"] = views text = yaml.dump(data, default_flow_style=None) - print text + print(text) clipboard = QtWidgets.QApplication.clipboard() clipboard.setText(text) diff --git a/ros/src/util/packages/autoware_launcher/tests/test_plugins.py b/ros/src/util/packages/autoware_launcher/tests/test_plugins.py index 232bff1779a..0c976241b63 100644 --- a/ros/src/util/packages/autoware_launcher/tests/test_plugins.py +++ b/ros/src/util/packages/autoware_launcher/tests/test_plugins.py @@ -14,7 +14,7 @@ def test_plugin_type(): for frame in plugin.panel().frames: print(plugin.path() + " " + str(frame.target)) yield ok_, guimgr.widget(frame).validate_argtypes(fields, frame) - print + print() def test_plugin_field(): rospack = rospkg.RosPack() From 61c5aaab69c9a4e99099c5f8fe830912f9ae4334 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Sun, 3 Mar 2019 18:39:01 +0900 Subject: [PATCH 054/139] Update the code for colcon build --- .../src/autoware_launcher/gui/guimgr.py | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py index 4db24ac8ebd..60d73cfada2 100644 --- a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py @@ -19,13 +19,11 @@ def __init__(self, client): self.__client = client self.__widgets = {} - for filepath in os.listdir(myutils.package("src/autoware_launcher/gui/plugins")): - fkey, fext = os.path.splitext(os.path.basename(filepath)) - if (fkey != "__init__") and (fext == ".py"): - logger.debug("load plugin module: " + fkey) - module = importlib.import_module("autoware_launcher.gui.plugins." + fkey) - for wkey, wcls in module.plugin_widgets().items(): - self.__widgets[fkey + "." + wkey] = wcls + import autoware_launcher.gui.plugins as plugins + for modkey, modcls in plugins.modules.items(): + for guikey, guicls in modcls.plugin_widgets().items(): + logger.debug("load plugin module: " + modkey + "." + guikey) + self.__widgets[modkey + "." + guikey] = guicls def client(self): return self.__client From 11cb45552b128e5967f3dfbbc16b30d165256c8a Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Thu, 7 Mar 2019 10:43:34 +0900 Subject: [PATCH 055/139] Fix launch file error --- .../plugins/leaf/lane_stop.xml | 30 +++++++++++-------- 1 file changed, 18 insertions(+), 12 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml index d19954f3ddb..070517f7453 100644 --- a/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml @@ -1,23 +1,29 @@ + - - + - + - - + From 094e641bcc979634c05749ed883846b93878c7c7 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Thu, 7 Mar 2019 23:02:20 +0900 Subject: [PATCH 056/139] Skip test of unbuilt packages --- ros/src/util/packages/autoware_launcher/tests/test_plugins.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros/src/util/packages/autoware_launcher/tests/test_plugins.py b/ros/src/util/packages/autoware_launcher/tests/test_plugins.py index 0c976241b63..c441fa58872 100644 --- a/ros/src/util/packages/autoware_launcher/tests/test_plugins.py +++ b/ros/src/util/packages/autoware_launcher/tests/test_plugins.py @@ -14,7 +14,7 @@ def test_plugin_type(): for frame in plugin.panel().frames: print(plugin.path() + " " + str(frame.target)) yield ok_, guimgr.widget(frame).validate_argtypes(fields, frame) - print() + print("") def test_plugin_field(): rospack = rospkg.RosPack() From cc8d766c5a654d9f2f689187f5f602b0ae927695 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Fri, 8 Mar 2019 10:57:05 +0900 Subject: [PATCH 057/139] Add run script --- ros/run-experimental | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/ros/run-experimental b/ros/run-experimental index 77498756b55..e661b125e23 100755 --- a/ros/run-experimental +++ b/ros/run-experimental @@ -1,13 +1,9 @@ #! /usr/bin/env python import subprocess -import time - -print("This feature is experimental and may change in the future.") -time.sleep(2.0) roscore_command = "roscore" -manager_command = "rosrun autoware_launcher main --profile quickstart" +manager_command = "rosrun autoware_launcher main" def gnome_terminal(command): return ["gnome-terminal", "--command", command] From 68a60f975f06c36ed3205dde6162d9a5656e56f1 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Thu, 14 Mar 2019 18:43:34 +0900 Subject: [PATCH 058/139] Update README file --- ros/run-experimental | 2 +- .../util/packages/autoware_launcher/README.md | 54 +++---------------- 2 files changed, 9 insertions(+), 47 deletions(-) diff --git a/ros/run-experimental b/ros/run-experimental index e661b125e23..a23a1ccd433 100755 --- a/ros/run-experimental +++ b/ros/run-experimental @@ -3,7 +3,7 @@ import subprocess roscore_command = "roscore" -manager_command = "rosrun autoware_launcher main" +manager_command = "rosrun autoware_launcher main --profile quickstart" def gnome_terminal(command): return ["gnome-terminal", "--command", command] diff --git a/ros/src/util/packages/autoware_launcher/README.md b/ros/src/util/packages/autoware_launcher/README.md index b3528232c2d..200e7fafd46 100644 --- a/ros/src/util/packages/autoware_launcher/README.md +++ b/ros/src/util/packages/autoware_launcher/README.md @@ -11,7 +11,7 @@ 1. Start the Autoware Launcher
``` $ cd Autoware/ros -$ ./run-experimental +$ ./run-experimental` ``` ![quickstart01](./documents/images/quickstart01.png) 1. Load a profile if needed
@@ -19,64 +19,26 @@ Window Menu -> File -> Load Profile 1. Show simulation panel
Window Menu -> View -> Simulation 1. Play rosbag
-Swtich on Simulation Mode check box, then, push Play button. +Check "Simulation Mode", then, push "Play" button. 1. Push launch buttons
Map, Vehicle, Sensing, and Visualization ![quickstart02](./documents/images/quickstart02.png) -1. Push Localization button on rviz plugin and check the estimated vehicle pose +1. Push localization button on rviz plugin +Check the estimated vehicle pose ![quickstart03](./documents/images/quickstart03.png) -1. Push other buttons on rviz plugin
-Detection, Prediction, Decision, Mission, and Motion +1. Push buttons on rviz plugin
+detection, prediction, decision, mission, motion ![quickstart04](./documents/images/quickstart04.png) ![quickstart05](./documents/images/quickstart05.png) ## Develop Develop mode is under development and very unstable (Window Menu -> View -> Develop Mode).
+* [Plugin File Format](./documents/plugin/format.md) + ![develop](./documents/images/develop.png) NOTICE * On treeview widget, R key is run, T key is terminate. -* On summary panel, I key initialize the parameters to default. * Use "save as" instead of "save". * Choose .launch file when you save/load profile. - -## Plugins -If you want to use your launch file. Create the plugin file. -* [Plugin File Format](./documents/plugin/format.md). - -For example, you can add ndt matching as following. -1. Create plugin file template by text editor (e.g. autoware_launcher/plugins/refs/ndt_matching.yaml) -``` - format: Autoware Launcher Plugin Version 0.1 - rosxml: $(find lidar_localizer)/launch/ndt_matching.launch -``` -1. Launch plugin file generate tool
-`rosrun autoware_launcher tool refs/ndt_matching` -1. Set type and default value
-![plugin_tool](./documents/images/plugin_tool.png) -1. Push export button. The tool will set the text to clipboard. Paste it to yaml file.
-``` - format: Autoware Launcher Plugin Version 0.1 - rosxml: $(find lidar_localizer)/launch/ndt_matching.launch - args: - - {name: method_type, type: int, default: 0} - - {name: use_gnss, type: int, default: 1} - - {name: use_odom, type: bool, default: false} - ... - panel: - widget: node.panel - frames: - - {target: args.method_type, widget: basic.int} - - {target: args.use_gnss, widget: basic.int} - - {target: args.use_odom, widget: basic.bool} - ... -``` -1. Add new plugin path to parent plugin file by text editor (e.g. autoware_launcher/plugins/node/localization.yaml). -``` - format: Autoware Launcher Plugin Version 0.1 - rules: - - { name: downsampler, plugin: leaf/voxel_grid_filter } - - { name: localizer, plugin: refs/ndt_matching } - - { name: vel_pose_connect, plugin: refs/vel_pose_connect } -``` From c977b652b1cfb600fced83b89fab8ea05ded7720 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Thu, 14 Mar 2019 19:47:41 +0900 Subject: [PATCH 059/139] Update README file for plugin file --- .../util/packages/autoware_launcher/README.md | 54 ++++++++++++++++--- 1 file changed, 46 insertions(+), 8 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/README.md b/ros/src/util/packages/autoware_launcher/README.md index 200e7fafd46..d14dc6f8735 100644 --- a/ros/src/util/packages/autoware_launcher/README.md +++ b/ros/src/util/packages/autoware_launcher/README.md @@ -11,7 +11,7 @@ 1. Start the Autoware Launcher
``` $ cd Autoware/ros -$ ./run-experimental` +$ ./run-experimental ``` ![quickstart01](./documents/images/quickstart01.png) 1. Load a profile if needed
@@ -19,26 +19,64 @@ Window Menu -> File -> Load Profile 1. Show simulation panel
Window Menu -> View -> Simulation 1. Play rosbag
-Check "Simulation Mode", then, push "Play" button. +Swtich on Simulation Mode check box, then, push Play button. 1. Push launch buttons
Map, Vehicle, Sensing, and Visualization ![quickstart02](./documents/images/quickstart02.png) -1. Push localization button on rviz plugin -Check the estimated vehicle pose +1. Push Localization button on rviz plugin and check the estimated vehicle pose ![quickstart03](./documents/images/quickstart03.png) -1. Push buttons on rviz plugin
-detection, prediction, decision, mission, motion +1. Push other buttons on rviz plugin
+Detection, Prediction, Decision, Mission, and Motion ![quickstart04](./documents/images/quickstart04.png) ![quickstart05](./documents/images/quickstart05.png) ## Develop Develop mode is under development and very unstable (Window Menu -> View -> Develop Mode).
-* [Plugin File Format](./documents/plugin/format.md) - ![develop](./documents/images/develop.png) NOTICE * On treeview widget, R key is run, T key is terminate. +* On summary panel, I key initialize the parameters to default. * Use "save as" instead of "save". * Choose .launch file when you save/load profile. + +## Plugins +If you want to use your launch file. Create the plugin file. +* [Plugin File Format](./documents/plugin/format.md). + +For example, you can add ndt matching as following. +1. Create plugin file template by text editor (e.g. autoware_launcher/plugins/refs/ndt_matching.yaml) +``` + format: Autoware Launcher Plugin Version 0.1 + rosxml: $(find lidar_localizer)/launch/ndt_matching.launch +``` +1. Launch plugin file generate tool
+`rosrun autoware_launcher tool refs/ndt_matching` +1. Set type and default value
+![plugin_tool](./documents/images/plugin_tool.png) +1. Push export button. The tool will set the text to clipboard. Paste it to yaml file.
+``` + format: Autoware Launcher Plugin Version 0.1 + rosxml: $(find lidar_localizer)/launch/ndt_matching.launch + args: + - {name: method_type, type: int, default: 0} + - {name: use_gnss, type: int, default: 1} + - {name: use_odom, type: bool, default: false} + ... + panel: + widget: node.panel + frames: + - {target: args.method_type, widget: basic.int} + - {target: args.use_gnss, widget: basic.int} + - {target: args.use_odom, widget: basic.bool} + ... +``` +1. Add new plugin path to parent plugin file by text editor (e.g. autoware_launcher/plugins/refs/ndt_matching.yaml). +``` + format: Autoware Launcher Plugin Version 0.1 + rules: + - { name: downsampler, plugin: leaf/voxel_grid_filter } + - { name: localizer, plugin: refs/ndt_matching } + - { name: vel_pose_connect, plugin: refs/vel_pose_connect } +``` From a8d6f572ee7342376c6a6785fc6ccf74167db2c6 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Thu, 14 Mar 2019 19:59:45 +0900 Subject: [PATCH 060/139] Fix README file --- ros/src/util/packages/autoware_launcher/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros/src/util/packages/autoware_launcher/README.md b/ros/src/util/packages/autoware_launcher/README.md index d14dc6f8735..b3528232c2d 100644 --- a/ros/src/util/packages/autoware_launcher/README.md +++ b/ros/src/util/packages/autoware_launcher/README.md @@ -72,7 +72,7 @@ For example, you can add ndt matching as following. - {target: args.use_odom, widget: basic.bool} ... ``` -1. Add new plugin path to parent plugin file by text editor (e.g. autoware_launcher/plugins/refs/ndt_matching.yaml). +1. Add new plugin path to parent plugin file by text editor (e.g. autoware_launcher/plugins/node/localization.yaml). ``` format: Autoware Launcher Plugin Version 0.1 rules: From c3768adc67d1ef548165ebcfe9b8677fbb1cf90d Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Fri, 15 Mar 2019 18:40:19 +0900 Subject: [PATCH 061/139] Add notice to run script --- ros/run-experimental | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ros/run-experimental b/ros/run-experimental index a23a1ccd433..77498756b55 100755 --- a/ros/run-experimental +++ b/ros/run-experimental @@ -1,6 +1,10 @@ #! /usr/bin/env python import subprocess +import time + +print("This feature is experimental and may change in the future.") +time.sleep(2.0) roscore_command = "roscore" manager_command = "rosrun autoware_launcher main --profile quickstart" From ba31f785466c29c51b3e2fd36f2d35f00b17484d Mon Sep 17 00:00:00 2001 From: Joshua Whitley Date: Wed, 27 Mar 2019 16:45:21 -0500 Subject: [PATCH 062/139] Fixing a bunch of rebase botches. --- .../lidar_point_pillars/CMakeLists.txt | 51 ++- .../packages/lidar_point_pillars/README.md | 8 +- .../include/anchor_mask_cuda.h | 78 ----- .../lidar_point_pillars/include/common.h | 49 --- .../lidar_point_pillars/include/nms_cuda.h | 60 ---- .../include/point_pillars.h | 316 ------------------ .../include/point_pillars_ros.h | 137 -------- .../include/postprocess_cuda.h | 99 ------ .../include/preprocess_points.h | 108 ------ .../include/preprocess_points_cuda.h | 106 ------ .../include/scatter_cuda.h | 58 ---- .../launch/lidar_point_pillars.launch | 4 +- .../nodes/anchor_mask_cuda.cu | 6 +- .../nodes/lidar_point_pillars_node.cpp | 2 +- .../lidar_point_pillars/nodes/nms_cuda.cu | 33 +- .../nodes/point_pillars.cpp | 48 +-- .../nodes/point_pillars_ros.cpp | 21 +- .../nodes/postprocess_cuda.cu | 10 +- .../nodes/preprocess_points.cpp | 15 +- .../nodes/preprocess_points_cuda.cu | 38 ++- .../lidar_point_pillars/nodes/scatter_cuda.cu | 2 +- .../packages/lidar_point_pillars/package.xml | 5 +- .../test/src/test_point_pillars.cpp | 15 +- 23 files changed, 153 insertions(+), 1116 deletions(-) delete mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/anchor_mask_cuda.h delete mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/common.h delete mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/nms_cuda.h delete mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h delete mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h delete mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h delete mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points.h delete mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points_cuda.h delete mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/scatter_cuda.h diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt index 4174b349c51..87d2a5728b8 100755 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt @@ -19,21 +19,41 @@ option(TRT_AVAIL "TensorRT available" OFF) # try to find the tensorRT modules find_library(NVINFER NAMES nvinfer) find_library(NVPARSERS NAMES nvparsers) -if(NVINFER AND NVPARSERS) - message("TensorRT is available!") - message("NVINFER: ${NVINFER}") - message("NVPARSERS: ${NVPARSERS}") - set(TRT_AVAIL ON) +find_library(NVONNXPARSERS NAMES nvonnxparser) +if(NVINFER AND NVPARSERS AND NVONNXPARSERS) + message("TensorRT is available!") + message("NVINFER: ${NVINFER}") + message("NVPARSERS: ${NVPARSERS}") + message("NVONNXPARSERS: ${NVONNXPARSERS}") + set(TRT_AVAIL ON) else() message("TensorRT is NOT Available") set(TRT_AVAIL OFF) endif() -if(TRT_AVAIL AND CUDA_AVAIL) +# set flags for CUDNN availability +option(CUDNN_AVAIL "CUDNN available" OFF) +# try to find the CUDNN module +find_library(CUDNN_LIBRARY +NAMES libcudnn.so${__cudnn_ver_suffix} libcudnn${__cudnn_ver_suffix}.dylib ${__cudnn_lib_win_name} +PATHS $ENV{LD_LIBRARY_PATH} ${__libpath_cudart} ${CUDNN_ROOT_DIR} ${PC_CUDNN_LIBRARY_DIRS} ${CMAKE_INSTALL_PREFIX} +PATH_SUFFIXES lib lib64 bin +DOC "CUDNN library." ) +if(CUDNN_LIBRARY) + message("CUDNN is available!") + message("CUDNN_LIBRARY: ${CUDNN_LIBRARY}") + set(CUDNN_AVAIL ON) +else() + message("CUDNN is NOT Available") + set(CUDNN_AVAIL OFF) +endif() + +if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp + roslib pcl_ros autoware_msgs ) @@ -43,6 +63,7 @@ if(TRT_AVAIL AND CUDA_AVAIL) catkin_package( CATKIN_DEPENDS roscpp + roslib pcl_ros autoware_msgs ) @@ -81,9 +102,13 @@ if(TRT_AVAIL AND CUDA_AVAIL) nodes/preprocess_points.cpp ) - target_link_libraries(point_pillars_lib - nvinfer - nvonnxparser + target_link_libraries(point_pillars_lib + ${NVINFER} + ${NVONNXPARSERS} + ${CUDA_LIBRARIES} + ${CUDA_CUBLAS_LIBRARIES} + ${CUDA_curand_LIBRARY} + ${CUDNN_LIBRARY} gpu_point_pillars_lib ) @@ -94,6 +119,8 @@ if(TRT_AVAIL AND CUDA_AVAIL) install(TARGETS + gpu_point_pillars_lib + point_pillars_lib lidar_point_pillars ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} @@ -105,7 +132,7 @@ if(TRT_AVAIL AND CUDA_AVAIL) PATTERN ".svn" EXCLUDE) install(DIRECTORY include/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/${PROJECT_NAME}/ PATTERN ".svn" EXCLUDE ) @@ -114,8 +141,8 @@ if(TRT_AVAIL AND CUDA_AVAIL) catkin_add_gtest(test-point_pillars test/src/test_point_pillars.cpp) target_link_libraries(test-point_pillars ${catkin_LIBRARIES} point_pillars_lib) endif() -ELSE() +else() find_package(catkin REQUIRED) catkin_package() message("PointPillars won't be built, CUDA and/or TensorRT were not found.") -ENDIF () +endif() diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md index 2a4b5d3697b..3cef61d109a 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/README.md @@ -6,15 +6,19 @@ Autoware package for Point Pillars. [Referenced paper](https://arxiv.org/abs/18 CUDA Toolkit v9.0 or v10.0 +CUDNN: Tested with v7.3.1 + TensorRT: Tested with 5.0.2 -> [How to install](https://docs.nvidia.com/deeplearning/sdk/tensorrt-install-guide/index.html#installing) ## How to setup 1. Install CUDA from this [website](https://developer.nvidia.com/cuda-downloads) -2. [Download](https://docs.nvidia.com/deeplearning/sdk/tensorrt-install-guide/index.html#downloading) the TensorRT local repo file that matches the Ubuntu version you are using. +2. Install CUDNN + +3. [Download](https://docs.nvidia.com/deeplearning/sdk/tensorrt-install-guide/index.html#downloading) the TensorRT local repo file that matches the Ubuntu version you are using. -3. Install TensorRT from the Debian local repo package. +4. Install TensorRT from the Debian local repo package. ``` $ sudo dpkg -i diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/anchor_mask_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/anchor_mask_cuda.h deleted file mode 100644 index 6a8b555422c..00000000000 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/anchor_mask_cuda.h +++ /dev/null @@ -1,78 +0,0 @@ -/* - * Copyright 2018-2019 Autoware Foundation. All rights reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -/** -* @file anchor_mask_cuda.h -* @brief Make anchor mask for filtering output -* @author Kosuke Murakami -* @date 2019/02/26 -*/ - -#ifndef ANCHOR_MASK_CUDA_H -#define ANCHOR_MASK_CUDA_H - -class AnchorMaskCuda -{ -private: - const int NUM_INDS_FOR_SCAN_; - const int NUM_ANCHOR_X_INDS_; - const int NUM_ANCHOR_Y_INDS_; - const int NUM_ANCHOR_R_INDS_; - const float MIN_X_RANGE_; - const float MIN_Y_RANGE_; - const float PILLAR_X_SIZE_; - const float PILLAR_Y_SIZE_; - const int GRID_X_SIZE_; - const int GRID_Y_SIZE_; - -public: - /** - * @brief Constructor - * @param[in] NUM_INDS_FOR_SCAN Number of indexes for scan(cumsum) - * @param[in] NUM_ANCHOR_X_INDS Number of x-indexes for anchors - * @param[in] NUM_ANCHOR_Y_INDS Number of y-indexes for anchors - * @param[in] NUM_ANCHOR_R_INDS Number of rotation-indexes for anchors - * @param[in] MIN_X_RANGE Minimum x value for pointcloud - * @param[in] MIN_Y_RANGE Minimum y value for pointcloud - * @param[in] PILLAR_X_SIZE Size of x-dimension for a pillar - * @param[in] PILLAR_Y_SIZE Size of y-dimension for a pillar - * @param[in] GRID_X_SIZE Number of pillars in x-coordinate - * @param[in] GRID_Y_SIZE Number of pillars in y-coordinate - * @details Captital variables never change after the compile - */ - AnchorMaskCuda(const int NUM_INDS_FOR_SCAN, const int NUM_ANCHOR_X_INDS, const int NUM_ANCHOR_Y_INDS, - const int NUM_ANCHOR_R_INDS, const float MIN_X_RANGE, const float MIN_Y_RANGE, - const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE, const int GRID_X_SIZE, const int GRID_Y_SIZE); - - /** - * @brief call cuda code for making anchor mask - * @param[in] dev_sparse_pillar_map Grid map representation for pillar occupancy - * @param[in] dev_cumsum_along_x Cumsum dev_sparse_pillar_map along x axis - * @param[in] dev_cumsum_along_y Cumsum dev_cumsum_along_x along y axis - * @param[in] dev_box_anchors_min_x Array for storng min x value for each anchor - * @param[in] dev_box_anchors_min_y Array for storng min y value for each anchor - * @param[in] dev_box_anchors_max_x Array for storng max x value for each anchor - * @param[in] dev_box_anchors_max_y Array for storng max y value for each anchor - * @param[in] dev_box_anchors_max_y Array for storng max y value for each anchor - * @param[out] dev_anchor_mask Anchor mask for filtering output - * @details dev_* means device memory. Make a mask for activating pillar occupancy area - */ - void doAnchorMaskCuda(int* dev_sparse_pillar_map, int* dev_cumsum_along_x, int* dev_cumsum_along_y, - const float* dev_box_anchors_min_x, const float* dev_box_anchors_min_y, - const float* dev_box_anchors_max_x, const float* dev_box_anchors_max_y, int* dev_anchor_mask); -}; - -#endif // ANCHOR_MASK_CUDA_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/common.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/common.h deleted file mode 100644 index 46e816db735..00000000000 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/common.h +++ /dev/null @@ -1,49 +0,0 @@ -/* - * Copyright 2018-2019 Autoware Foundation. All rights reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -/** -* @file common.h -* @brief MACRO for CUDA codes -* @author Kosuke Murakami -* @date 2019/02/26 -*/ - -#ifndef COMMON_H -#define COMMON_H - -// headers in STL -#include - -// headers in CUDA -#include - -#define DIVUP(m, n) ((m) / (n) + ((m) % (n) > 0)) - -#define GPU_CHECK(ans) \ - { \ - GPUAssert((ans), __FILE__, __LINE__); \ - } -inline void GPUAssert(cudaError_t code, const char* file, int line, bool abort = true) -{ - if (code != cudaSuccess) - { - fprintf(stderr, "GPUassert: %s %s %d\n", cudaGetErrorString(code), file, line); - if (abort) - exit(code); - } -} - -#endif // COMMON_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/nms_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/nms_cuda.h deleted file mode 100644 index 30f2a997062..00000000000 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/nms_cuda.h +++ /dev/null @@ -1,60 +0,0 @@ -/* - * Copyright 2018-2019 Autoware Foundation. All rights reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -/** -* @file nms_cuda.h -* @brief Non-maximum suppresion for network output -* @author Modified by Kosuke Murakami -* @date 2019/02/26 -*/ - -#ifndef NMS_CUDA_H -#define NMS_CUDA_H - -// heders in STL -#include -#include - -// headers in local files -#include "common.h" - -class NMSCuda -{ -private: - const int NUM_THREADS_; - const float nms_overlap_threshold_; - -public: - /** - * @brief Constructor - * @param[in] NUM_THRESD Number of threads for launching cuda kernel - * @param[in] nms_overlap_threshold IOU threshold for NMS - * @details Captital variables never change after the compile, Non-captital variables could be chaned through rosparam - */ - NMSCuda(const int NUM_THREADS, const float nms_overlap_threshold); - - /** - * @brief GPU Non-Maximum Suppresion for network output - * @param[in] host_filter_count Number of filtered output - * @param[in] dev_sorted_box_for_nms Bounding box output sorted by score - * @param[out] out_keep_inds Indexes for selected bounding box - * @param[out] out_num_to_keep Number of keep bounding box - * @details Includes CUDA NMS and postprocessing for selecting box in CPU - */ - void doNMSCuda(const int host_filter_count, float* dev_sorted_box_for_nms, int* out_keep_inds, int& out_num_to_keep); -}; - -#endif // NMS_CUDA_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h deleted file mode 100644 index 7945df61354..00000000000 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars.h +++ /dev/null @@ -1,316 +0,0 @@ -/* - * Copyright 2018-2019 Autoware Foundation. All rights reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -/** -* @file point_pillars.h -* @brief Algorithm for PointPillars -* @author Kosuke Murakami -* @date 2019/02/26 -*/ - -#ifndef POINTS_PILLAR_H -#define POINTS_PILLAR_H - -// headers in STL -#include -#include -#include -#include -#include -#include -#include - -// headers in TensorRT -#include "NvInfer.h" -#include "NvOnnxParser.h" - -// headers in local files -#include "common.h" -#include "preprocess_points.h" -#include "preprocess_points_cuda.h" -#include "anchor_mask_cuda.h" -#include "scatter_cuda.h" -#include "postprocess_cuda.h" - -// Logger for TensorRT info/warning/errors -class Logger : public nvinfer1::ILogger -{ -public: - Logger(Severity severity = Severity::kWARNING) : reportableSeverity(severity) - { - } - - void log(Severity severity, const char* msg) override - { - // suppress messages with severity enum value greater than the reportable - if (severity > reportableSeverity) - return; - - switch (severity) - { - case Severity::kINTERNAL_ERROR: - std::cerr << "INTERNAL_ERROR: "; - break; - case Severity::kERROR: - std::cerr << "ERROR: "; - break; - case Severity::kWARNING: - std::cerr << "WARNING: "; - break; - case Severity::kINFO: - std::cerr << "INFO: "; - break; - default: - std::cerr << "UNKNOWN: "; - break; - } - std::cerr << msg << std::endl; - } - - Severity reportableSeverity; -}; - -class PointPillars -{ -private: - friend class TestClass; - // initize in initializer list - const bool reproduce_result_mode_; - const float score_threshold_; - const float nms_overlap_threshold_; - const std::string pfe_onnx_file_; - const std::string rpn_onnx_file_; - const int MAX_NUM_PILLARS_; - const int MAX_NUM_POINTS_PER_PILLAR_; - const int PFE_OUTPUT_SIZE_; - const int GRID_X_SIZE_; - const int GRID_Y_SIZE_; - const int GRID_Z_SIZE_; - const int RPN_INPUT_SIZE_; - const int NUM_ANCHOR_X_INDS_; - const int NUM_ANCHOR_Y_INDS_; - const int NUM_ANCHOR_R_INDS_; - const int NUM_ANCHOR_; - const int RPN_BOX_OUTPUT_SIZE_; - const int RPN_CLS_OUTPUT_SIZE_; - const int RPN_DIR_OUTPUT_SIZE_; - const float PILLAR_X_SIZE_; - const float PILLAR_Y_SIZE_; - const float PILLAR_Z_SIZE_; - const float MIN_X_RANGE_; - const float MIN_Y_RANGE_; - const float MIN_Z_RANGE_; - const float MAX_X_RANGE_; - const float MAX_Y_RANGE_; - const float MAX_Z_RANGE_; - const int BATCH_SIZE_; - const int NUM_INDS_FOR_SCAN_; - const int NUM_THREADS_; - const float SENSOR_HEIGHT_; - const float ANCHOR_DX_SIZE_; - const float ANCHOR_DY_SIZE_; - const float ANCHOR_DZ_SIZE_; - const int NUM_BOX_CORNERS_; - const int NUM_OUTPUT_BOX_FEATURE_; - // end initializer list - - int host_pillar_count_[1]; - - float* anchors_px_; - float* anchors_py_; - float* anchors_pz_; - float* anchors_dx_; - float* anchors_dy_; - float* anchors_dz_; - float* anchors_ro_; - - float* box_anchors_min_x_; - float* box_anchors_min_y_; - float* box_anchors_max_x_; - float* box_anchors_max_y_; - - // cuda malloc - float* dev_pillar_x_in_coors_; - float* dev_pillar_y_in_coors_; - float* dev_pillar_z_in_coors_; - float* dev_pillar_i_in_coors_; - int* dev_pillar_count_histo_; - - int* dev_x_coors_; - int* dev_y_coors_; - float* dev_num_points_per_pillar_; - int* dev_sparse_pillar_map_; - int* dev_cumsum_along_x_; - int* dev_cumsum_along_y_; - - float* dev_pillar_x_; - float* dev_pillar_y_; - float* dev_pillar_z_; - float* dev_pillar_i_; - - float* dev_x_coors_for_sub_shaped_; - float* dev_y_coors_for_sub_shaped_; - float* dev_pillar_feature_mask_; - - float* dev_box_anchors_min_x_; - float* dev_box_anchors_min_y_; - float* dev_box_anchors_max_x_; - float* dev_box_anchors_max_y_; - int* dev_anchor_mask_; - - void* pfe_buffers_[9]; - void* rpn_buffers_[4]; - - float* dev_scattered_feature_; - - float* dev_anchors_px_; - float* dev_anchors_py_; - float* dev_anchors_pz_; - float* dev_anchors_dx_; - float* dev_anchors_dy_; - float* dev_anchors_dz_; - float* dev_anchors_ro_; - float* dev_filtered_box_; - float* dev_filtered_score_; - int* dev_filtered_dir_; - float* dev_box_for_nms_; - int* dev_filter_count_; - - std::unique_ptr preprocess_points_ptr_; - std::unique_ptr preprocess_points_cuda_ptr_; - std::unique_ptr anchor_mask_cuda_ptr_; - std::unique_ptr scatter_cuda_ptr_; - std::unique_ptr postprocess_cuda_ptr_; - - Logger g_logger_; - nvinfer1::IExecutionContext* pfe_context_; - nvinfer1::IExecutionContext* rpn_context_; - nvinfer1::IRuntime* pfe_runtime_; - nvinfer1::IRuntime* rpn_runtime_; - nvinfer1::ICudaEngine* pfe_engine_; - nvinfer1::ICudaEngine* rpn_engine_; - - /** - * @brief Memory allocation for device memory - * @details Call in the constructor - */ - void deviceMemoryMalloc(); - - /** - * @brief Initialize anchor - * @details Call in the constructor - */ - void initAnchors(); - - /** - * @brief Initialize TensorRT isntances - * @details Call in the constructor - */ - void initTRT(); - - /** - * @brief Generate anchors - * @param[in] anchors_px_ Represents x-coordinate value for corresponding anchor - * @param[in] anchors_py_ Represents y-coordinate value for corresponding anchor - * @param[in] anchors_pz_ Represents z-coordinate value for corresponding anchor - * @param[in] anchors_dx_ Represents x-dimension value for corresponding anchor - * @param[in] anchors_dy_ Represents y-dimension value for corresponding anchor - * @param[in] anchors_dz_ Represents z-dimension value for corresponding anchor - * @param[in] anchors_ro_ Represents rotation value for corresponding anchor - * @details Generate anchors for each grid - */ - void generateAnchors(float* anchors_px_, float* anchors_py_, float* anchors_pz_, float* anchors_dx_, - float* anchors_dy_, float* anchors_dz_, float* anchors_ro_); - - /** - * @brief Convert ONNX to TensorRT model - * @param[in] model_file ONNX model file path - * @param[out] trt_model_stream TensorRT model made out of ONNX model - * @details Load ONNX model, and convert it to TensorRT model - */ - void onnxToTRTModel(const std::string& model_file, nvinfer1::IHostMemory*& trt_model_stream); - - /** - * @brief Preproces points - * @param[in] in_points_array pointcloud array - * @param[in] in_num_points Number of points - * @details Call CPU or GPU preprocess - */ - void preprocess(const float* in_points_array, const int in_num_points); - - /** - * @brief Preproces by CPU - * @param[in] in_points_array pointcloud array - * @param[in] in_num_points Number of points - * @details The output from CPU preprocess is reproducible - */ - void preprocessCPU(const float* in_points_array, const int in_num_points); - - /** - * @brief Preproces by GPU - * @param[in] in_points_array pointcloud array - * @param[in] in_num_points Number of points - * @details Fast preprocess comapared with CPU preprocess - */ - void preprocessGPU(const float* in_points_array, const int in_num_points); - - /** - * @brief Convert anchors to box form like min_x, min_y, max_x, max_y anchors - * @param[in] anchors_px_ Represents x-coordinate value for a corresponding anchor - * @param[in] anchors_py_ Represents y-coordinate value for a corresponding anchor - * @param[in] anchors_dx_ Represents x-dimension value for a corresponding anchor - * @param[in] anchors_dy_ Represents y-dimension value for a corresponding anchor - * @param[in] box_anchors_min_x_ Represents minimum x value for a correspomding anchor - * @param[in] box_anchors_min_y_ Represents minimum y value for a correspomding anchor - * @param[in] box_anchors_max_x_ Represents maximum x value for a correspomding anchor - * @param[in] box_anchors_max_y_ Represents maximum y value for a correspomding anchor - * @details Make box anchors for nms - */ - void convertAnchors2BoxAnchors(float* anchors_px_, float* anchors_py_, float* anchors_dx_, float* anchors_dy_, - float* box_anchors_min_x_, float* box_anchors_min_y_, float* box_anchors_max_x_, - float* box_anchors_max_y_); - - /** - * @brief Memory allocation for anchors - * @details Memory allocation for anchors - */ - void putAnchorsInDeviceMemory(); - -public: - /** - * @brief Constructor - * @param[in] reproduce_result_mode Boolean, if true, the output is reproducible for the same input - * @param[in] score_threshold Score threshold for filtering output - * @param[in] nms_overlap_threshold IOU threshold for NMS - * @param[in] pfe_onnx_file Pillar Feature Extractor ONNX file path - * @param[in] rpn_onnx_file Region Proposal Network ONNX file path - * @details Variables could be chaned through rosparam - */ - PointPillars(const bool reproduce_result_mode, const float score_threshold, const float nms_overlap_threshold, - const std::string pfe_onnx_file, const std::string rpn_onnx_file); - ~PointPillars(); - - /** - * @brief Call PointPillars for the inference - * @param[in] in_points_array pointcloud array - * @param[in] in_num_points Number of points - * @param[in] out_detections Network output bounding box - * @details This is interface for the algorithm - */ - void doInference(const float* in_points_array, const int in_num_points, std::vector& out_detections); -}; - -#endif // POINTS_PILLAR_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h deleted file mode 100644 index c190fb56a97..00000000000 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/point_pillars_ros.h +++ /dev/null @@ -1,137 +0,0 @@ -/* - * Copyright 2018-2019 Autoware Foundation. All rights reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -/** -* @file point_pillars_ros.h -* @brief ROS interface for PointPillars -* @author Kosuke Murakami -* @date 2019/02/26 -*/ - -#ifndef POINTS_PILLAR_ROS_H -#define POINTS_PILLAR_ROS_H - -// headers in STL -#include -#include - -// headers in ROS -#include -#include -#include - -// headers in PCL -#include - -// headers in local files -#include "point_pillars.h" - -class PointPillarsROS -{ -private: - friend class TestClass; - - // initializer list - ros::NodeHandle private_nh_; - bool has_subscribed_baselink_; - const int NUM_POINT_FEATURE_; - const int OUTPUT_NUM_BOX_FEATURE_; - const float TRAINED_SENSOR_HEIGHT_; - const float NORMALIZING_INTENSITY_VALUE_; - const std::string BASELINK_FRAME_; - // end initializer list - - // rosparam - bool baselink_support_; - bool reproduce_result_mode_; - float score_threshold_; - float nms_overlap_threshold_; - std::string pfe_onnx_file_; - std::string rpn_onnx_file_; - // end rosparam - - ros::NodeHandle nh_; - ros::Subscriber sub_points_; - ros::Publisher pub_objects_; - - tf::TransformListener tf_listener_; - tf::StampedTransform baselink2lidar_; - tf::Transform angle_transform_; - tf::Transform angle_transform_inversed_; - - float offset_z_from_trained_data_; - - std::unique_ptr point_pillars_ptr_; - - /** - * @brief Get base_link to lidar transformation - * @param[in] target_frameid target lidar frame_id - * @details Get transformation info - */ - void getBaselinkToLidarTF(const std::string& target_frameid); - - /** - * @brief Analyze tf information - * @param[in] lidar2baselink transofomation info - * @details Calculate z offset compared with trained sensor height and get rotation matrix - */ - void analyzeTFInfo(tf::StampedTransform lidar2baselink); - - /** - * @brief Transform pose based on tf stamp info - * @param[in] in_pose Target pose to be transformed - * @param[in] tf TF stamp contains rotation matrix and translation matrix - * @return geometry_msgs::Pose Transformed pose - * @details Calculate transformed pose - */ - geometry_msgs::Pose getTransformedPose(const geometry_msgs::Pose& in_pose, const tf::Transform& tf); - - /** - * @brief callback for pointcloud - * @param[in] input pointcloud from lidar sensor - * @details Call point_pillars to get 3D bounding box - */ - void pointsCallback(const sensor_msgs::PointCloud2::ConstPtr& input); - - /** - * @brief convert pcl point to c++ array - * @param[in] in_pcl_pc_ptr pointcloud in pcl format - * @param[out] out_points_array converted pointcloud in c++ array format - * @param[in] offset_z (default: 1.0) when using baselink_support, offset height based on current sensor configuration - * @details convert pcl points to c++ array, plus offset z if it is necessary - */ - void pclToArray(const pcl::PointCloud::Ptr& in_pcl_pc_ptr, float* out_points_array, - const float offset_z = 0); - - /** - * @brief publish DetectedObject - * @param[in] detections Network output bounding box - * @param[in] in_header Header from pointcloud - * @details Convert std::vector to DetectedObject, and publish them - */ - void pubDetectedObject(const std::vector& detections, const std_msgs::Header& in_header); - -public: - PointPillarsROS(); - - /** - * @brief Create ROS pub/sub obejct - * @details Create/Initializing ros pub/sub object - */ - void createROSPubSub(); -}; - -#endif // POINTS_PILLAR_ROS_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h deleted file mode 100644 index 2add152f904..00000000000 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/postprocess_cuda.h +++ /dev/null @@ -1,99 +0,0 @@ -/* - * Copyright 2018-2019 Autoware Foundation. All rights reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -/** -* @file postprocess_cuda.h -* @brief Postprocess for network output -* @author Kosuke Murakami -* @date 2019/02/26 -*/ - -#ifndef POSTPROCESS_CUDA_H -#define POSTPROCESS_CUDA_H - -// headers in STL -#include -#include - -// headers in local files -#include "nms_cuda.h" - -class PostprocessCuda -{ -private: - const float FLOAT_MIN_; - const float FLOAT_MAX_; - const int NUM_ANCHOR_X_INDS_; - const int NUM_ANCHOR_Y_INDS_; - const int NUM_ANCHOR_R_INDS_; - const float score_threshold_; - const int NUM_THREADS_; - const float nms_overlap_threshold_; - const int NUM_BOX_CORNERS_; - const int NUM_OUTPUT_BOX_FEATURE_; - - std::unique_ptr nms_cuda_ptr_; - -public: - /** - * @brief Constructor - * @param[in] FLOAT_MIN the lowest float value - * @param[in] FLOAT_MAX the maximum float value - * @param[in] NUM_ANCHOR_X_INDS Number of x-indexes for anchors - * @param[in] NUM_ANCHOR_Y_INDS Number of y-indexes for anchors - * @param[in] NUM_ANCHOR_R_INDS Number of rotation-indexes for anchors - * @param[in] score_threshold Score threshold for filtering output - * @param[in] NUM_THREDS Number of threads for launching cuda kernel - * @param[in] nms_overlap_threshold IOU threshold for NMS - * @param[in] NUM_BOX_CORNERS Number of box's corner - * @param[in] NUM_OUTPUT_BOX_FEATURE_ Number of output box's feature - * @details Captital variables never change after the compile, non-capital variables could be chaned through rosparam - */ - PostprocessCuda(const float FLOAT_MIN, const float FLOAT_MAX, const int NUM_ANCHOR_X_INDS, - const int NUM_ANCHOR_Y_INDS, const int NUM_ANCHOR_R_INDS, const float score_threshold, - const int NUM_THREADS, const float nms_overlap_threshold, const int NUM_BOX_CORNERS, - const int NUM_OUTPUT_BOX_FEATURE); - - /** - * @brief Postprocessing for the network output - * @param[in] rpn_box_output Box prediction from the network output - * @param[in] rpn_cls_output Class prediction from the network output - * @param[in] rpn_dir_output Direction prediction from the network output - * @param[in] dev_anchor_mask Anchor mask for filtering - * @param[in] dev_anchors_px X-coordinate value for corresponding anchor - * @param[in] dev_anchors_py Y-coordinate value for corresponding anchor - * @param[in] dev_anchors_pz Z-coordinate value for corresponding anchor - * @param[in] dev_anchors_dx X-dimension value for corresponding anchor - * @param[in] dev_anchors_dy Y-dimension value for corresponding anchor - * @param[in] dev_anchors_dz Z-dimension value for corresponding anchor - * @param[in] dev_anchors_ro Rotation value for corresponding anchor - * @param[in] dev_filtered_box Filtered box prediction - * @param[in] dev_filtered_score Filtered score prediction - * @param[in] dev_filtered_dir Filtered direction prediction - * @param[in] dev_box_for_nms Decoded box from pose and dimension to min_x min_y max_x max_y represenation for nms - * @param[in] dev_filter_count The number of filtered output - * @param[out] out_detection Output bounding boxes - * @details dev_* represents device memory allocated variables - */ - void doPostprocessCuda(const float* rpn_box_output, const float* rpn_cls_output, const float* rpn_dir_output, - int* dev_anchor_mask, const float* dev_anchors_px, const float* dev_anchors_py, - const float* dev_anchors_pz, const float* dev_anchors_dx, const float* dev_anchors_dy, - const float* dev_anchors_dz, const float* dev_anchors_ro, float* dev_filtered_box, - float* dev_filtered_score, int* dev_filtered_dir, float* dev_box_for_nms, - int* dev_filter_count, std::vector& out_detection); -}; - -#endif // POSTPROCESS_CUDA_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points.h deleted file mode 100644 index b8b361db22e..00000000000 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points.h +++ /dev/null @@ -1,108 +0,0 @@ -/* - * Copyright 2018-2019 Autoware Foundation. All rights reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -/** -* @file preprocess_points.h -* @brief CPU version of preprocess points -* @author Kosuke Murakami -* @date 2019/02/26 -*/ - -#ifndef PREPROCESS_POINTS_H -#define PREPROCESS_POINTS_H - -class PreprocessPoints -{ -private: - friend class TestClass; - const int MAX_NUM_PILLARS_; - const int MAX_NUM_POINTS_PER_PILLAR_; - const int GRID_X_SIZE_; - const int GRID_Y_SIZE_; - const int GRID_Z_SIZE_; - const float PILLAR_X_SIZE_; - const float PILLAR_Y_SIZE_; - const float PILLAR_Z_SIZE_; - const float MIN_X_RANGE_; - const float MIN_Y_RANGE_; - const float MIN_Z_RANGE_; - const int NUM_INDS_FOR_SCAN_; - const int NUM_BOX_CORNERS_; - -public: - /** - * @brief Constructor - * @param[in] MAX_NUM_PILLARS Maximum number of pillars - * @param[in] MAX_POINTS_PER_PILLAR Maximum number of points per pillar - * @param[in] GRID_X_SIZE Number of pillars in x-coordinate - * @param[in] GRID_Y_SIZE Number of pillars in y-coordinate - * @param[in] GRID_Z_SIZE Number of pillars in z-coordinate - * @param[in] PILLAR_X_SIZE Size of x-dimension for a pillar - * @param[in] PILLAR_Y_SIZE Size of y-dimension for a pillar - * @param[in] PILLAR_Z_SIZE Size of z-dimension for a pillar - * @param[in] MIN_X_RANGE Minimum x value for pointcloud - * @param[in] MIN_Y_RANGE Minimum y value for pointcloud - * @param[in] MIN_Z_RANGE Minimum z value for pointcloud - * @param[in] NUM_INDS_FOR_SCAN Number of indexes for scan(cumsum) - * @param[in] NUM_BOX_CORNERS Number of box's corner - * @details Captital variables never change after the compile - */ - PreprocessPoints(const int MAX_NUM_PILLARS, const int MAX_POINTS_PER_PILLAR, const int GRID_X_SIZE, - const int GRID_Y_SIZE, const int GRID_Z_SIZE, const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE, - const float PILLAR_Z_SIZE, const float MIN_X_RANGE, const float MIN_Y_RANGE, const float MIN_Z_RANGE, - const int NUM_INDS_FOR_SCAN, const int NUM_BOX_CORNERS); - - /** - * @brief CPU preprocessing for input pointcloud - * @param[in] in_points_array Pointcloud array - * @param[in] in_num_points The number of points - * @param[in] x_coors X-coordinate indexes for corresponding pillars - * @param[in] y_coors Y-coordinate indexes for corresponding pillars - * @param[in] num_points_per_pillar Number of points in corresponding pillars - * @param[in] pillar_x X-coordinate value for points in each pillar - * @param[in] pillar_y Y-coordinate value for points in each pillar - * @param[in] pillar_z Z-coordinate value for points in each pillar - * @param[in] pillar_i Intensity value for points in each pillar - * @param[in] x_coors_for_sub_shaped Used for x substraction in the network - * @param[in] y_coors_for_sub_shaped Used for y substraction in the network - * @param[in] pillar_feature_mask Mask to make sure pillars' feature equal to zero where no points in the pillars - * @param[in] sparse_pillar_map Grid map represents occupancy pillars - * @param[in] host_pillar_count The numnber of valid pillars for the input pointcloud - * @details Convert pointcloud to pillar representation - */ - void preprocess(const float* in_points_array, int in_num_points, int* x_coors, int* y_coors, - float* num_points_per_pillar, float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, - float* x_coors_for_sub_shaped, float* y_coors_for_sub_shaped, float* pillar_feature_mask, - float* sparse_pillar_map, int* host_pillar_count); - - /** - * @brief Initializing variables for preprocessing - * @param[in] coor_to_pillaridx Map for converting from one set of coordinate to a pillar - * @param[in] sparse_pillar_map Grid map represents occupancy pillars - * @param[in] pillar_x X-coordinate value for points in each pillar - * @param[in] pillar_y Y-coordinate value for points in each pillar - * @param[in] pillar_z Z-coordinate value for points in each pillar - * @param[in] pillar_i Intensity value for points in each pillar - * @param[in] x_coors_for_sub_shaped Used for x substraction in the network - * @param[in] y_coors_for_sub_shaped Used for y substraction in the network - * @details Initializeing input arguments with certain values - */ - void initializeVariables(int* coor_to_pillaridx, float* sparse_pillar_map, float* pillar_x, float* pillar_y, - float* pillar_z, float* pillar_i, float* x_coors_for_sub_shaped, - float* y_coors_for_sub_shaped); -}; - -#endif // PREPROCESS_POINTS_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points_cuda.h deleted file mode 100644 index 710a14a87c3..00000000000 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/preprocess_points_cuda.h +++ /dev/null @@ -1,106 +0,0 @@ -/* - * Copyright 2018-2019 Autoware Foundation. All rights reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -/** -* @file preprocess_points_cuda.h -* @brief GPU version of preprocess points -* @author Kosuke Murakami -* @date 2019/02/26 -*/ - -#ifndef PREPROCESS_POINTS_CUDA_H -#define PREPROCESS_POINTS_CUDA_H - -class PreprocessPointsCuda -{ -private: - // initialzer list - const int NUM_THREADS_; - const int MAX_NUM_PILLARS_; - const int MAX_NUM_POINTS_PER_PILLAR_; - const int NUM_INDS_FOR_SCAN_; - const int GRID_X_SIZE_; - const int GRID_Y_SIZE_; - const int GRID_Z_SIZE_; - const float PILLAR_X_SIZE_; - const float PILLAR_Y_SIZE_; - const float PILLAR_Z_SIZE_; - const float MIN_X_RANGE_; - const float MIN_Y_RANGE_; - const float MIN_Z_RANGE_; - // end initalizer list - - float* dev_pillar_x_in_coors_; - float* dev_pillar_y_in_coors_; - float* dev_pillar_z_in_coors_; - float* dev_pillar_i_in_coors_; - int* dev_pillar_count_histo_; - - int* dev_counter_; - int* dev_pillar_count_; - float* dev_x_coors_for_sub_; - float* dev_y_coors_for_sub_; - -public: - /** - * @brief Constructor - * @param[in] NUM_THREDS Number of threads for launching cuda kernel - * @param[in] MAX_NUM_PILLARS Maximum number of pillars - * @param[in] MAX_POINTS_PER_PILLAR Maximum number of points per pillar - * @param[in] NUM_INDS_FOR_SCAN Number of indexes for scan(cumsum) - * @param[in] GRID_X_SIZE Number of pillars in x-coordinate - * @param[in] GRID_Y_SIZE Number of pillars in y-coordinate - * @param[in] GRID_Z_SIZE Number of pillars in z-coordinate - * @param[in] PILLAR_X_SIZE Size of x-dimension for a pillar - * @param[in] PILLAR_Y_SIZE Size of y-dimension for a pillar - * @param[in] PILLAR_Z_SIZE Size of z-dimension for a pillar - * @param[in] MIN_X_RANGE Minimum x value for pointcloud - * @param[in] MIN_Y_RANGE Minimum y value for pointcloud - * @param[in] MIN_Z_RANGE Minimum z value for pointcloud - * @details Captital variables never change after the compile - */ - PreprocessPointsCuda(const int NUM_THREADS, const int MAX_NUM_PILLARS, const int MAX_POINTS_PER_PILLAR, - const int NUM_INDS_FOR_SCAN, const int GRID_X_SIZE, const int GRID_Y_SIZE, const int GRID_Z_SIZE, - const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE, const float PILLAR_Z_SIZE, - const float MIN_X_RANGE, const float MIN_Y_RANGE, const float MIN_Z_RANGE); - ~PreprocessPointsCuda(); - - /** - * @brief CUDA preprocessing for input pointcloud - * @param[in] dev_points Pointcloud array - * @param[in] in_num_points The number of points - * @param[in] dev_x_coors X-coordinate indexes for corresponding pillars - * @param[in] dev_y_coors Y-coordinate indexes for corresponding pillars - * @param[in] dev_num_points_per_pillar Number of points in corresponding pillars - * @param[in] dev_pillar_x X-coordinate value for points in each pillar - * @param[in] dev_pillar_y Y-coordinate value for points in each pillar - * @param[in] dev_pillar_z Z-coordinate value for points in each pillar - * @param[in] dev_pillar_i Intensity value for points in each pillar - * @param[in] dev_x_coors_for_sub_shaped Used for x substraction in the network - * @param[in] dev_y_coors_for_sub_shaped Used for y substraction in the network - * @param[in] dev_pillar_feature_mask Mask to make sure pillars' feature equal to zero where no points in the pillars - * @param[in] dev_sparse_pillar_map Grid map represents occupancy pillars - * @param[in] host_pillar_count The numnber of valid pillars for the input pointcloud - * @details Convert pointcloud to pillar representation - */ - void doPreprocessPointsCuda(const float* dev_points, const int in_num_points, int* dev_x_coors, int* dev_y_coors, - float* dev_num_points_per_pillar, float* dev_pillar_x, float* dev_pillar_y, - float* dev_pillar_z, float* dev_pillar_i, float* dev_x_coors_for_sub_shaped, - float* dev_y_coors_for_sub_shaped, float* dev_pillar_feature_mask, - int* dev_sparse_pillar_map, int* host_pillar_count); -}; - -#endif // PREPROCESS_POINTS_CUDA_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/scatter_cuda.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/scatter_cuda.h deleted file mode 100644 index 1c955a3a65d..00000000000 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/include/scatter_cuda.h +++ /dev/null @@ -1,58 +0,0 @@ -/* - * Copyright 2018-2019 Autoware Foundation. All rights reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -/** -* @file scatter_cuda.h -* @brief CUDA code for scatter operation -* @author Kosuke Murakami -* @date 2019/02/26 -*/ - -#ifndef SCATTERCUDA_H -#define SCATTERCUDA_H - -class ScatterCuda -{ -private: - const int NUM_THREADS_; - const int MAX_NUM_PILLARS_; - const int GRID_X_SIZE_; - const int GRID_Y_SIZE_; - -public: - /** - * @brief Constructor - * @param[in] NUM_THREADS The number of threads to launch cuda kernel - * @param[in] MAX_NUM_PILLARS Maximum number of pillars - * @param[in] GRID_X_SIZE Number of pillars in x-coordinate - * @param[in] GRID_Y_SIZE Number of pillars in y-coordinate - * @details Captital variables never change after the compile - */ - ScatterCuda(const int NUM_THREADS, const int MAX_NUM_PILLARS, const int GRID_X_SIZE, const int GRID_Y_SIZE); - - /** - * @brief Call scatter cuda kernel - * @param[in] pillar_count The valid number of pillars - * @param[in] x_coors X-coordinate indexes for corresponding pillars - * @param[in] y_coors Y-coordinate indexes for corresponding pillars - * @param[in] pfe_output Output from Pillar Feature Extractor - * @param[out] scattered_feature Gridmap representation for pillars' feature - * @details Allocate pillars in gridmap based on index(coordinates) information - */ - void doScatterCuda(const int pillar_count, int* x_coors, int* y_coors, float* pfe_output, float* scattered_feature); -}; - -#endif // SCATTERCUDA_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/launch/lidar_point_pillars.launch b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/launch/lidar_point_pillars.launch index 4a7618eacc8..9bf500fc6e8 100755 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/launch/lidar_point_pillars.launch +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/launch/lidar_point_pillars.launch @@ -4,8 +4,8 @@ - - + + diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/anchor_mask_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/anchor_mask_cuda.cu index 72c7556f0c8..6b58021cbc4 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/anchor_mask_cuda.cu +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/anchor_mask_cuda.cu @@ -15,8 +15,8 @@ */ //headers in local files -#include "common.h" -#include "anchor_mask_cuda.h" +#include "lidar_point_pillars/common.h" +#include "lidar_point_pillars/anchor_mask_cuda.h" //modified prefix sum code from https://www.mimuw.edu.pl/~ps209291/kgkp/slides/scan.pdf __global__ void scan_x(int *g_odata, int *g_idata, int n) @@ -127,7 +127,7 @@ __global__ void make_anchor_mask_kernel(const float* dev_box_anchors_min_x, cons const int NUM_INDS_FOR_SCAN) { int tid = threadIdx.x + blockIdx.x * blockDim.x; - int anchor_coor[4] = {0}; + int anchor_coor[NUM_2D_BOX_CORNERS_MACRO] = {0}; const int GRID_X_SIZE_1 = GRID_X_SIZE - 1;//grid_x_size - 1 const int GRID_Y_SIZE_1 = GRID_Y_SIZE - 1;//grid_y_size - 1 diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/lidar_point_pillars_node.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/lidar_point_pillars_node.cpp index 8faa0bede56..001933b8197 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/lidar_point_pillars_node.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/lidar_point_pillars_node.cpp @@ -18,7 +18,7 @@ #include // headers in local files -#include "point_pillars_ros.h" +#include "lidar_point_pillars/point_pillars_ros.h" int main(int argc, char** argv) { diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/nms_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/nms_cuda.cu index d675f9e32f8..4bb01ecac3d 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/nms_cuda.cu +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/nms_cuda.cu @@ -6,7 +6,7 @@ //headers in local files -#include "nms_cuda.h" +#include "lidar_point_pillars/nms_cuda.h" __device__ inline float devIoU(float const *const a, float const *const b) @@ -21,36 +21,36 @@ __device__ inline float devIoU(float const *const a, float const *const b) } __global__ void nms_kernel(const int n_boxes, const float nms_overlap_thresh, - const float *dev_boxes, unsigned long long *dev_mask) + const float *dev_boxes, unsigned long long *dev_mask, + const int NUM_BOX_CORNERS) { const int row_start = blockIdx.y; const int col_start = blockIdx.x; - // if (row_start > col_start) return; const int block_threads = blockDim.x; const int row_size = min(n_boxes - row_start * block_threads, block_threads); const int col_size = min(n_boxes - col_start * block_threads, block_threads); - //Only can initialize with figures, not by variables - __shared__ float block_boxes[64 * 4]; + + __shared__ float block_boxes[NUM_THREADS_MACRO * NUM_2D_BOX_CORNERS_MACRO]; if (threadIdx.x < col_size) { - block_boxes[threadIdx.x * 4 + 0] = dev_boxes[(block_threads * col_start + threadIdx.x) * 4 + 0]; - block_boxes[threadIdx.x * 4 + 1] = dev_boxes[(block_threads * col_start + threadIdx.x) * 4 + 1]; - block_boxes[threadIdx.x * 4 + 2] = dev_boxes[(block_threads * col_start + threadIdx.x) * 4 + 2]; - block_boxes[threadIdx.x * 4 + 3] = dev_boxes[(block_threads * col_start + threadIdx.x) * 4 + 3]; + block_boxes[threadIdx.x * NUM_BOX_CORNERS + 0] = dev_boxes[(block_threads * col_start + threadIdx.x) * NUM_BOX_CORNERS + 0]; + block_boxes[threadIdx.x * NUM_BOX_CORNERS + 1] = dev_boxes[(block_threads * col_start + threadIdx.x) * NUM_BOX_CORNERS + 1]; + block_boxes[threadIdx.x * NUM_BOX_CORNERS + 2] = dev_boxes[(block_threads * col_start + threadIdx.x) * NUM_BOX_CORNERS + 2]; + block_boxes[threadIdx.x * NUM_BOX_CORNERS + 3] = dev_boxes[(block_threads * col_start + threadIdx.x) * NUM_BOX_CORNERS + 3]; } __syncthreads(); if (threadIdx.x < row_size) { const int cur_box_idx = block_threads * row_start + threadIdx.x; - const float cur_box[4] = {dev_boxes[cur_box_idx*4 + 0], - dev_boxes[cur_box_idx*4 + 1], - dev_boxes[cur_box_idx*4 + 2], - dev_boxes[cur_box_idx*4 + 3]}; + const float cur_box[NUM_2D_BOX_CORNERS_MACRO] = {dev_boxes[cur_box_idx*NUM_BOX_CORNERS + 0], + dev_boxes[cur_box_idx*NUM_BOX_CORNERS + 1], + dev_boxes[cur_box_idx*NUM_BOX_CORNERS + 2], + dev_boxes[cur_box_idx*NUM_BOX_CORNERS + 3]}; unsigned long long t = 0; int start = 0; if (row_start == col_start) @@ -59,7 +59,7 @@ __global__ void nms_kernel(const int n_boxes, const float nms_overlap_thresh, } for (int i = start; i < col_size; i++) { - if (devIoU(cur_box, block_boxes + i * 4) > nms_overlap_thresh) + if (devIoU(cur_box, block_boxes + i * NUM_BOX_CORNERS) > nms_overlap_thresh) { t |= 1ULL << i; } @@ -69,8 +69,9 @@ __global__ void nms_kernel(const int n_boxes, const float nms_overlap_thresh, } } -NMSCuda::NMSCuda(const int NUM_THREADS, const float nms_overlap_threshold): +NMSCuda::NMSCuda(const int NUM_THREADS, const int NUM_BOX_CORNERS ,const float nms_overlap_threshold): NUM_THREADS_(NUM_THREADS), +NUM_BOX_CORNERS_(NUM_BOX_CORNERS), nms_overlap_threshold_(nms_overlap_threshold) { } @@ -84,7 +85,7 @@ void NMSCuda::doNMSCuda(const int host_filter_count, float* dev_sorted_box_for_n unsigned long long *dev_mask = NULL; GPU_CHECK(cudaMalloc(&dev_mask, host_filter_count * col_blocks * sizeof(unsigned long long))); - nms_kernel<<>>(host_filter_count, nms_overlap_threshold_, dev_sorted_box_for_nms, dev_mask); + nms_kernel<<>>(host_filter_count, nms_overlap_threshold_, dev_sorted_box_for_nms, dev_mask, NUM_BOX_CORNERS_); // postprocess for nms output std::vector host_mask(host_filter_count * col_blocks); diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp index a202a0b2e14..52fa314bf85 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars.cpp @@ -19,7 +19,7 @@ #include // headers in local files -#include "point_pillars.h" +#include "lidar_point_pillars/point_pillars.h" // clang-format off PointPillars::PointPillars(const bool reproduce_result_mode, const float score_threshold, @@ -44,22 +44,22 @@ PointPillars::PointPillars(const bool reproduce_result_mode, const float score_t , RPN_BOX_OUTPUT_SIZE_(NUM_ANCHOR_ * 7) , RPN_CLS_OUTPUT_SIZE_(NUM_ANCHOR_) , RPN_DIR_OUTPUT_SIZE_(NUM_ANCHOR_ * 2) - , PILLAR_X_SIZE_(0.16) - , PILLAR_Y_SIZE_(0.16) - , PILLAR_Z_SIZE_(4.0) - , MIN_X_RANGE_(0.0) - , MIN_Y_RANGE_(-39.68) - , MIN_Z_RANGE_(-3.0) - , MAX_X_RANGE_(69.12) - , MAX_Y_RANGE_(39.68) + , PILLAR_X_SIZE_(0.16f) + , PILLAR_Y_SIZE_(0.16f) + , PILLAR_Z_SIZE_(4.0f) + , MIN_X_RANGE_(0.0f) + , MIN_Y_RANGE_(-39.68f) + , MIN_Z_RANGE_(-3.0f) + , MAX_X_RANGE_(69.12f) + , MAX_Y_RANGE_(39.68f) , MAX_Z_RANGE_(1) , BATCH_SIZE_(1) , NUM_INDS_FOR_SCAN_(512) - , NUM_THREADS_(64) // if you change NUM_THREADS_, need to modify nms_kernel's shared memory size - , SENSOR_HEIGHT_(1.73) - , ANCHOR_DX_SIZE_(1.6) - , ANCHOR_DY_SIZE_(3.9) - , ANCHOR_DZ_SIZE_(1.56) + , NUM_THREADS_(64) // if you change NUM_THREADS_, need to modify NUM_THREADS_MACRO in common.h + , SENSOR_HEIGHT_(1.73f) + , ANCHOR_DX_SIZE_(1.6f) + , ANCHOR_DY_SIZE_(3.9f) + , ANCHOR_DZ_SIZE_(1.56f) , NUM_BOX_CORNERS_(4) , NUM_OUTPUT_BOX_FEATURE_(7) { @@ -74,7 +74,7 @@ PointPillars::PointPillars(const bool reproduce_result_mode, const float score_t { preprocess_points_cuda_ptr_.reset(new PreprocessPointsCuda( NUM_THREADS_, MAX_NUM_PILLARS_, MAX_NUM_POINTS_PER_PILLAR_, NUM_INDS_FOR_SCAN_, GRID_X_SIZE_, GRID_Y_SIZE_, - GRID_Z_SIZE_, PILLAR_X_SIZE_, PILLAR_Y_SIZE_, PILLAR_Z_SIZE_, MIN_X_RANGE_, MIN_Y_RANGE_, MIN_Z_RANGE_)); + GRID_Z_SIZE_, PILLAR_X_SIZE_, PILLAR_Y_SIZE_, PILLAR_Z_SIZE_, MIN_X_RANGE_, MIN_Y_RANGE_, MIN_Z_RANGE_, NUM_BOX_CORNERS_)); } anchor_mask_cuda_ptr_.reset(new AnchorMaskCuda(NUM_INDS_FOR_SCAN_, NUM_ANCHOR_X_INDS_, NUM_ANCHOR_Y_INDS_, @@ -232,7 +232,7 @@ void PointPillars::deviceMemoryMalloc() GPU_CHECK(cudaMalloc(&rpn_buffers_[3], RPN_DIR_OUTPUT_SIZE_ * sizeof(float))); // for scatter kernel - GPU_CHECK(cudaMalloc((void**)&dev_scattered_feature_, 64 * GRID_Y_SIZE_ * GRID_X_SIZE_ * sizeof(float))); + GPU_CHECK(cudaMalloc((void**)&dev_scattered_feature_, NUM_THREADS_ * GRID_Y_SIZE_ * GRID_X_SIZE_ * sizeof(float))); // for filter GPU_CHECK(cudaMalloc((void**)&dev_anchors_px_, NUM_ANCHOR_ * sizeof(float))); @@ -263,7 +263,7 @@ void PointPillars::initAnchors() box_anchors_min_y_ = new float[NUM_ANCHOR_]; box_anchors_max_x_ = new float[NUM_ANCHOR_]; box_anchors_max_y_ = new float[NUM_ANCHOR_]; - // deallocate these memory in deconstructor + // deallocate these memories in deconstructor generateAnchors(anchors_px_, anchors_py_, anchors_pz_, anchors_dx_, anchors_dy_, anchors_dz_, anchors_ro_); @@ -292,8 +292,8 @@ void PointPillars::generateAnchors(float* anchors_px_, float* anchors_py_, float box_anchors_max_y_[i] = 0; } - float x_stride = PILLAR_X_SIZE_ * 2; - float y_stride = PILLAR_Y_SIZE_ * 2; + float x_stride = PILLAR_X_SIZE_ * 2.0f; + float y_stride = PILLAR_Y_SIZE_ * 2.0f; float x_offset = MIN_X_RANGE_ + PILLAR_X_SIZE_; float y_offset = MIN_Y_RANGE_ + PILLAR_Y_SIZE_; @@ -352,7 +352,7 @@ void PointPillars::convertAnchors2BoxAnchors(float* anchors_px, float* anchors_p float* box_anchors_min_x_, float* box_anchors_min_y_, float* box_anchors_max_x_, float* box_anchors_max_y_) { - // flip box's dimension when the third axis == 1 + // flipping box's dimension float flipped_anchors_dx[NUM_ANCHOR_] = { 0 }; float flipped_anchors_dy[NUM_ANCHOR_] = { 0 }; for (size_t x = 0; x < NUM_ANCHOR_X_INDS_; x++) @@ -373,10 +373,10 @@ void PointPillars::convertAnchors2BoxAnchors(float* anchors_px, float* anchors_p for (size_t r = 0; r < NUM_ANCHOR_R_INDS_; r++) { int ind = x * NUM_ANCHOR_Y_INDS_ * NUM_ANCHOR_R_INDS_ + y * NUM_ANCHOR_R_INDS_ + r; - box_anchors_min_x_[ind] = anchors_px[ind] - flipped_anchors_dx[ind] / 2; - box_anchors_min_y_[ind] = anchors_py[ind] - flipped_anchors_dy[ind] / 2; - box_anchors_max_x_[ind] = anchors_px[ind] + flipped_anchors_dx[ind] / 2; - box_anchors_max_y_[ind] = anchors_py[ind] + flipped_anchors_dy[ind] / 2; + box_anchors_min_x_[ind] = anchors_px[ind] - flipped_anchors_dx[ind] / 2.0f; + box_anchors_min_y_[ind] = anchors_py[ind] - flipped_anchors_dy[ind] / 2.0f; + box_anchors_max_x_[ind] = anchors_px[ind] + flipped_anchors_dx[ind] / 2.0f; + box_anchors_max_y_[ind] = anchors_py[ind] + flipped_anchors_dy[ind] / 2.0f; } } } diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp index def9759cf7c..776ce59394a 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/point_pillars_ros.cpp @@ -28,15 +28,15 @@ // headers in local files #include "autoware_msgs/DetectedObjectArray.h" -#include "point_pillars_ros.h" +#include "lidar_point_pillars/point_pillars_ros.h" PointPillarsROS::PointPillarsROS() : private_nh_("~") , has_subscribed_baselink_(false) , NUM_POINT_FEATURE_(4) , OUTPUT_NUM_BOX_FEATURE_(7) - , TRAINED_SENSOR_HEIGHT_(1.73) - , NORMALIZING_INTENSITY_VALUE_(255.0) + , TRAINED_SENSOR_HEIGHT_(1.73f) + , NORMALIZING_INTENSITY_VALUE_(255.0f) , BASELINK_FRAME_("base_link") { //ros related param @@ -44,8 +44,8 @@ PointPillarsROS::PointPillarsROS() //algorithm related params private_nh_.param("reproduce_result_mode", reproduce_result_mode_, false); - private_nh_.param("score_threshold", score_threshold_, 0.5); - private_nh_.param("nms_overlap_threshold", nms_overlap_threshold_, 0.5); + private_nh_.param("score_threshold", score_threshold_, 0.5f); + private_nh_.param("nms_overlap_threshold", nms_overlap_threshold_, 0.5f); private_nh_.param("pfe_onnx_file", pfe_onnx_file_, ""); private_nh_.param("rpn_onnx_file", rpn_onnx_file_, ""); @@ -87,9 +87,10 @@ void PointPillarsROS::pubDetectedObject(const std::vector& detections, co object.pose.position.y = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 1]; object.pose.position.z = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 2]; + // Trained this way float yaw = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 6]; + yaw += M_PI/2; yaw = std::atan2(std::sin(yaw), std::cos(yaw)); - // Trained this way geometry_msgs::Quaternion q = tf::createQuaternionMsgFromYaw(-yaw); object.pose.orientation = q; @@ -98,10 +99,14 @@ void PointPillarsROS::pubDetectedObject(const std::vector& detections, co object.pose = getTransformedPose(object.pose, angle_transform_inversed_); } - object.dimensions.x = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 3]; - object.dimensions.y = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 4]; + // Again: Trained this way + object.dimensions.x = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 4]; + object.dimensions.y = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 3]; object.dimensions.z = detections[i * OUTPUT_NUM_BOX_FEATURE_ + 5]; + //Only detects car in Version 1.0 + object.label = "car"; + objects.objects.push_back(object); } pub_objects_.publish(objects); diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu index cf82496926a..87abbee141e 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/postprocess_cuda.cu @@ -20,7 +20,7 @@ #include //headers in local files -#include "postprocess_cuda.h" +#include "lidar_point_pillars/postprocess_cuda.h" __global__ void filter_kernel(const float* box_preds, const float* cls_preds, const float* dir_preds, const int* anchor_mask, const float* dev_anchors_px, const float* dev_anchors_py, const float* dev_anchors_pz, @@ -72,15 +72,14 @@ __global__ void filter_kernel(const float* box_preds, const float* cls_preds, co //convrt normal box(normal boxes: x, y, z, w, l, h, r) to box(xmin, ymin, xmax, ymax) for nms calculation //First: dx, dy -> box(x0y0, x0y1, x1y0, x1y1) - float corners[2*4] = {float(-0.5*box_dx), float(-0.5*box_dy), + float corners[NUM_3D_BOX_CORNERS_MACRO] = {float(-0.5*box_dx), float(-0.5*box_dy), float(-0.5*box_dx), float( 0.5*box_dy), float( 0.5*box_dx), float( 0.5*box_dy), float( 0.5*box_dx), float(-0.5*box_dy)}; //Second: Rotate, Offset and convert to point(xmin. ymin, xmax, ymax) - //cannot use variable initialization since "error: expression must have a constant value" - float rotated_corners[2*4]; - float offset_corners[2*4]; + float rotated_corners[NUM_3D_BOX_CORNERS_MACRO]; + float offset_corners[NUM_3D_BOX_CORNERS_MACRO]; float sin_yaw = sinf(box_ro); float cos_yaw = cosf(box_ro); float xmin = FLOAT_MAX; @@ -152,6 +151,7 @@ NUM_OUTPUT_BOX_FEATURE_(NUM_OUTPUT_BOX_FEATURE) { nms_cuda_ptr_.reset(new NMSCuda( NUM_THREADS, + NUM_BOX_CORNERS, nms_overlap_threshold)); } diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp index e36055debc9..82b6fd46d68 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points.cpp @@ -19,7 +19,7 @@ #include // headers in local files -#include "preprocess_points.h" +#include "lidar_point_pillars/preprocess_points.h" PreprocessPoints::PreprocessPoints(const int MAX_NUM_PILLARS, const int MAX_POINTS_PER_PILLAR, const int GRID_X_SIZE, const int GRID_Y_SIZE, const int GRID_Z_SIZE, const float PILLAR_X_SIZE, @@ -107,18 +107,17 @@ void PreprocessPoints::preprocess(const float* in_points_array, int in_num_point pillar_count += 1; coor_to_pillaridx[y_coor * GRID_X_SIZE_ + x_coor] = pillar_index; - // reverse index y_coors[pillar_index] = std::floor(y_coor); x_coors[pillar_index] = std::floor(x_coor); // float y_offset = PILLAR_Y_SIZE_/ 2 + MIN_Y_RANGE_; // float x_offset = PILLAR_X_SIZE_/ 2 + MIN_X_RANGE_; // TODO Need to be modified after proper trining code - y_coors_for_sub[pillar_index] = std::floor(y_coor) * PILLAR_Y_SIZE_ + -39.9; - x_coors_for_sub[pillar_index] = std::floor(x_coor) * PILLAR_X_SIZE_ + 0.1; + // Will be modified in ver 1.1 + y_coors_for_sub[pillar_index] = std::floor(y_coor) * PILLAR_Y_SIZE_ + -39.9f; + x_coors_for_sub[pillar_index] = std::floor(x_coor) * PILLAR_X_SIZE_ + 0.1f; - // sparse pillar map - sparse_pillar_map[y_coor * 512 + x_coor] = 1; + sparse_pillar_map[y_coor * NUM_INDS_FOR_SCAN_ + x_coor] = 1; } int num = num_points_per_pillar[pillar_index]; if (num < MAX_NUM_POINTS_PER_PILLAR_) @@ -142,11 +141,11 @@ void PreprocessPoints::preprocess(const float* in_points_array, int in_num_point y_coors_for_sub_shaped[i * MAX_NUM_POINTS_PER_PILLAR_ + j] = y; if (j < num_points_for_a_pillar) { - pillar_feature_mask[i * MAX_NUM_POINTS_PER_PILLAR_ + j] = 1.0; + pillar_feature_mask[i * MAX_NUM_POINTS_PER_PILLAR_ + j] = 1.0f; } else { - pillar_feature_mask[i * MAX_NUM_POINTS_PER_PILLAR_ + j] = 0.0; + pillar_feature_mask[i * MAX_NUM_POINTS_PER_PILLAR_ + j] = 0.0f; } } } diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points_cuda.cu index c175ac36b3e..343f30ccea1 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points_cuda.cu +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/preprocess_points_cuda.cu @@ -18,8 +18,8 @@ #include //headers in local files -#include "common.h" -#include "preprocess_points_cuda.h" +#include "lidar_point_pillars/common.h" +#include "lidar_point_pillars/preprocess_points_cuda.h" __global__ void make_pillar_histo_kernel( const float* dev_points, @@ -38,7 +38,8 @@ __global__ void make_pillar_histo_kernel( const float MIN_Z_RANGE, const float PILLAR_X_SIZE, const float PILLAR_Y_SIZE, - const float PILLAR_Z_SIZE + const float PILLAR_Z_SIZE, + const int NUM_BOX_CORNERS ) { int th_i = threadIdx.x + blockIdx.x * blockDim.x; @@ -46,9 +47,9 @@ __global__ void make_pillar_histo_kernel( { return; } - int y_coor = floor((dev_points[th_i*4 + 1] - MIN_Y_RANGE)/PILLAR_Y_SIZE); - int x_coor = floor((dev_points[th_i*4 + 0] - MIN_X_RANGE)/PILLAR_X_SIZE); - int z_coor = floor((dev_points[th_i*4 + 2] - MIN_Z_RANGE)/PILLAR_Z_SIZE); + int y_coor = floor((dev_points[th_i*NUM_BOX_CORNERS + 1] - MIN_Y_RANGE)/PILLAR_Y_SIZE); + int x_coor = floor((dev_points[th_i*NUM_BOX_CORNERS + 0] - MIN_X_RANGE)/PILLAR_X_SIZE); + int z_coor = floor((dev_points[th_i*NUM_BOX_CORNERS + 2] - MIN_Z_RANGE)/PILLAR_Z_SIZE); if(x_coor >= 0 && x_coor < GRID_X_SIZE && y_coor >= 0 && y_coor < GRID_Y_SIZE && @@ -58,10 +59,10 @@ __global__ void make_pillar_histo_kernel( if(count < max_points_per_pillar) { int ind = y_coor*GRID_X_SIZE*max_points_per_pillar + x_coor*max_points_per_pillar + count; - dev_pillar_x_in_coors[ind] = dev_points[th_i*4 + 0]; - dev_pillar_y_in_coors[ind] = dev_points[th_i*4 + 1]; - dev_pillar_z_in_coors[ind] = dev_points[th_i*4 + 2]; - dev_pillar_i_in_coors[ind] = dev_points[th_i*4 + 3]; + dev_pillar_x_in_coors[ind] = dev_points[th_i*NUM_BOX_CORNERS + 0]; + dev_pillar_y_in_coors[ind] = dev_points[th_i*NUM_BOX_CORNERS + 1]; + dev_pillar_z_in_coors[ind] = dev_points[th_i*NUM_BOX_CORNERS + 2]; + dev_pillar_i_in_coors[ind] = dev_points[th_i*NUM_BOX_CORNERS + 3]; } } } @@ -107,14 +108,14 @@ __global__ void make_pillar_index_kernel( dev_x_coors[count] = x; dev_y_coors[count] = y; - //TODO Need to be modified after making properly trained model + //TODO Need to be modified after making properly trained weight + // Will be modified in ver 1.1 // x_offset = self.vx / 2 + pc_range[0] // y_offset = self.vy / 2 + pc_range[1] // x_sub = coors_x.unsqueeze(1) * 0.16 + x_offset // y_sub = coors_y.unsqueeze(1) * 0.16 + y_offset - - dev_x_coors_for_sub[count] = x* PILLAR_X_SIZE + 0.1; - dev_y_coors_for_sub[count] = y* PILLAR_Y_SIZE + -39.9; + dev_x_coors_for_sub[count] = x* PILLAR_X_SIZE + 0.1f; + dev_y_coors_for_sub[count] = y* PILLAR_Y_SIZE + -39.9f; dev_sparse_pillar_map[y*NUM_INDS_FOR_SCAN + x] = 1; } } @@ -194,7 +195,8 @@ PreprocessPointsCuda::PreprocessPointsCuda(const int NUM_THREADS, const float PILLAR_Z_SIZE, const float MIN_X_RANGE, const float MIN_Y_RANGE, - const float MIN_Z_RANGE) + const float MIN_Z_RANGE, + const int NUM_BOX_CORNERS) : NUM_THREADS_(NUM_THREADS), MAX_NUM_PILLARS_(MAX_NUM_PILLARS), @@ -208,7 +210,8 @@ PILLAR_Y_SIZE_(PILLAR_Y_SIZE), PILLAR_Z_SIZE_(PILLAR_Z_SIZE), MIN_X_RANGE_(MIN_X_RANGE), MIN_Y_RANGE_(MIN_Y_RANGE), -MIN_Z_RANGE_(MIN_Z_RANGE) +MIN_Z_RANGE_(MIN_Z_RANGE), +NUM_BOX_CORNERS_(NUM_BOX_CORNERS) { GPU_CHECK(cudaMalloc((void**)&dev_pillar_x_in_coors_, GRID_Y_SIZE_*GRID_X_SIZE_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); GPU_CHECK(cudaMalloc((void**)&dev_pillar_y_in_coors_, GRID_Y_SIZE_*GRID_X_SIZE_*MAX_NUM_POINTS_PER_PILLAR_* sizeof(float))); @@ -265,7 +268,8 @@ void PreprocessPointsCuda::doPreprocessPointsCuda(const float* dev_points, const MIN_Z_RANGE_, PILLAR_X_SIZE_, PILLAR_Y_SIZE_, - PILLAR_Z_SIZE_); + PILLAR_Z_SIZE_, + NUM_BOX_CORNERS_); make_pillar_index_kernel<<>>( diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/scatter_cuda.cu b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/scatter_cuda.cu index 6933f1da93e..107e3de6e4a 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/scatter_cuda.cu +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/nodes/scatter_cuda.cu @@ -15,7 +15,7 @@ */ //headers in local files -#include "scatter_cuda.h" +#include "lidar_point_pillars/scatter_cuda.h" __global__ void scatter_kernel( int *x_coors, int *y_coors, float *pfe_output, float *scattered_feature, const int MAX_NUM_PILLARS_, const int GRID_X_SIZE, const int GRID_Y_SIZE) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/package.xml b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/package.xml index 082e644fa5d..53e773449e8 100755 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/package.xml +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/package.xml @@ -1,20 +1,23 @@ lidar_point_pillars - 1.9.1 + 1.11.0 lidar_point_pillars Kosuke Murakami Apache 2.0 catkin + autoware_build_flags roscpp + roslib pcl_ros autoware_msgs roscpp + roslib pcl_ros autoware_msgs diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp index d42fa7d7c44..a002fb79cc8 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp @@ -21,16 +21,20 @@ * @date 2019/02/26 */ +// headers in ros #include #include +// headers in gtest #include +// headers in PCL #include #include -#include "point_pillars_ros.h" -#include "preprocess_points.h" +// headers in local files +#include "lidar_point_pillars/point_pillars_ros.h" +#include "lidar_point_pillars/preprocess_points.h" class TestSuite : public ::testing::Test { @@ -64,7 +68,8 @@ class TestClass const int NUM_INDS_FOR_SCAN_; const int NUM_BOX_CORNERS_; - void initPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr); + // Make pointcloud for test + void makePointsForTest(pcl::PointCloud::Ptr in_pcl_pc_ptr); void pclToArray(const pcl::PointCloud::Ptr& in_pcl_pc_ptr, float* out_points_array); void preprocess(const float* in_points_array, int in_num_points, int* x_coors, int* y_coors, float* num_points_per_pillar, float* pillar_x, float* pillar_y, float* pillar_z, float* pillar_i, @@ -138,7 +143,7 @@ void TestClass::pclToArray(const pcl::PointCloud::Ptr& in_pcl_pc } } -void TestClass::initPoints(pcl::PointCloud::Ptr in_pcl_pc_ptr) +void TestClass::makePointsForTest(pcl::PointCloud::Ptr in_pcl_pc_ptr) { pcl::PointXYZI point; point.x = 12.9892; @@ -229,7 +234,7 @@ TEST(TestSuite, CheckPreprocessPointsCPU) NUM_BOX_CORNERS); pcl::PointCloud::Ptr pcl_pc_ptr(new pcl::PointCloud); - test_obj.initPoints(pcl_pc_ptr); + test_obj.makePointsForTest(pcl_pc_ptr); float* points_array = new float[pcl_pc_ptr->size() * 4]; test_obj.pclToArray(pcl_pc_ptr, points_array); From ff7769727fa936385798fe100e38c1dd4ad2c343 Mon Sep 17 00:00:00 2001 From: Joshua Whitley Date: Wed, 27 Mar 2019 16:51:24 -0500 Subject: [PATCH 063/139] Two other minor rebase fixes. --- .../lidar_point_pillars/test/src/test_point_pillars.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp index a002fb79cc8..70b3a4fa0ae 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/test/src/test_point_pillars.cpp @@ -21,18 +21,18 @@ * @date 2019/02/26 */ -// headers in ros +// headers in ROS #include #include // headers in gtest #include -// headers in PCL +//headers in PCL #include #include -// headers in local files +//headers in local files #include "lidar_point_pillars/point_pillars_ros.h" #include "lidar_point_pillars/preprocess_points.h" From 19c9c9573bb4eef578ade5010bd99694a2417e0c Mon Sep 17 00:00:00 2001 From: Joshua Whitley Date: Thu, 28 Mar 2019 09:51:42 -0500 Subject: [PATCH 064/139] Minor spacing issue fix. --- ros/src/util/packages/runtime_manager/scripts/computing.yaml | 2 -- 1 file changed, 2 deletions(-) diff --git a/ros/src/util/packages/runtime_manager/scripts/computing.yaml b/ros/src/util/packages/runtime_manager/scripts/computing.yaml index 7adabd36ed8..fccc925bb7a 100755 --- a/ros/src/util/packages/runtime_manager/scripts/computing.yaml +++ b/ros/src/util/packages/runtime_manager/scripts/computing.yaml @@ -192,12 +192,10 @@ subs : desc : lidar_cnn_segmentation_baidu_detect. Requires Caffe framework cmd : roslaunch lidar_apollo_cnn_seg_detect lidar_apollo_cnn_seg_detect.launch param: lidar_cnn_baidu_params - - name : lidar_point_pillars desc : lidar_point_pillars. Requires CUDA and TensorRT cmd : roslaunch lidar_point_pillars lidar_point_pillars.launch param: lidar_point_pillars_params - - name : lidar_naive_l_shape_detect desc : lidar_naive_l_shape_detect desc sample cmd : roslaunch lidar_naive_l_shape_detect lidar_naive_l_shape_detect.launch From 5fbba6863d4711e858a11aa469c2c55b14b1278e Mon Sep 17 00:00:00 2001 From: Yusuke FUJII Date: Thu, 1 Nov 2018 00:22:57 +0900 Subject: [PATCH 065/139] rebuild decision_maker --- .../include/amathutils_lib/amathutils.hpp | 18 +- .../libs/amathutils_lib/src/Amathutils.cpp | 14 +- .../include/state_machine_lib/state.hpp | 9 +- .../state_machine_lib/state_context.hpp | 12 +- .../state_machine_lib/src/state_context.cpp | 93 ++-- .../packages/decision_maker/CMakeLists.txt | 42 +- .../decision_maker/autoware_state_drive.yaml | 100 ++-- .../autoware_state_mission.yaml | 14 +- .../autoware_state_vehicle.yaml | 11 +- .../include/decision_maker_node.hpp | 430 ++++++++++++++++++ .../include/planner_selector.hpp | 77 ++++ .../launch/decision_maker.launch | 22 - .../decision_maker_node_callback.cpp | 63 ++- .../decision_maker_node_decision.cpp | 14 +- .../decision_maker_node_init.cpp | 137 ++++-- .../decision_maker_node_publish.cpp | 46 +- .../decision_maker_node_state_drive.cpp | 71 +-- .../decision_maker_node_state_mission.cpp | 52 +-- .../decision_maker_node_state_vehicle.cpp | 12 +- .../planner_selector_node.cpp | 234 ++++++++++ .../lane_planner/include/lane_select_core.h | 6 - .../nodes/twist_gate/twist_gate.cpp | 118 ++++- .../nodes/wf_simulator/wf_simulator.cpp | 111 +++-- .../waypoint_loader/waypoint_loader_core.cpp | 26 +- .../msg/ConfigDecisionMaker.msg | 6 +- .../nodes/vehicle_sender/vehicle_sender.cpp | 3 +- .../plugin_description.xml | 27 ++ .../decision_maker_panel.cpp | 176 +++++++ .../decision_maker_panel.h | 62 +++ .../state_panel/CMakeLists.txt | 5 +- .../runtime_manager/scripts/computing.yaml | 25 +- 31 files changed, 1648 insertions(+), 388 deletions(-) create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/include/planner_selector.hpp create mode 100644 ros/src/computing/planning/decision/packages/decision_maker/nodes/planner_selector/planner_selector_node.cpp create mode 100644 ros/src/util/packages/autoware_rviz_plugins/plugin_description.xml create mode 100644 ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.cpp create mode 100644 ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.h diff --git a/ros/src/common/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp b/ros/src/common/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp index 1063d9a2ef2..652136b615a 100644 --- a/ros/src/common/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp +++ b/ros/src/common/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp @@ -15,40 +15,42 @@ namespace amathutils { #define G_MPSS 9.80665 // m/s^2 -inline double rad2deg(double _angle) +inline double rad2deg(const double &_angle) { return _angle * 180 / M_PI; } -inline double deg2rad(double _angle) +inline double deg2rad(const double &_angle) { return _angle / 180 * M_PI; } -inline double mps2kmph(double _mpsval) +inline double mps2kmph(const double &_mpsval) { return (_mpsval * 3.6); // mps * 60sec * 60minutes / 1000m } -inline double kmph2mps(double _kmphval) +inline double kmph2mps(const double &_kmphval) { return (_kmphval * 1000 / 60 / 60); // kmph * 1000m / 60sec / 60sec } -inline double getGravityAcceleration(double _acceleration_mpss) +inline double getGravityAcceleration(const double &_acceleration_mpss) { return _acceleration_mpss / G_MPSS; } -inline double getAcceleration(double _v0, double _v, double _x) +inline double getAcceleration(const double &_v0, const double &_v, const double &_x) { return (_v * _v - _v0 * _v0) / 2 / _x; } -inline double getTimefromAcceleration(double _v0, double _v, double _a) +inline double getTimefromAcceleration(const double &_v0, const double &_v, const double &_a) { return (_v - _v0) / _a; } +geometry_msgs::Point getCrossPoint(const geometry_msgs::Point &_l1_p1, const geometry_msgs::Point &_l1_p2, + const geometry_msgs::Point &_l2_p1, const geometry_msgs::Point &_l2_p2); geometry_msgs::Point getNearPtOnLine(const geometry_msgs::Point &_p, const geometry_msgs::Point &_a, const geometry_msgs::Point &_b); double find_distance(const geometry_msgs::Point &_from, const geometry_msgs::Point &_to); @@ -60,7 +62,7 @@ int isPointLeftFromLine(const geometry_msgs::Point &_target, const geometry_msgs const geometry_msgs::Point &_line_p2); double getPoseYawAngle(const geometry_msgs::Pose &_pose); double calcPosesAngleDiffRaw(const geometry_msgs::Pose &p_from, const geometry_msgs::Pose &_p_to); -double radianNormalize(double _angle); +double radianNormalize(const double &_angle); double calcPosesAngleDiffDeg(const geometry_msgs::Pose &_p_from, const geometry_msgs::Pose &_p_to); double calcPosesAngleDiffRad(const geometry_msgs::Pose &_p_from, const geometry_msgs::Pose &_p_to); } diff --git a/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp b/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp index be827ea7ce4..ab4ec72a1cc 100644 --- a/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp +++ b/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp @@ -2,6 +2,10 @@ namespace amathutils { +geometry_msgs::Point getCrossPoint(const geometry_msgs::Point &_l1_p1, const geometry_msgs::Point &_l1_p2, + const geometry_msgs::Point &_l2_p1, const geometry_msgs::Point &_l2_p2) +{ +} geometry_msgs::Point getNearPtOnLine(const geometry_msgs::Point &_p, const geometry_msgs::Point &_a, const geometry_msgs::Point &_b) { @@ -13,17 +17,17 @@ geometry_msgs::Point getNearPtOnLine(const geometry_msgs::Point &_p, const geome vnab.x = (_b.x - _a.x) / len; vnab.y = (_b.y - _a.y) / len; - vnab.z = (_b.z - _a.z) / len; + vnab.z = 0; //(_b.z - _a.z) / len; vap.x = _p.x - _a.x; vap.y = _p.y - _a.y; - vap.z = _p.z - _a.z; + vap.z = 0; //_p.z - _a.z; - double dist_ax = vnab.x * vap.x + vnab.y * vap.y + vnab.z * vap.z; + double dist_ax = vnab.x * vap.x + vnab.y * vap.y + vnab.z + vap.z; ret.x = _a.x + (vnab.x * dist_ax); ret.y = _a.y + (vnab.y * dist_ax); - ret.z = _a.z + (vnab.z * dist_ax); + ret.z = 0; //_a.z + (vnab.z * dist_ax); return ret; } @@ -94,7 +98,7 @@ double calcPosesAngleDiffRaw(const geometry_msgs::Pose &p_from, const geometry_m return getPoseYawAngle(p_from) - getPoseYawAngle(_p_to); } -double radianNormalize(double _angle) +double radianNormalize(const double &_angle) { double n_angle = std::fmod(_angle, 2 * M_PI); n_angle = n_angle > M_PI ? n_angle - 2 * M_PI : n_angle < -M_PI ? 2 * M_PI + n_angle : n_angle; diff --git a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state.hpp b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state.hpp index f87a1100cab..6742eb062cf 100644 --- a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state.hpp +++ b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state.hpp @@ -20,8 +20,9 @@ class State std::string state_name_; uint64_t state_id_; - + std::shared_ptr parent_state_; + std::function CallbackUpdateFunc; std::function CallbackEntryFunc; @@ -125,12 +126,12 @@ class State transition_map_[key] = val; } - uint64_t getTansitionVal(std::string key) const + uint64_t getTansitionVal(std::string key) { - return transition_map_.at(key); + return transition_map_[key]; } - const std::map& getTransitionMap(void) + std::map getTransitionMap(void) { return transition_map_; } diff --git a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp index 69bc9020fe1..c4397f2df3c 100644 --- a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp +++ b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp @@ -32,24 +32,22 @@ class StateContext state_map_[child]->setParent(state_map_[parent]); } uint64_t parseChildState(const YAML::Node& node, uint64_t _id_counter, uint64_t _parent_id); - int32_t getStateIDbyName(std::string _name); + uint64_t getStateIDbyName(std::string _name); void setTransitionMap(const YAML::Node& node, const std::shared_ptr& _state); std::shared_ptr getStatePtr(const YAML::Node& node); std::shared_ptr getStatePtr(const std::string& _state_name); std::shared_ptr getStatePtr(const uint64_t& _state_id); + void parseChildTransitionMap(const YAML::Node& node); bool isCurrentState(const std::string& state_name); - std::string dot_output_name; - public: - StateContext(const std::string& file_name, const std::string& msg_name) + StateContext(const std::string& file_name, const std::string& msg_name = "autoware_states") { createStateMap(file_name, msg_name); root_state_ = getStartState(); - dot_output_name = "/tmp/" + msg_name + ".dot"; - createDOTGraph(dot_output_name); + createDOTGraph("/tmp/a.dot"); } ~StateContext() @@ -60,6 +58,8 @@ class StateContext std::shared_ptr getStartState(void); void onUpdate(void); + void onEntry(uint64_t _prev_state_id); + void onExit(); bool setCallback(const CallbackType& _type, const std::string& _state_name, const std::function& _f); diff --git a/ros/src/common/libs/state_machine_lib/src/state_context.cpp b/ros/src/common/libs/state_machine_lib/src/state_context.cpp index 7b41abad3e8..8ea630fb506 100644 --- a/ros/src/common/libs/state_machine_lib/src/state_context.cpp +++ b/ros/src/common/libs/state_machine_lib/src/state_context.cpp @@ -6,7 +6,6 @@ #include #include #include -#include #include @@ -28,21 +27,21 @@ bool StateContext::setCallback(const CallbackType& _type, const std::string& _st const std::function& _f) { bool ret = false; - int32_t _state_id = getStateIDbyName(_state_name); - if (_state_id != -1 && getStatePtr(static_cast(_state_id))) + uint64_t _state_id = getStateIDbyName(_state_name); + if (getStatePtr(_state_id)) { switch (_type) { case CallbackType::UPDATE: - getStatePtr(static_cast(_state_id))->setCallbackUpdate(_f); + getStatePtr(_state_id)->setCallbackUpdate(_f); ret = true; break; case CallbackType::ENTRY: - getStatePtr(static_cast(_state_id))->setCallbackEntry(_f); + getStatePtr(_state_id)->setCallbackEntry(_f); ret = true; break; case CallbackType::EXIT: - getStatePtr(static_cast(_state_id))->setCallbackExit(_f); + getStatePtr(_state_id)->setCallbackExit(_f); ret = true; break; default: @@ -77,23 +76,24 @@ bool StateContext::isCurrentState(const std::string& state_name) void StateContext::nextState(const std::string& transition_key) { + const std::string dot_output_name = "/tmp/a.dot"; std::shared_ptr state = root_state_; std::string _target_state_name; - std::vector key_list; + std::vector key_list_; while (state) { if (state->getTransitionMap().count(transition_key) != 0) { const uint64_t transition_state_id = state->getTransitionMap().at(transition_key); - _target_state_name = state_map_.at(transition_state_id)->getStateName(); + _target_state_name = state_map_[transition_state_id]->getStateName(); if (isCurrentState(_target_state_name)) { return; } - if (state_map_.at(transition_state_id)->getParent()) + if (state_map_[transition_state_id]->getParent()) { DEBUG_PRINT("[Child]:TransitionState: %d -> %d\n", state->getStateID(), transition_state_id); @@ -101,37 +101,33 @@ void StateContext::nextState(const std::string& transition_key) do { - if (in_state == state_map_.at(transition_state_id)->getParent()) + if (in_state == state_map_[transition_state_id]->getParent()) { if (in_state->getChild()) { - key_list.push_back(in_state->getChild()->getEnteredKey()); + key_list_.push_back(in_state->getChild()->getEnteredKey()); in_state->getChild()->onExit(); } - in_state->setChild(state_map_.at(transition_state_id)); + in_state->setChild(state_map_[transition_state_id]); break; } in_state = in_state->getChild(); } while (in_state); -#ifdef DEBUG createDOTGraph(dot_output_name); -#endif - state_map_.at(transition_state_id)->setEnteredKey(transition_key); - state_map_.at(transition_state_id)->onEntry(); + state_map_[transition_state_id]->setEnteredKey(transition_key); + state_map_[transition_state_id]->onEntry(); } else { DEBUG_PRINT("[Root]:TransitionState: %d -> %d\n", state->getStateID(), transition_state_id); state->onExit(); - root_state_ = state_map_.at(transition_state_id); + root_state_ = state_map_[transition_state_id]; root_state_->setChild(nullptr); root_state_->setParent(nullptr); root_state_->setEnteredKey(transition_key); -#ifdef DEBUG createDOTGraph(dot_output_name); -#endif root_state_->onEntry(); } @@ -153,11 +149,14 @@ void StateContext::nextState(const std::string& transition_key) void StateContext::createGraphTransitionList(std::ofstream& outputfile, int idx, std::map>& sublist) { - if (!sublist[idx].empty() || state_map_.at(idx)->getParent() == NULL) + /* FIX THIS + * Not support single state, which state is integrated before state circle.....;( + * */ + if (!sublist[idx].empty() || state_map_[idx]->getParent() == NULL) { outputfile << "subgraph cluster_" << idx << "{\n" - << "label = \"" << state_map_.at(idx)->getStateName() << "\";\n"; - if (!state_map_.at(idx)->getParent()) + << "label = \"" << state_map_[idx]->getStateName() << "\";\n"; + if (!state_map_[idx]->getParent()) { outputfile << "group = 1;\n"; } @@ -168,24 +167,24 @@ void StateContext::createGraphTransitionList(std::ofstream& outputfile, int idx, } } - for (auto& map : state_map_.at(idx)->getTransitionMap()) + for (auto& map : state_map_[idx]->getTransitionMap()) { - if ((state_map_.at(map.second)->getParent() == state_map_.at(idx)->getParent() || - state_map_.at(map.second)->getParent() == state_map_.at(idx)) && - state_map_.at(map.second)->getParent() != NULL) + if ((state_map_[map.second]->getParent() == state_map_[idx]->getParent() || + state_map_[map.second]->getParent() == state_map_[idx]) && + state_map_[map.second]->getParent() != NULL) { outputfile << idx << "->" << map.second << " [label=\"" << map.first << "\"];\n"; } } - if (!sublist[idx].empty() || state_map_.at(idx)->getParent() == NULL) + if (!sublist[idx].empty() || state_map_[idx]->getParent() == NULL) { outputfile << "}\n"; } - for (auto& map : state_map_.at(idx)->getTransitionMap()) + for (auto& map : state_map_[idx]->getTransitionMap()) { - if ((state_map_.at(map.second)->getParent() != state_map_.at(idx)->getParent() && - state_map_.at(map.second)->getParent() != state_map_.at(idx)) || - state_map_.at(map.second)->getParent() == NULL) + if ((state_map_[map.second]->getParent() != state_map_[idx]->getParent() && + state_map_[map.second]->getParent() != state_map_[idx]) || + state_map_[map.second]->getParent() == NULL) { outputfile << idx << "->" << map.second << " [label=\"" << map.first << "\"];\n"; } @@ -250,16 +249,16 @@ std::shared_ptr StateContext::getStartState() return nullptr; } -int32_t StateContext::getStateIDbyName(std::string _name) +uint64_t StateContext::getStateIDbyName(std::string _name) { for (const auto& i : state_map_) { if (i.second->getStateName() == _name) { - return static_cast(i.second->getStateID()); + return i.second->getStateID(); } } - return -1; + return 0; } std::string StateContext::getAvailableTransition(void) @@ -271,7 +270,7 @@ std::string StateContext::getAvailableTransition(void) { for (const auto& keyval : state->getTransitionMap()) { - text += keyval.first + ":" + state_map_.at(keyval.second)->getStateName() + ","; + text += keyval.first + ":" + state_map_[keyval.second]->getStateName() + ","; } state = state->getChild(); } while (state != nullptr); @@ -297,11 +296,7 @@ void StateContext::setTransitionMap(const YAML::Node& node, const std::shared_pt { for (unsigned int j = 0; j < node.size(); j++) { - int32_t state_id = getStateIDbyName(node[j]["Target"].as()); - if (state_id == -1) - continue; - - _state->addTransition(node[j]["Key"].as(), static_cast(state_id)); + _state->addTransition(node[j]["Key"].as(), getStateIDbyName(node[j]["Target"].as())); } } @@ -318,20 +313,26 @@ std::shared_ptr StateContext::getStatePtr(const YAML::Node& node) { return getStatePtr(node["StateName"].as()); } - std::shared_ptr StateContext::getStatePtr(const std::string& _state_name) { - int32_t state_id = getStateIDbyName(_state_name); - - if (_state_name == "~" || state_id == -1) + if (_state_name == "~") return nullptr; else - return getStatePtr(static_cast(state_id)); + return getStatePtr(getStateIDbyName(_state_name)); } std::shared_ptr StateContext::getStatePtr(const uint64_t& _state_id) { - return state_map_.at(_state_id); + return state_map_[_state_id]; +} + +void StateContext::parseChildTransitionMap(const YAML::Node& node) +{ + for (unsigned int j = 0; j < node.size(); j++) + { + setTransitionMap(node[j]["Transition"], getStatePtr(node[j])); + parseChildTransitionMap(node[j]["Child"]); + } } void StateContext::createStateMap(std::string _state_file_name, std::string _msg_name) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt index f30761c526a..6c56aa80be3 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt +++ b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt @@ -67,11 +67,8 @@ add_executable(decision_maker_node nodes/decision_maker/decision_maker_node_publish.cpp nodes/decision_maker/cross_road_area.cpp ) -target_link_libraries(decision_maker_node - ${catkin_LIBRARIES} - ${vector_map_LIBRARIES} - ) -add_dependencies(decision_maker_node autoware_msgs_generate_msgs_cpp ${catkin_EXPORTED_TARGETS}) +target_link_libraries(decision_maker_node ${catkin_LIBRARIES}) +add_dependencies(decision_maker_node ${catkin_EXPORTED_TARGETS}) install(TARGETS decision_maker_node ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} @@ -85,33 +82,8 @@ install(DIRECTORY include/${PROJECT_NAME}/ PATTERN ".svn" EXCLUDE ) -install(DIRECTORY launch/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch - PATTERN ".svn" EXCLUDE - ) - -install(FILES - autoware_state_drive.yaml - autoware_state_mission.yaml - autoware_state_vehicle.yaml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - -if(CATKIN_ENABLE_TESTING) - find_package(rostest REQUIRED) - add_rostest_gtest(test-decision_maker - test/test_decision_maker.test - test/src/test_main.cpp - test/src/test_node_decision.cpp - test/src/test_node_state_drive.cpp - nodes/decision_maker/decision_maker_node_core.cpp - nodes/decision_maker/decision_maker_node_decision.cpp - nodes/decision_maker/decision_maker_node_init.cpp - nodes/decision_maker/decision_maker_node_callback.cpp - nodes/decision_maker/decision_maker_node_state_vehicle.cpp - nodes/decision_maker/decision_maker_node_state_drive.cpp - nodes/decision_maker/decision_maker_node_state_mission.cpp - nodes/decision_maker/decision_maker_node_publish.cpp - nodes/decision_maker/cross_road_area.cpp) - add_dependencies(test-decision_maker ${catkin_EXPORTED_TARGETS}) - target_link_libraries(test-decision_maker ${catkin_LIBRARIES} ${vector_map_LIBRARIES}) -endif() +# Install config files +foreach(dir config) + install(DIRECTORY ${dir}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach(dir) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml index 472efcbceaf..eb06c6fe6db 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml +++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml @@ -1,17 +1,10 @@ --- -autoware_states_drive: +autoware_states: - StateName: Start Transition: - Key: started - Target: WaitReady - Parent: ~ - - - StateName: WaitReady - Transition: - - - Key: vehicle_is_ready Target: WaitEngage Parent: ~ - @@ -20,19 +13,6 @@ autoware_states_drive: - Key: operation_start Target: Drive - - - Key: emergency - Target: DriveEmergency - Parent: ~ - - - StateName: DriveEmergency - Transition: - - - Key: return_from_emergency - Target: WaitEngage - - - Key: return_to_ready - Target: WaitEngage Parent: ~ - StateName: Drive @@ -46,9 +26,6 @@ autoware_states_drive: - Key: operation_end Target: WaitEngage - - - Key: emergency - Target: DriveEmergency Parent: ~ - StateName: LaneArea @@ -59,19 +36,22 @@ autoware_states_drive: - Key: on_bus_stop Target: BusStop + - + Key: emergency + Target: LaneAreaEmergency Parent: Drive - StateName: BusStop Transition: - - Key: on_pull_in - Target: PullIn + Key: on_pull_over + Target: PullOver - Key: on_pull_out Target: PullOut Parent: LaneArea - - StateName: PullIn + StateName: PullOver Transition: [] Parent: BusStop - @@ -112,9 +92,6 @@ autoware_states_drive: - Key: wait Target: L_Wait - - - Key: found_obstacle_in_stopped_area - Target: L_Stop Parent: Cruise - StateName: L_Stop @@ -165,9 +142,6 @@ autoware_states_drive: - Key: wait Target: R_Wait - - - Key: found_obstacle_in_stopped_area - Target: R_Stop Parent: Cruise - StateName: R_Stop @@ -218,9 +192,6 @@ autoware_states_drive: - Key: wait Target: Wait - - - Key: found_obstacle_in_stopped_area - Target: Stop Parent: Cruise - StateName: Stop @@ -254,6 +225,49 @@ autoware_states_drive: - Key: found_stopline Target: StopLine + - + Key: completely_stopped + Target: TryAvoidance + Parent: Straight + - + StateName: TryAvoidance + Transition: + - + Key: found_path + Target: CheckAvoidance + - + Key: cannot_found_path + Target: Go + Parent: Straight + - + StateName: CheckAvoidance + Transition: + - + Key: execute_avoidance + Target: Avoidance + - + Key: avoidance_aborted + Target: Go + Parent: Straight + - + StateName: Avoidance + Transition: + - + Key: completed_avoidance + Target: ReturnToLane + - + Key: avoidance_aborted + Target: Go + Parent: Straight + - + StateName: ReturnToLane + Transition: + - + Key: completed_return + Target: Go + - + Key: avoidance_aborted + Target: Go Parent: Straight - StateName: Back @@ -264,9 +278,6 @@ autoware_states_drive: - Key: wait Target: B_Wait - - - Key: found_obstacle_in_stopped_area - Target: B_Stop Parent: Cruise - StateName: B_Stop @@ -343,8 +354,19 @@ autoware_states_drive: - Key: on_parking Target: Parking + - + Key: emergency + Target: FreeAreaEmergency Parent: Drive - StateName: Parking Transition: [] Parent: FreeArea + - + StateName: LaneAreaEmergency + Transition: [] + Parent: LaneArea + - + StateName: FreeAreaEmergency + Transition: [] + Parent: FreeArea diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml index e73ff04f714..6ab51320820 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml +++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml @@ -1,5 +1,5 @@ --- -autoware_states_mission: +autoware_states: - StateName: Start Transition: @@ -40,9 +40,6 @@ autoware_states_mission: - Key: mission_canceled Target: MissionAborted - - - Key: emergency - Target: MissionAborted Parent: ~ - StateName: Driving @@ -53,9 +50,6 @@ autoware_states_mission: - Key: mission_aborted Target: MissionAborted - - - Key: emergency - Target: MissionAborted - Key: request_mission_change Target: DrivingMissionChange @@ -100,10 +94,4 @@ autoware_states_mission: - Key: goto_wait_order Target: WaitOrder - - - Key: return_from_emergency - Target: WaitVehicleReady - - - Key: return_to_ready - Target: DriveReady Parent: ~ diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml index 06c26c609c3..8faef7fc4d8 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml +++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml @@ -1,5 +1,5 @@ --- -autoware_states_vehicle: +autoware_states: - StateName: Start Transition: @@ -54,15 +54,12 @@ autoware_states_vehicle: Transition: - Key: emergency - Target: VehicleEmergency + Target: Emergency Parent: ~ - - StateName: VehicleEmergency + StateName: Emergency Transition: - - Key: return_from_emergency + Key: restart Target: Init - - - Key: return_to_ready - Target: VehicleReady Parent: ~ diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp new file mode 100644 index 00000000000..137b765a278 --- /dev/null +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp @@ -0,0 +1,430 @@ +#ifndef __DECISION_MAKER_NODE__ +#define __DECISION_MAKER_NODE__ + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace decision_maker +{ +using namespace vector_map; +using cstring_t = const std::string; + +enum class E_Lamp : int32_t +{ + LAMP_EMPTY = -1, + LAMP_CLEAR = 0, + LAMP_RIGHT = 1, + LAMP_LEFT = 2, + LAMP_HAZARD = 3 +}; +enum class E_Control : int32_t +{ + KEEP = -1, + STOP = 1, + DECELERATE = 2, + ACCELERATE = 3, + OTHERS = 4, +}; + +enum class E_ChangeFlags : int32_t +{ + STRAIGHT, + RIGHT, + LEFT, + + UNKNOWN = -1, +}; + +inline bool hasvMap(void) +{ + return true; +} + +template +typename std::underlying_type::type enumToInteger(T t) +{ + return static_cast::type>(t); +} + +struct AutowareStatus +{ + std::map EventFlags; + + // planning status + autoware_msgs::LaneArray using_lane_array; // with wpstate + autoware_msgs::LaneArray based_lane_array; + autoware_msgs::Lane finalwaypoints; + int closest_waypoint; + int obstacle_waypoint; + int change_flag; + + // vehicle status + geometry_msgs::Pose pose; + double velocity; // kmph + + int found_stopsign_idx; + int prev_stopped_wpidx; + + AutowareStatus(void) : closest_waypoint(-1), velocity(0), found_stopsign_idx(-1), obstacle_waypoint(-1) + { + } + + // control status +}; + +class DecisionMakerNode +{ +private: + ros::NodeHandle nh_; + ros::NodeHandle private_nh_; + + // Publishers + std::unordered_map Pubs; + // Subscribers + std::unordered_map Subs; + + std::shared_ptr spinners; + + AutowareStatus current_status_; + + // ROS Messages + std_msgs::String state_string_msg; + geometry_msgs::PoseStamped current_pose_; + + jsk_rviz_plugins::OverlayText state_text_msg; + + // ROS Messages(Autoware) + autoware_msgs::Lane current_finalwaypoints_; + vector_map_msgs::AreaArray vMap_Areas; + vector_map_msgs::PointArray vMap_Points; + vector_map_msgs::LineArray vMap_Lines; + vector_map_msgs::CrossRoadArray vMap_CrossRoads; + + std::vector inside_points_; + + tf::TransformListener tflistener_baselink; + + int closest_stop_waypoint_; + int closest_stopline_waypoint_; + int goal_waypoint_; + autoware_msgs::Waypoint CurrentStoplineTarget_; + + double average_velocity_; + int closest_waypoint_; + CrossRoadArea* ClosestArea_; + std::string CurrentStateName; + std::string TextOffset; + std::vector intersects; + double displacement_from_path_; + + bool foundOtherVehicleForIntersectionStop_; // In fact this should be defined as state. + class DetectionArea + { + public: + double x1, x2; + double y1, y2; + + DetectionArea() + { + } + }; + DetectionArea detectionArea_; + + bool isManualLight; + + // Param + bool enableDisplayMarker; + bool auto_mission_reload_; + bool use_management_system_; + bool disuse_vector_map_; + uint32_t param_num_of_steer_behind_; + double change_threshold_dist_; + double change_threshold_angle_; + double time_to_avoidance_; + double goal_threshold_dist_; + double goal_threshold_vel_; + + // for vectormap server + // ros::ServiceClient cross_road_cli; + // vector_map_server::GetCrossRoad cross_road_srv; + + // initialization flags for initialized by callback + std::mutex vMap_mutex; + bool created_shift_lane_flag_; + + // initialization method + void initROS(); + void initVectorMap(void); + void initStateMsgs(void); + bool initVectorMapClient(void); + + void createSubscriber(void); + void createPublisher(void); + + // looping method + void update(void); + void update_msgs(void); + void update_pubsub(void); + + void publishToVelocityArray(); + int createCrossRoadAreaMarker(visualization_msgs::Marker& crossroad_marker, double scale); + + /* for planning according to state*/ + void publishStoppedLaneArray(void); + void publishControlledLaneArray(void); + void updateLaneWaypointsArray(void); + void changeVelocityBasedLane(void); + void changeVelocityLane(int dir); + void createShiftLane(void); + void changeShiftLane(void); + void removeShiftLane(void); + void setAllStoplineStop(void); + + void publishOperatorHelpMessage(cstring_t& message); + void publishLampCmd(const E_Lamp& status); + void publishStoplineWaypointIdx(int wp_idx); + void publishLightColor(int status); + + /* decision */ + void tryNextState(cstring_t& key); + bool isArrivedGoal(void); + bool isCrossRoadByVectorMapServer(const autoware_msgs::Lane& lane_msg, const geometry_msgs::PoseStamped& pose_msg); + bool isLocalizationConvergence(const geometry_msgs::Point& _current_point); + bool handleStateCmd(const uint64_t _state_num); + void insertPointWithinCrossRoad(const std::vector& _intersects, autoware_msgs::LaneArray& lane_array); + void setWaypointState(autoware_msgs::LaneArray& lane_array); + bool waitForEvent(cstring_t& key, const bool& flag); + bool waitForEvent(cstring_t& key, const bool& flag, const double& timeout); + bool drivingMissionCheck(void); + + double calcIntersectWayAngle(const autoware_msgs::Lane& laneinArea); + double calcPosesAngleDiff(const geometry_msgs::Pose& p_from, const geometry_msgs::Pose& p_to); + double calcPosesAngleDiffN(const geometry_msgs::Pose& p_from, const geometry_msgs::Pose& p_to); + double getPoseAngle(const geometry_msgs::Pose& p); + + uint8_t getSteeringStateFromWaypoint(void); + uint8_t getEventStateFromWaypoint(void); + std::pair getStopSignStateFromWaypoint(void); + + // current decision maker is support only lane area + bool isVehicleOnLaneArea(void) + { + return true; + } + bool isVehicleOnFreeArea(void) + { + return false; + } + + void setupStateCallback(void); + + /* + * state callback + **/ + + /*** state vehicle ***/ + // entry callback + void entryInitState(cstring_t& state_name, int status); + void entrySensorInitState(cstring_t& state_name, int status); + void entryMapInitState(cstring_t& state_name, int status); + void entryLocalizationInitState(cstring_t& state_name, int status); + void entryPlanningInitState(cstring_t& state_name, int status); + void entryVehicleInitState(cstring_t& state_name, int status); + void entryVehicleReadyState(cstring_t& state_name, int status); + void entryVehicleEmergencyState(cstring_t& state_name, int status); + // update callback + void updateInitState(cstring_t& state_name, int status); + void updateSensorInitState(cstring_t& state_name, int status); + void updateMapInitState(cstring_t& state_name, int status); + void updateLocalizationInitState(cstring_t& state_name, int status); + void updatePlanningInitState(cstring_t& state_name, int status); + void updateVehicleInitState(cstring_t& state_name, int status); + void updateVehicleReadyState(cstring_t& state_name, int status); + void updateVehicleEmergencyState(cstring_t& state_name, int status); + // exit callback + + /*** state mission ***/ + // entry callback + void entryWaitVehicleReadyState(cstring_t& state_name, int status); + void entryWaitOrderState(cstring_t& state_name, int status); + void entryMissionCheckState(cstring_t& state_name, int status); + void entryDriveReadyState(cstring_t& state_name, int status); + void entryDrivingState(cstring_t& state_name, int status); + void entryDrivingMissionChangeState(cstring_t& state_name, int status); + void entryMissionAbortedState(cstring_t& state_name, int status); + void entryMissionCompleteState(cstring_t& state_name, int status); + // update callback + void updateWaitVehicleReadyState(cstring_t& state_name, int status); + void updateWaitOrderState(cstring_t& state_name, int status); + void updateMissionCheckState(cstring_t& state_name, int status); + void updateDriveReadyState(cstring_t& state_name, int status); + void updateDrivingState(cstring_t& state_name, int status); + void updateDrivingMissionChangeState(cstring_t& state_name, int status); + void updateMissionChangeSucceededState(cstring_t& state_name, int status); + void updateMissionChangeFailedState(cstring_t& state_name, int status); + void updateMissionCompleteState(cstring_t& state_name, int status); + void updateMissionAbortedState(cstring_t& state_name, int status); + // exit callback + void exitWaitOrderState(cstring_t& state_name, int status); + void exitDrivingState(cstring_t& state_name, int status); + // void exitWaitMissionOrderState(cstring_t& state_name, int status); + + /*** state drive ***/ + // entry callback + void entryDriveState(cstring_t& state_name, int status); + void entryTurnState(cstring_t& state_name, int status); + void entryTryAvoidanceState(cstring_t& state_name, int status); + void entryCheckAvoidanceState(cstring_t& state_name, int status); + void entryAvoidanceState(cstring_t& state_name, int status); + void entryReturnToLaneState(cstring_t& state_name, int status); + void entryLaneChangeState(cstring_t& state_name, int status); + // update callback + void updateWaitEngageState(cstring_t& state_name, int status); + void updateDriveState(cstring_t& state_name, int status); + void updateLaneAreaState(cstring_t& state_name, int status); + void updateFreeAreaState(cstring_t& state_name, int status); + void updateCruiseState(cstring_t& state_name, int status); + void updateBusStopState(cstring_t& state_name, int status); + void updateParkingState(cstring_t& state_name, int status); + void updateDriveEmergencyState(cstring_t& state_name, int status); + void updateLeftTurnState(cstring_t& state_name, int status); + void updateRightTurnState(cstring_t& state_name, int status); + void updateStraightState(cstring_t& state_name, int status); + void updateBackState(cstring_t& state_name, int status); + void updateLeftLaneChangeState(cstring_t& state_name, int status); + void updateRightLaneChangeState(cstring_t& state_name, int status); + void updatePullOverState(cstring_t& state_name, int status); + void updatePullOutState(cstring_t& state_name, int status); + void updateStoplineState(cstring_t& state_name, int status); + void updateGoState(cstring_t& state_name, int status); + void updateWaitState(cstring_t& state_name, int status); + void updateStopState(cstring_t& state_name, int status); + void updateCheckLeftLaneState(cstring_t& state_name, int status); + void updateCheckRightLaneState(cstring_t& state_name, int status); + void updateChangeToLeftState(cstring_t& state_name, int status); + void updateChangeToRightState(cstring_t& state_name, int status); + void updateTryAvoidanceState(cstring_t& state_name, int status); + void updateCheckAvoidanceState(cstring_t& state_name, int status); + void updateAvoidanceState(cstring_t& state_name, int status); + void updateReturnToLaneState(cstring_t& state_name, int status); + // exit callback + void exitStopState(cstring_t& state_name, int status); + + // callback by topic subscribing + void callbackFromFilteredPoints(const sensor_msgs::PointCloud2::ConstPtr& msg); + void callbackFromCurrentVelocity(const geometry_msgs::TwistStamped& msg); + void callbackFromCurrentPose(const geometry_msgs::PoseStamped& msg); + void callbackFromClosestWaypoint(const std_msgs::Int32& msg); + void callbackFromLightColor(const ros::MessageEvent& event); + void callbackFromLaneChangeFlag(const std_msgs::Int32& msg); + void callbackFromFinalWaypoint(const autoware_msgs::Lane& msg); + void callbackFromLaneWaypoint(const autoware_msgs::LaneArray& msg); + void callbackFromTwistCmd(const geometry_msgs::TwistStamped& msg); + void callbackFromSimPose(const geometry_msgs::PoseStamped& msg); + void callbackFromConfig(const autoware_config_msgs::ConfigDecisionMaker& msg); + void callbackFromObjectDetector(const autoware_msgs::CloudClusterArray& msg); + void callbackFromStateCmd(const std_msgs::String& msg); + void callbackFromObstacleWaypoint(const std_msgs::Int32& msg); + + void setEventFlag(cstring_t& key, const bool& value) + { + current_status_.EventFlags[key] = value; + } + + bool isEventFlagTrue(std::string key) + { + if (current_status_.EventFlags.count(key) == 0) + { + current_status_.EventFlags[key] = false; + } + return current_status_.EventFlags[key]; + } + +public: + state_machine::StateContext* ctx_vehicle; + state_machine::StateContext* ctx_mission; + state_machine::StateContext* ctx_drive; + VectorMap g_vmap; + + DecisionMakerNode(int argc, char** argv) + : private_nh_("~") + , enableDisplayMarker(false) + , auto_mission_reload_(false) + , use_management_system_(false) + , param_num_of_steer_behind_(30) + { + std::string file_name_mission; + std::string file_name_drive; + std::string file_name_vehicle; + private_nh_.getParam("state_vehicle_file_name", file_name_vehicle); + private_nh_.getParam("state_mission_file_name", file_name_mission); + private_nh_.getParam("state_drive_file_name", file_name_drive); + + ctx_vehicle = new state_machine::StateContext(file_name_vehicle); + ctx_mission = new state_machine::StateContext(file_name_mission); + ctx_drive = new state_machine::StateContext(file_name_drive); + init(); + setupStateCallback(); + + current_status_.prev_stopped_wpidx = -1; + } + + void init(void); + void run(void); + + bool isSubscriberRegistered(cstring_t& topic_name) + { + return Subs.count(topic_name) ? true : false; + } + + static geometry_msgs::Point VMPoint2GeoPoint(const vector_map_msgs::Point& vp) + { + geometry_msgs::Point gp; + gp.x = vp.ly; + gp.y = vp.bx; + gp.z = vp.h; + return gp; + } +}; + +} // namespace decision_maker + +#endif diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/planner_selector.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/planner_selector.hpp new file mode 100644 index 00000000000..86eb42af78a --- /dev/null +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/planner_selector.hpp @@ -0,0 +1,77 @@ +#ifndef __PLANNER_SELECTOR_HPP__ +#define __PLANNER_SELECTOR_HPP__ + +#include +#include +#include +#include + +#include +#include +#include + +#include + +namespace decision_maker +{ +#define DEFAULT_LATENCY_NUM 5 +#define DEFAULT_WAYPOINTS_NUM 3 +#define DEFAULT_CONVERGENCE_NUM 2.0 +class PlannerSelector +{ +private: + ros::NodeHandle nh_; + + std::unordered_map waypoints_; + std::unordered_map Pubs; + std::unordered_map Subs; + + autoware_msgs::Lane final_waypoints_dp_; + autoware_msgs::Lane final_waypoints_astar_; + + std::unordered_map closest_waypoints_; + int closest_waypoint_astar_; + int closest_waypoint_dp_; + + unsigned int way_offset; + + std::mutex _mutex; + + int enableLattice_; + bool pastWaypoint; + unsigned int config_latency_num_; + unsigned int config_waypoints_num_; + double config_convergence_num_; + double current_velocity_; + + bool existWaypoints(const int _config_waypoints_num); + +public: + PlannerSelector() + { + this->initROS(); + enableLattice_ = 0; + pastWaypoint = false; + config_latency_num_ = DEFAULT_LATENCY_NUM; + config_waypoints_num_ = DEFAULT_WAYPOINTS_NUM; + config_convergence_num_ = DEFAULT_CONVERGENCE_NUM; + } + + void initROS(); + +<<<<<<< HEAD + void callbackFromClosest(const ros::MessageEvent& event); + void callbackFromWaypoints(const ros::MessageEvent& event); + void callbackFromLattice(const std_msgs::Int32& msg); + void callbackFromConfig(const autoware_msgs::ConfigPlannerSelector& msg); + void callbackFromCurrentVelocity(const geometry_msgs::TwistStamped& msg); +======= + void callbackFromClosest(const ros::MessageEvent &event); + void callbackFromWaypoints(const ros::MessageEvent &event); + void callbackFromLattice(const std_msgs::Int32 &msg); + void callbackFromConfig(const autoware_config_msgs::ConfigPlannerSelector &msg); + void callbackFromCurrentVelocity(const geometry_msgs::TwistStamped &msg); +>>>>>>> develop +}; +} +#endif diff --git a/ros/src/computing/planning/decision/packages/decision_maker/launch/decision_maker.launch b/ros/src/computing/planning/decision/packages/decision_maker/launch/decision_maker.launch index eb6ec8d28c8..ebc8dd90877 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/launch/decision_maker.launch +++ b/ros/src/computing/planning/decision/packages/decision_maker/launch/decision_maker.launch @@ -3,33 +3,11 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp index e5857792603..a8d3f436c24 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp @@ -22,6 +22,9 @@ namespace decision_maker void DecisionMakerNode::callbackFromFilteredPoints(const sensor_msgs::PointCloud2::ConstPtr& msg) { setEventFlag("received_pointcloud_for_NDT", true); + + /* todo */ + /* create timer for flags reset */ } void DecisionMakerNode::callbackFromSimPose(const geometry_msgs::PoseStamped& msg) @@ -44,13 +47,13 @@ void DecisionMakerNode::callbackFromLaneChangeFlag(const std_msgs::Int32& msg) void DecisionMakerNode::callbackFromConfig(const autoware_config_msgs::ConfigDecisionMaker& msg) { ROS_INFO("Param setted by Runtime Manager"); + enableDisplayMarker = msg.enable_display_marker; auto_mission_reload_ = msg.auto_mission_reload; - auto_engage_ = msg.auto_engage; - auto_mission_change_ = msg.auto_mission_change; - use_fms_ = msg.use_fms; + use_management_system_ = msg.use_management_system; param_num_of_steer_behind_ = msg.num_of_steer_behind; change_threshold_dist_ = msg.change_threshold_dist; change_threshold_angle_ = msg.change_threshold_angle; + time_to_avoidance_ = msg.time_to_avoidance; goal_threshold_dist_ = msg.goal_threshold_dist; goal_threshold_vel_ = msg.goal_threshold_vel; disuse_vector_map_ = msg.disuse_vector_map; @@ -61,6 +64,53 @@ void DecisionMakerNode::callbackFromLightColor(const ros::MessageEventisCurrentState(state_machine::DRIVE_STATE)) + { + if (msg.clusters.size()) + { + // if euclidean_cluster does not use wayarea, it may always founded. + for (const auto cluster : msg.clusters) + { + geometry_msgs::PoseStamped cluster_pose; + geometry_msgs::PoseStamped baselink_pose; + cluster_pose.pose = cluster.bounding_box.pose; + cluster_pose.header = cluster.header; + + tflistener_baselink.transformPose(cluster.header.frame_id, cluster.header.stamp, cluster_pose, "base_link", + baselink_pose); + + if (detectionArea_.x1 * param_detection_area_rate_ >= baselink_pose.pose.position.x && + baselink_pose.pose.position.x >= detectionArea_.x2 * param_detection_area_rate_ && + detectionArea_.y1 * param_detection_area_rate_ >= baselink_pose.pose.position.y && + baselink_pose.pose.position.y >= detectionArea_.y2 * param_detection_area_rate_) + { + l_detection_flag = true; + setFlagTime = ros::Time::now().toSec(); + break; + } + } + } + } + /* The true state continues for more than 1 second. */ + if (l_detection_flag || (ros::Time::now().toSec() - setFlagTime) >= 1.0 /*1.0sec*/) + { + foundOtherVehicleForIntersectionStop_ = l_detection_flag; + } +#endif +} + void DecisionMakerNode::insertPointWithinCrossRoad(const std::vector& _intersects, autoware_msgs::LaneArray& lane_array) { @@ -97,6 +147,7 @@ void DecisionMakerNode::insertPointWithinCrossRoad(const std::vector change_threshold_dist_ || angle_diff_degree > change_threshold_angle_) { return false; @@ -293,6 +343,9 @@ void DecisionMakerNode::callbackFromFinalWaypoint(const autoware_msgs::Lane& msg current_status_.finalwaypoints = msg; setEventFlag("received_finalwaypoints", true); } +void DecisionMakerNode::callbackFromTwistCmd(const geometry_msgs::TwistStamped& msg) +{ +} void DecisionMakerNode::callbackFromClosestWaypoint(const std_msgs::Int32& msg) { diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp index aebef11ff05..1db4acafd83 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp @@ -79,7 +79,7 @@ bool DecisionMakerNode::isLocalizationConvergence(const geometry_msgs::Point& _c static std::vector distances; static uint32_t distances_count = 0; static geometry_msgs::Point prev_point; - static const int param_convergence_count = 10; + static const int param_convergence_count_ = 10; bool ret = false; @@ -91,11 +91,11 @@ bool DecisionMakerNode::isLocalizationConvergence(const geometry_msgs::Point& _c } distances.push_back(amathutils::find_distance(prev_point, _current_point)); - if (++distances_count > param_convergence_count) /* num of count to judge convergence*/ + if (++distances_count > param_convergence_count_) /* num of count to judge convergence*/ { distances.erase(distances.begin()); distances_count--; - double avg_distances = std::accumulate(distances.begin(), distances.end(), 0.0) / (double)distances.size(); + double avg_distances = std::accumulate(distances.begin(), distances.end(), 0) / distances.size(); if (avg_distances <= 2) /*meter*/ { ret = true; @@ -118,4 +118,12 @@ bool DecisionMakerNode::isArrivedGoal() } return false; } +bool DecisionMakerNode::handleStateCmd(const uint64_t _state_num) +{ + bool _ret = false; + + /* todo */ + /* key */ + return _ret; +} } diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp index 04816112811..d016b15f9a8 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp @@ -107,12 +107,8 @@ void DecisionMakerNode::setupStateCallback(void) std::bind(&DecisionMakerNode::updateBusStopState, this, std::placeholders::_1, 0)); ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "Parking", std::bind(&DecisionMakerNode::updateParkingState, this, std::placeholders::_1, 0)); - ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "DriveEmergency", - std::bind(&DecisionMakerNode::entryDriveEmergencyState, this, std::placeholders::_1, 0)); ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "DriveEmergency", std::bind(&DecisionMakerNode::updateDriveEmergencyState, this, std::placeholders::_1, 0)); - ctx_drive->setCallback(state_machine::CallbackType::EXIT, "DriveEmergency", - std::bind(&DecisionMakerNode::exitDriveEmergencyState, this, std::placeholders::_1, 0)); ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "LeftTurn", std::bind(&DecisionMakerNode::entryTurnState, this, std::placeholders::_1, 0)); ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "LeftTurn", @@ -137,8 +133,8 @@ void DecisionMakerNode::setupStateCallback(void) std::bind(&DecisionMakerNode::entryLaneChangeState, this, std::placeholders::_1, 0)); ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "RightLaneChange", std::bind(&DecisionMakerNode::updateRightLaneChangeState, this, std::placeholders::_1, 0)); - ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "PullIn", - std::bind(&DecisionMakerNode::updatePullInState, this, std::placeholders::_1, 0)); + ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "PullOver", + std::bind(&DecisionMakerNode::updatePullOverState, this, std::placeholders::_1, 0)); ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "PullOut", std::bind(&DecisionMakerNode::updatePullOutState, this, std::placeholders::_1, 0)); @@ -151,15 +147,6 @@ void DecisionMakerNode::setupStateCallback(void) ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "ChangeToRight", std::bind(&DecisionMakerNode::updateChangeToRightState, this, std::placeholders::_1, 0)); - ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "Go", - std::bind(&DecisionMakerNode::entryGoState, this, std::placeholders::_1, 0)); - ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "L_Go", - std::bind(&DecisionMakerNode::entryGoState, this, std::placeholders::_1, 0)); - ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "R_Go", - std::bind(&DecisionMakerNode::entryGoState, this, std::placeholders::_1, 0)); - ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "B_Go", - std::bind(&DecisionMakerNode::entryGoState, this, std::placeholders::_1, 0)); - ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "Go", std::bind(&DecisionMakerNode::updateGoState, this, std::placeholders::_1, 0)); ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "L_Go", @@ -187,15 +174,6 @@ void DecisionMakerNode::setupStateCallback(void) ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "B_StopLine", std::bind(&DecisionMakerNode::updateStoplineState, this, std::placeholders::_1, 0)); - ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "Stop", - std::bind(&DecisionMakerNode::entryStopState, this, std::placeholders::_1, 1)); - ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "L_Stop", - std::bind(&DecisionMakerNode::entryStopState, this, std::placeholders::_1, 1)); - ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "R_Stop", - std::bind(&DecisionMakerNode::entryStopState, this, std::placeholders::_1, 1)); - ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "B_Stop", - std::bind(&DecisionMakerNode::entryStopState, this, std::placeholders::_1, 1)); - ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "Stop", std::bind(&DecisionMakerNode::updateStopState, this, std::placeholders::_1, 1)); ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "L_Stop", @@ -230,6 +208,23 @@ void DecisionMakerNode::setupStateCallback(void) ctx_drive->setCallback(state_machine::CallbackType::EXIT, "B_Stop", std::bind(&DecisionMakerNode::exitStopState, this, std::placeholders::_1, 1)); + ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "TryAvoidance", + std::bind(&DecisionMakerNode::entryTryAvoidanceState, this, std::placeholders::_1, 0)); + ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "TryAvoidance", + std::bind(&DecisionMakerNode::updateTryAvoidanceState, this, std::placeholders::_1, 0)); + ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "CheckAvoidance", + std::bind(&DecisionMakerNode::entryCheckAvoidanceState, this, std::placeholders::_1, 0)); + ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "CheckAvoidance", + std::bind(&DecisionMakerNode::updateCheckAvoidanceState, this, std::placeholders::_1, 0)); + ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "Avoidance", + std::bind(&DecisionMakerNode::entryAvoidanceState, this, std::placeholders::_1, 0)); + ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "Avoidance", + std::bind(&DecisionMakerNode::updateAvoidanceState, this, std::placeholders::_1, 0)); + ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "ReturnToLane", + std::bind(&DecisionMakerNode::entryReturnToLaneState, this, std::placeholders::_1, 0)); + ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "ReturnToLane", + std::bind(&DecisionMakerNode::updateReturnToLaneState, this, std::placeholders::_1, 0)); + ctx_vehicle->nextState("started"); ctx_mission->nextState("started"); ctx_drive->nextState("started"); @@ -261,13 +256,18 @@ void DecisionMakerNode::createPublisher(void) Pubs["lamp_cmd"] = nh_.advertise("/lamp_cmd", 1); // for visualize status + Pubs["crossroad_marker"] = nh_.advertise("/state/cross_road_marker", 1); + Pubs["stopline_target"] = nh_.advertise("/state/stopline_target", 1); + + Pubs["crossroad_inside_marker"] = private_nh_.advertise("/state/cross_inside_marker", 1); + Pubs["crossroad_bbox"] = private_nh_.advertise("/state/crossroad_bbox", 10); + Pubs["state"] = private_nh_.advertise("state", 1, true); - Pubs["state_msg"] = private_nh_.advertise("state_msg", 1, true); - Pubs["state_overlay"] = private_nh_.advertise("state_overlay", 1); + Pubs["state_overlay"] = private_nh_.advertise("/state/overlay_text", 1); Pubs["available_transition"] = private_nh_.advertise("available_transition", 1, true); // for debug - Pubs["target_velocity_array"] = nh_.advertise("target_velocity_array", 1); + Pubs["target_velocity_array"] = nh_.advertise("/target_velocity_array", 1); Pubs["operator_help_text"] = private_nh_.advertise("operator_help_text", 1, true); } @@ -281,7 +281,90 @@ void DecisionMakerNode::initROS() spinners = std::shared_ptr(new ros::AsyncSpinner(3)); spinners->start(); +#if 0 + // message setup + state_text_msg.width = 400; + state_text_msg.height = 500; + state_text_msg.top = 10; + state_text_msg.left = 10; + state_text_msg.bg_color.r = 0; + state_text_msg.bg_color.g = 0; + state_text_msg.bg_color.b = 0; + state_text_msg.bg_color.a = 0.8; + + state_text_msg.line_width = 2; + state_text_msg.text_size = 18; + state_text_msg.font = "DejaVu Sans Mono"; + state_text_msg.fg_color.r = 0.1; + state_text_msg.fg_color.g = 1.0; + state_text_msg.fg_color.b = 0.94; + state_text_msg.fg_color.a = 0.8; + state_text_msg.text = "UNDEFINED"; +#endif update_msgs(); + +#if 0 + // status subscriber + Subs["sim_pose"] = nh_.subscribe("sim_pose", 20, &DecisionMakerNode::callbackFromSimPose, this); + Subs["current_pose"] = nh_.subscribe("current_pose", 20, &DecisionMakerNode::callbackFromCurrentPose, this); + Subs["current_velocity"] = + nh_.subscribe("current_velocity", 20, &DecisionMakerNode::callbackFromCurrentVelocity, this); + Subs["light_color"] = nh_.subscribe("light_color", 10, &DecisionMakerNode::callbackFromLightColor, this); + Subs["final_waypoints"] = nh_.subscribe("final_waypoints", 100, &DecisionMakerNode::callbackFromFinalWaypoint, this); + Subs["twist_cmd"] = nh_.subscribe("twist_cmd", 10, &DecisionMakerNode::callbackFromTwistCmd, this); + Subs["change_flag"] = nh_.subscribe("change_flag", 1, &DecisionMakerNode::callbackFromLaneChangeFlag, this); + Subs["state_cmd"] = nh_.subscribe("state_cmd", 1, &DecisionMakerNode::callbackFromStateCmd, this); + Subs["closest_waypoint"] = + nh_.subscribe("closest_waypoint", 1, &DecisionMakerNode::callbackFromClosestWaypoint, this); + Subs["cloud_clusters"] = nh_.subscribe("cloud_clusters", 1, &DecisionMakerNode::callbackFromObjectDetector, this); + + Subs["state_cmd"] = nh_.subscribe("/state_cmd", 1, &DecisionMakerNode::callbackFromStateCmd, this); + Subs["current_velocity"] = + nh_.subscribe("/current_velocity", 1, &DecisionMakerNode::callbackFromCurrentVelocity, this); + Subs["obstacle_waypoint"] = + nh_.subscribe("/obstacle_waypoint", 1, &DecisionMakerNode::callbackFromObstacleWaypoint, this); + Subs["change_flag"] = nh_.subscribe("/change_flag", 1, &DecisionMakerNode::callbackFromLaneChangeFlag, this); +} +void DecisionMakerNode::createPublisher(void) +{ + // pub + Pubs["state/stopline_wpidx"] = nh_.advertise("/state/stopline_wpidx", 1, false); + + // for controlling other planner + Pubs["lane_waypoints_array"] = nh_.advertise(TPNAME_CONTROL_LANE_WAYPOINTS_ARRAY, 10, true); + Pubs["light_color"] = nh_.advertise("/light_color_managed", 1); + + // for controlling vehicle + Pubs["lamp_cmd"] = nh_.advertise("/lamp_cmd", 1); + + // for visualize status + Pubs["state_overlay"] = nh_.advertise("/state/overlay_text", 1); + Pubs["crossroad_marker"] = nh_.advertise("/state/cross_road_marker", 1); + Pubs["crossroad_inside_marker"] = nh_.advertise("/state/cross_inside_marker", 1); + Pubs["crossroad_bbox"] = nh_.advertise("/state/crossroad_bbox", 10); + Pubs["detection_area"] = nh_.advertise("/state/detection_area", 1); + Pubs["stopline_target"] = nh_.advertise("/state/stopline_target", 1); + + // for debug + Pubs["target_velocity_array"] = nh_.advertise("target_velocity_array", 1); + Pubs["operator_help_text"] = private_nh_.advertise("operator_help_text", 1, true); +} + +void DecisionMakerNode::initROS() +{ + // for subscribe callback function + + ctx->nextState("started"); + + spinners = std::shared_ptr(new ros::AsyncSpinner(3)); + spinners->start(); + + ROS_INFO("Initialized OUT\n"); + // ctx->setCurrentState(state_machine::LOCATEVEHICLE_STATE); + + Subs["lane_waypoints_array"] = + nh_.subscribe(TPNAME_BASED_LANE_WAYPOINTS_ARRAY, 100, &DecisionMakerNode::callbackFromLaneWaypoint, this); +#endif } void DecisionMakerNode::initVectorMap(void) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp index f0d240f63b4..c240c766270 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp @@ -5,7 +5,6 @@ namespace decision_maker void DecisionMakerNode::publishLampCmd(const E_Lamp& status) { autoware_msgs::LampCmd lamp_msg; - lamp_msg.header.stamp = ros::Time::now(); switch (status) { @@ -77,28 +76,47 @@ void DecisionMakerNode::publishOperatorHelpMessage(cstring_t& message) Pubs["operator_help_text"].publish(createOverlayText(joined_msg, 0)); } +void DecisionMakerNode::update_pubsub(void) +{ +} + +int DecisionMakerNode::createCrossRoadAreaMarker(visualization_msgs::Marker& crossroad_marker, double scale) +{ + jsk_rviz_plugins::OverlayText ret; + + // message setup + ret.width = 500; + ret.height = 500; + ret.top = 10 + (column * 500); + ret.left = 10; + ret.bg_color.r = 0; + ret.bg_color.g = 0; + ret.bg_color.b = 0; + ret.bg_color.a = 0.8; + + ret.line_width = 2; + ret.text_size = 9; + ret.font = "DejaVu Sans Mono"; + ret.fg_color.r = 1.0; + ret.fg_color.g = 1.0; + ret.fg_color.b = 0.5; + ret.fg_color.a = 0.9; + + ret.text = data; + + return ret; +} + void DecisionMakerNode::update_msgs(void) { #if 1 if (ctx_vehicle && ctx_mission && ctx_drive) { - static std::string text_vehicle_state, text_mission_state, text_drive_state; - text_vehicle_state = ctx_vehicle->getStateText(); - text_mission_state = ctx_mission->getStateText(); - text_drive_state = ctx_drive->getStateText(); - static std_msgs::String state_msg; - state_msg.data = text_vehicle_state + text_mission_state + text_drive_state; + state_msg.data = ctx_vehicle->getStateText() + ctx_mission->getStateText() + ctx_drive->getStateText(); Pubs["state"].publish(state_msg); Pubs["state_overlay"].publish(createOverlayText(state_msg.data, 1)); - static autoware_msgs::State state_array_msg; - state_array_msg.header.stamp = ros::Time::now(); - state_array_msg.vehicle_state = text_vehicle_state; - state_array_msg.mission_state = text_mission_state; - state_array_msg.drive_state = text_drive_state; - Pubs["state_msg"].publish(state_array_msg); - static std_msgs::String transition_msg; transition_msg.data = ctx_vehicle->getAvailableTransition() + ctx_mission->getAvailableTransition() + ctx_drive->getAvailableTransition(); diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp index 0bd4668547d..997ffee5f8a 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp @@ -2,10 +2,6 @@ namespace decision_maker { -void DecisionMakerNode::updateWaitReadyState(cstring_t& state_name, int status) -{ -} - void DecisionMakerNode::updateWaitEngageState(cstring_t& state_name, int status) { } @@ -87,7 +83,7 @@ uint8_t DecisionMakerNode::getEventStateFromWaypoint(void) state = current_status_.finalwaypoints.waypoints.at(idx).wpstate.event_state; - if (state && (state != autoware_msgs::WaypointState::TYPE_EVENT_NULL || distance >= distance_to_target)) + if (state && distance >= distance_to_target) { break; } @@ -102,7 +98,7 @@ std::pair DecisionMakerNode::getStopSignStateFromWaypoint(void) static const double g = 9.80665; static const double margin = 5; static const double reaction_time = 0.3 + margin; // system delay(sec) - static const size_t reset_count = stopline_reset_count_; + static const size_t reset_count = 20; // const double velocity = amathutils::kmph2mps(current_status_.velocity); const double free_running_distance = reaction_time * velocity; @@ -218,7 +214,7 @@ void DecisionMakerNode::updateBusStopState(cstring_t& state_name, int status) { } -void DecisionMakerNode::updatePullInState(cstring_t& state_name, int status) +void DecisionMakerNode::updatePullOverState(cstring_t& state_name, int status) { publishLampCmd(E_Lamp::LAMP_LEFT); } @@ -237,11 +233,6 @@ void DecisionMakerNode::entryTurnState(cstring_t& state_name, int status) tryNextState("found_stopline"); return; } - else if (isEventFlagTrue("entry_stop_state")) - { - tryNextState("found_obstacle_in_stopped_area"); - return; - } tryNextState("clear"); } @@ -275,10 +266,14 @@ void DecisionMakerNode::updateRightLaneChangeState(cstring_t& state_name, int st void DecisionMakerNode::updateCheckLeftLaneState(cstring_t& state_name, int status) { + /* need safety check function */ + // static bool is_target_lane_safe = false; } void DecisionMakerNode::updateCheckRightLaneState(cstring_t& state_name, int status) { + /* need safety check function */ + // static bool is_target_lane_safe = false; } void DecisionMakerNode::updateChangeToLeftState(cstring_t& state_name, int status) @@ -299,10 +294,6 @@ void DecisionMakerNode::updateParkingState(cstring_t& state_name, int status) publishLampCmd(E_Lamp::LAMP_HAZARD); } -void DecisionMakerNode::entryGoState(cstring_t& state_name, int status) -{ - setEventFlag("entry_stop_state", false); -} void DecisionMakerNode::updateGoState(cstring_t& state_name, int status) { std::pair get_stopsign = getStopSignStateFromWaypoint(); @@ -312,6 +303,18 @@ void DecisionMakerNode::updateGoState(cstring_t& state_name, int status) tryNextState("found_stopline"); } + static double stopped_time; + if (current_status_.velocity == 0.0 && current_status_.obstacle_waypoint != -1) + { + if (ros::Time::now().toSec() - stopped_time > time_to_avoidance_) + { + tryNextState("completely_stopped"); + } + } + else + { + stopped_time = ros::Time::now().toSec(); + } } void DecisionMakerNode::updateWaitState(cstring_t& state_name, int status) @@ -320,10 +323,6 @@ void DecisionMakerNode::updateWaitState(cstring_t& state_name, int status) publishStoplineWaypointIdx(current_status_.closest_waypoint + 1); } -void DecisionMakerNode::entryStopState(cstring_t& state_name, int status) -{ - setEventFlag("entry_stop_state", true); -} void DecisionMakerNode::updateStopState(cstring_t& state_name, int status) { publishStoplineWaypointIdx(current_status_.closest_waypoint + 1); @@ -343,7 +342,7 @@ void DecisionMakerNode::updateStoplineState(cstring_t& state_name, int status) static bool timerflag = false; static ros::Timer stopping_timer; - if (current_status_.velocity == 0.0 && !timerflag && (current_status_.obstacle_waypoint + current_status_.closest_waypoint) == current_status_.found_stopsign_idx) + if (current_status_.velocity == 0.0 && !timerflag) { stopping_timer = nh_.createTimer(ros::Duration(0.5), [&](const ros::TimerEvent&) { @@ -371,17 +370,35 @@ void DecisionMakerNode::exitStopState(cstring_t& state_name, int status) } } -void DecisionMakerNode::entryDriveEmergencyState(cstring_t& state_name, int status) +void DecisionMakerNode::entryTryAvoidanceState(cstring_t& state_name, int status) { - setEventFlag("emergency_flag", true); - tryNextState("mission_aborted"); } -void DecisionMakerNode::updateDriveEmergencyState(cstring_t& state_name, int status) +void DecisionMakerNode::updateTryAvoidanceState(cstring_t& state_name, int status) +{ +} + +void DecisionMakerNode::entryCheckAvoidanceState(cstring_t& state_name, int status) +{ +} +void DecisionMakerNode::updateCheckAvoidanceState(cstring_t& state_name, int status) +{ +} + +void DecisionMakerNode::entryAvoidanceState(cstring_t& state_name, int status) { } -void DecisionMakerNode::exitDriveEmergencyState(cstring_t& state_name, int status) +void DecisionMakerNode::updateAvoidanceState(cstring_t& state_name, int status) { - setEventFlag("emergency_flag", false); } +void DecisionMakerNode::entryReturnToLaneState(cstring_t& state_name, int status) +{ +} +void DecisionMakerNode::updateReturnToLaneState(cstring_t& state_name, int status) +{ +} + +void DecisionMakerNode::updateDriveEmergencyState(cstring_t& state_name, int status) +{ +} } diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp index d9fcec2a348..290f820c5a4 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp @@ -16,7 +16,7 @@ void DecisionMakerNode::entryWaitOrderState(cstring_t& state_name, int status) if (!isSubscriberRegistered("lane_waypoints_array")) { Subs["lane_waypoints_array"] = - nh_.subscribe(TPNAME_BASED_LANE_WAYPOINTS_ARRAY, 1, &DecisionMakerNode::callbackFromLaneWaypoint, this); + nh_.subscribe(TPNAME_BASED_LANE_WAYPOINTS_ARRAY, 100, &DecisionMakerNode::callbackFromLaneWaypoint, this); } } @@ -34,9 +34,6 @@ void DecisionMakerNode::exitWaitOrderState(cstring_t& state_name, int status) void DecisionMakerNode::entryMissionCheckState(cstring_t& state_name, int status) { - intersects.clear(); - initVectorMap(); - publishOperatorHelpMessage("Received mission, checking now..."); setEventFlag("received_back_state_waypoint", false); @@ -82,24 +79,14 @@ void DecisionMakerNode::entryMissionCheckState(cstring_t& state_name, int status if (!isSubscriberRegistered("final_waypoints")) { Subs["final_waypoints"] = - nh_.subscribe("final_waypoints", 1, &DecisionMakerNode::callbackFromFinalWaypoint, this); + nh_.subscribe("final_waypoints", 100, &DecisionMakerNode::callbackFromFinalWaypoint, this); } } void DecisionMakerNode::updateMissionCheckState(cstring_t& state_name, int status) { if (isEventFlagTrue("received_finalwaypoints") && current_status_.closest_waypoint != -1) { - if (current_status_.finalwaypoints.waypoints.size() < 5) - publishOperatorHelpMessage("Finalwaypoints is too short.If you wont to Engage,\nplease publish \"mission_is_compatible\" key by \"state_cmd\" topic."); - else - tryNextState("mission_is_compatible"); - } - else - { - if (current_status_.closest_waypoint == -1) - publishOperatorHelpMessage("[ERROR]Couldn't received \"closest_waypoint\" or its value is -1."); - if (!isEventFlagTrue("received_finalwaypoints")) - publishOperatorHelpMessage("[ERROR]Couldn't received \"final_waypoints\"."); + tryNextState("mission_is_compatible"); } } @@ -109,7 +96,7 @@ void DecisionMakerNode::entryMissionAbortedState(cstring_t& state_name, int stat } void DecisionMakerNode::updateMissionAbortedState(cstring_t& state_name, int status) { - if (!use_fms_) + if (!use_management_system_) { sleep(1); tryNextState("goto_wait_order"); @@ -124,7 +111,8 @@ void DecisionMakerNode::entryDriveReadyState(cstring_t& state_name, int status) void DecisionMakerNode::updateDriveReadyState(cstring_t& state_name, int status) { - if (!use_fms_ && auto_engage_) + const bool start_flag = false; + if (start_flag /*isEventFlagTrue("")*/) { tryNextState("engage"); } @@ -132,27 +120,10 @@ void DecisionMakerNode::updateDriveReadyState(cstring_t& state_name, int status) void DecisionMakerNode::entryDrivingState(cstring_t& state_name, int status) { - setEventFlag("received_based_lane_waypoint", false); - - if (isEventFlagTrue("emergency_flag")) - { - tryNextState("mission_aborted"); - return; - } - tryNextState("operation_start"); } void DecisionMakerNode::updateDrivingState(cstring_t& state_name, int status) { - if (isEventFlagTrue("emergency_flag")) - { - tryNextState("mission_aborted"); - } - - if (!use_fms_ && auto_mission_change_ && isEventFlagTrue("received_based_lane_waypoint")) - { - tryNextState("request_mission_change"); - } } void DecisionMakerNode::exitDrivingState(cstring_t& state_name, int status) { @@ -160,8 +131,7 @@ void DecisionMakerNode::exitDrivingState(cstring_t& state_name, int status) void DecisionMakerNode::entryDrivingMissionChangeState(cstring_t& state_name, int status) { - if (!auto_mission_change_) - setEventFlag("received_based_lane_waypoint", false); + setEventFlag("received_based_lane_waypoint", false); } void DecisionMakerNode::updateDrivingMissionChangeState(cstring_t& state_name, int status) @@ -186,7 +156,7 @@ void DecisionMakerNode::updateDrivingMissionChangeState(cstring_t& state_name, i void DecisionMakerNode::updateMissionChangeSucceededState(cstring_t& state_name, int status) { - if (!use_fms_) + if (!use_management_system_) { sleep(1); tryNextState("return_to_driving"); @@ -194,7 +164,7 @@ void DecisionMakerNode::updateMissionChangeSucceededState(cstring_t& state_name, } void DecisionMakerNode::updateMissionChangeFailedState(cstring_t& state_name, int status) { - if (!use_fms_) + if (!use_management_system_) { sleep(1); tryNextState("return_to_driving"); @@ -203,13 +173,11 @@ void DecisionMakerNode::updateMissionChangeFailedState(cstring_t& state_name, in void DecisionMakerNode::entryMissionCompleteState(cstring_t& state_name, int status) { - setEventFlag("received_based_lane_waypoint", false); tryNextState("operation_end"); } void DecisionMakerNode::updateMissionCompleteState(cstring_t& state_name, int status) { - setEventFlag("received_based_lane_waypoint", false); - if (!use_fms_) + if (!use_management_system_) { if (auto_mission_reload_) { diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp index d5703fe6eb3..c2d21bc1862 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp @@ -48,7 +48,6 @@ void DecisionMakerNode::updateSensorInitState(cstring_t& state_name, int status) { ROS_INFO("DecisionMaker is in simulation mode"); tryNextState("sensor_is_ready"); - return; } else if (isEventFlagTrue("received_pointcloud_for_NDT")) { @@ -66,19 +65,18 @@ void DecisionMakerNode::updateMapInitState(cstring_t& state_name, int status) { bool vmap_loaded = false; - g_vmap.subscribe(nh_, Category::POINT | Category::LINE | Category::VECTOR | Category::AREA | + g_vmap.subscribe(nh_, Category::POINT | Category::LINE | Category::VECTOR | Category::AREA | Category::DTLANE | Category::STOP_LINE | Category::ROAD_SIGN | Category::CROSS_ROAD, ros::Duration(5.0)); vmap_loaded = - g_vmap.hasSubscribed(Category::POINT | Category::LINE | Category::AREA | - Category::STOP_LINE | Category::ROAD_SIGN); + g_vmap.hasSubscribed(Category::POINT | Category::LINE | Category::AREA | Category::DTLANE | Category::STOP_LINE); if (!vmap_loaded) { ROS_WARN("Necessary vectormap have not been loaded"); ROS_WARN("DecisionMaker keeps on waiting until it loads"); - if (disuse_vector_map_) + if(disuse_vector_map_) { ROS_WARN("Disuse vectormap mode."); tryNextState("map_is_ready"); @@ -135,10 +133,6 @@ void DecisionMakerNode::entryVehicleReadyState(cstring_t& state_name, int status void DecisionMakerNode::updateVehicleReadyState(cstring_t& state_name, int status) { - if (isEventFlagTrue("emergency_flag")) - { - tryNextState("emergency"); - } } void DecisionMakerNode::entryVehicleEmergencyState(cstring_t& state_name, int status) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/planner_selector/planner_selector_node.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/planner_selector/planner_selector_node.cpp new file mode 100644 index 00000000000..5f0b1fbd425 --- /dev/null +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/planner_selector/planner_selector_node.cpp @@ -0,0 +1,234 @@ +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +namespace decision_maker +{ +void PlannerSelector::initROS() +{ + Subs["/dp/final_waypoints"] = nh_.subscribe("/dp/final_waypoints", 1, &PlannerSelector::callbackFromWaypoints, this); + Subs["/astar/final_waypoints"] = + nh_.subscribe("/astar/final_waypoints", 1, &PlannerSelector::callbackFromWaypoints, this); + Subs["/enableLattice"] = nh_.subscribe("/enableLattice", 10, &PlannerSelector::callbackFromLattice, this); + + Subs["/dp/closest_waypoint"] = nh_.subscribe("/dp/closest_waypoint", 1, &PlannerSelector::callbackFromClosest, this); + Subs["/astar/closest_waypoint"] = + nh_.subscribe("/astar/closest_waypoint", 1, &PlannerSelector::callbackFromClosest, this); + + Subs["/config/planner_selector"] = + nh_.subscribe("/config/PlannerSelector", 1, &PlannerSelector::callbackFromConfig, this); + + Subs["current_velocity"] = nh_.subscribe("current_velocity", 3, &PlannerSelector::callbackFromCurrentVelocity, this); + + Pubs["final_waypoints"] = nh_.advertise("/final_waypoints", 1); + Pubs["closest_waypoint"] = nh_.advertise("/closest_waypoint", 1); +} + +inline bool PlannerSelector::existWaypoints(const int _config_waypoints_num) +{ + bool ret; + ret = (_config_waypoints_num < final_waypoints_dp_.waypoints.size()) && + (_config_waypoints_num < final_waypoints_dp_.waypoints.size()); + return ret; +} + +void PlannerSelector::callbackFromLattice(const std_msgs::Int32& msg) +{ + // static int prev[LATENCY_NUM] = { 1 }; + static int counter = 0; + double _distance = 100.0; + + try + { + autoware_msgs::Waypoint dp_point = final_waypoints_dp_.waypoints.at(config_waypoints_num_); + autoware_msgs::Waypoint astar_point = final_waypoints_astar_.waypoints.at(config_waypoints_num_); + + amathutils::point p_dp, p_astar; + p_dp.x = dp_point.pose.pose.position.x; + p_dp.x = dp_point.pose.pose.position.y; + p_dp.z = 0.0; + + p_astar.x = astar_point.pose.pose.position.x; + p_astar.x = astar_point.pose.pose.position.y; + p_astar.z = 0.0; + + _distance = amathutils::find_distance(&p_dp, &p_astar); + // ROS_INFO("distance=%f. %d:%d", _distance, dp_point.dtlane.dist,astar_point.dtlane.dist); + } + catch (const std::out_of_range& ex) + { + ROS_ERROR("Out of Range:%s", ex.what()); + } + +#if 0 // delay switch + _mutex.lock(); + if(enableLattice_){ + if (msg.data == 0){ + if(counter++ >= config_latency_num_){ + enableLattice_ = 0; + counter = 0; + } + } + }else{ + enableLattice_ = msg.data; + } + ROS_INFO("msg.data=%d, enableLattice_ = %d", msg.data, enableLattice_); + _mutex.unlock(); +#else + _mutex.lock(); + if (msg.data != enableLattice_) + { + if (enableLattice_ == 1 && msg.data == 0) + { + if (pastWaypoint == false) + { + pastWaypoint = true; + counter = 0; + way_offset = config_waypoints_num_; + } + } + enableLattice_ = msg.data; + } + if (counter++ >= config_latency_num_) + { + counter = 0; + if (way_offset > 0) + { + way_offset--; + } + else + { + pastWaypoint = false; + } + } + + // ROS_INFO("msg.data=%d, enableLattice_ = %d", msg.data, enableLattice_); + _mutex.unlock(); +#endif + // for debug + // ROS_INFO("\n***** EnableLattice = %d **** \n",enableLattice_,msg.data); +} + +void PlannerSelector::callbackFromWaypoints(const ros::MessageEvent& event) +{ + const ros::M_string& header = event.getConnectionHeader(); + std::string topic = header.at("topic"); + const autoware_msgs::Lane* waypoints = event.getMessage().get(); + + _mutex.lock(); + + if (this->enableLattice_ && topic.find("dp") != std::string::npos) + { + Pubs["final_waypoints"].publish(*waypoints); + final_waypoints_dp_ = *waypoints; + } + else if (!this->enableLattice_ && topic.find("astar") != std::string::npos) + { + if (pastWaypoint) + { + for (int i = 0; i < config_waypoints_num_; i++) + { + if (!final_waypoints_astar_.waypoints.empty()) + final_waypoints_astar_.waypoints.erase(final_waypoints_astar_.waypoints.begin()); + else + { + pastWaypoint = false; + way_offset = 0; + } + } +#if 0 + if(final_waypoints_astar_.waypoints.empty()){ + int _size = final_waypoints_astar_.waypoints.size(); + _size = _size>=5?5:_size; + auto itr = final_waypoints_astar_.waypoints.begin(); + for(int i=0; i < 5; i++){ + itr->twist.twist.linear.x = (current_velocity_*2 + itr->twist.twist.linear.x) / 3; + std::cout << "set linear velocity:" << mps2kmph(itr->twist.twist.linear.x) << std::endl; + itr++; + } + } +#endif + Pubs["final_waypoints"].publish(final_waypoints_astar_); + } + else + { + Pubs["final_waypoints"].publish(*waypoints); + } + final_waypoints_astar_ = *waypoints; + } + + // for debug + // ROS_INFO("%s, %d-%d-%d", topic.c_str(), closest_waypoint_dp_, closest_waypoint_astar_, this->enableLattice_); + _mutex.unlock(); +} + +void PlannerSelector::callbackFromCurrentVelocity(const geometry_msgs::TwistStamped& msg) +{ + current_velocity_ = msg.twist.linear.x; +} + +void PlannerSelector::callbackFromConfig(const autoware_config_msgs::ConfigPlannerSelector& msg) +{ + config_latency_num_ = msg.latency_num; + config_waypoints_num_ = msg.waypoints_num; + config_convergence_num_ = msg.convergence_num; + + ROS_INFO("PARAM_SET-latency:%d, waypoints:%d, convergence:%f", config_latency_num_, config_waypoints_num_, + config_convergence_num_); +} + +void PlannerSelector::callbackFromClosest(const ros::MessageEvent& event) +{ + const ros::M_string& header = event.getConnectionHeader(); + std::string topic = header.at("topic"); + + int temp = event.getMessage().get()->data; + std_msgs::Int32 msg; + +#if 1 + if (topic.find("/dp") == 0) + { + closest_waypoints_["dp"] = temp; + + if (closest_waypoints_["astar"]) + { + msg.data = closest_waypoint_astar_; + } + closest_waypoint_dp_ = temp; + } + else if (topic.find("/astar") == 0) + { + closest_waypoints_["astar"] = temp; + closest_waypoint_astar_ = temp; + } + + // ROS_INFO("PastWaypoint:%s-offset:%d, latency:%d, closest:%d", pastWaypoint?"true":"false", way_offset, + // config_latency_num_,closest_waypoint_astar); + if (pastWaypoint && final_waypoints_astar_.waypoints.size() > closest_waypoint_astar_ + way_offset) + { + msg.data = closest_waypoint_astar_ + way_offset; + } + else + { + msg.data = closest_waypoint_astar_; + } +#endif + Pubs["closest_waypoint"].publish(msg); +} +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "planner_selector"); + + decision_maker::PlannerSelector _psn; + ros::spin(); +} diff --git a/ros/src/computing/planning/mission/packages/lane_planner/include/lane_select_core.h b/ros/src/computing/planning/mission/packages/lane_planner/include/lane_select_core.h index b155388ad38..0db8b3ce109 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/include/lane_select_core.h +++ b/ros/src/computing/planning/mission/packages/lane_planner/include/lane_select_core.h @@ -134,12 +134,6 @@ friend class LaneSelectTestClass; void updateChangeFlag(); void createLaneForChange(); int32_t getClosestLaneChangeWaypointNumber(const std::vector& wps, int32_t cl_wp); - - // spinOnce for test - void spinOnce() - { - ros::spinOnce(); - } }; int32_t getClosestWaypointNumber(const autoware_msgs::Lane& current_lane, const geometry_msgs::Pose& current_pose, diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp index e423a17db85..b1a805b4f22 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp @@ -28,9 +28,82 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -#include "twist_gate.h" - #include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include "autoware_msgs/ControlCommandStamped.h" +#include "autoware_msgs/RemoteCmd.h" +#include "autoware_msgs/VehicleCmd.h" + +#define CMD_GEAR_D 1 +#define CMD_GEAR_R 2 +#define CMD_GEAR_B 3 +#define CMD_GEAR_N 4 +#define CMD_GEAR_P 5 +#include "autoware_msgs/ControlCommandStamped.h" +#include "tablet_socket_msgs/gear_cmd.h" +#include "tablet_socket_msgs/mode_cmd.h" +class TwistGate +{ + using remote_msgs_t = autoware_msgs::RemoteCmd; + using vehicle_cmd_msg_t = autoware_msgs::VehicleCmd; + +public: + TwistGate(const ros::NodeHandle& nh, const ros::NodeHandle& private_nh); + ~TwistGate(); + +private: + void check_state(); + void watchdog_timer(); + void remote_cmd_callback(const remote_msgs_t::ConstPtr& input_msg); + void auto_cmd_twist_cmd_callback(const geometry_msgs::TwistStamped::ConstPtr& input_msg); + void mode_cmd_callback(const tablet_socket_msgs::mode_cmd::ConstPtr& input_msg); + void gear_cmd_callback(const tablet_socket_msgs::gear_cmd::ConstPtr& input_msg); + void accel_cmd_callback(const autoware_msgs::AccelCmd::ConstPtr& input_msg); + void steer_cmd_callback(const autoware_msgs::SteerCmd::ConstPtr& input_msg); + void brake_cmd_callback(const autoware_msgs::BrakeCmd::ConstPtr& input_msg); + void lamp_cmd_callback(const autoware_msgs::LampCmd::ConstPtr& input_msg); + void ctrl_cmd_callback(const autoware_msgs::ControlCommandStamped::ConstPtr& input_msg); + void state_callback(const std_msgs::StringConstPtr& input_msg); + + bool is_using_decisionmaker(); + void reset_vehicle_cmd_msg(); + + ros::NodeHandle nh_; + ros::NodeHandle private_nh_; + ros::Publisher emergency_stop_pub_; + ros::Publisher control_command_pub_; + ros::Publisher vehicle_cmd_pub_; + ros::Publisher state_cmd_pub_; + ros::Subscriber remote_cmd_sub_; + std::map auto_cmd_sub_stdmap_; + + vehicle_cmd_msg_t twist_gate_msg_; + std_msgs::Bool emergency_stop_msg_; + ros::Time remote_cmd_time_; + ros::Duration timeout_period_; + + std::thread watchdog_timer_thread_; + enum class CommandMode + { + AUTO = 1, + REMOTE = 2 + } command_mode_, + previous_command_mode_; + std_msgs::String command_mode_topic_; + + bool is_state_drive_ = true; + // still send is true + bool send_emergency_cmd = false; +}; TwistGate::TwistGate(const ros::NodeHandle& nh, const ros::NodeHandle& private_nh) : nh_(nh) @@ -116,7 +189,7 @@ void TwistGate::check_state() void TwistGate::watchdog_timer() { - while (is_alive) + while (1) { ros::Time now_time = ros::Time::now(); bool emergency_flag = false; @@ -186,10 +259,7 @@ void TwistGate::remote_cmd_callback(const remote_msgs_t::ConstPtr& input_msg) command_mode_ = static_cast(input_msg->control_mode); emergency_stop_msg_.data = static_cast(input_msg->vehicle_cmd.emergency); - // Update Emergency Mode - twist_gate_msg_.emergency = input_msg->vehicle_cmd.emergency; - - if (command_mode_ == CommandMode::REMOTE && emergency_stop_msg_.data == false) + if (command_mode_ == CommandMode::REMOTE) { twist_gate_msg_.header.frame_id = input_msg->vehicle_cmd.header.frame_id; twist_gate_msg_.header.stamp = input_msg->vehicle_cmd.header.stamp; @@ -208,9 +278,7 @@ void TwistGate::remote_cmd_callback(const remote_msgs_t::ConstPtr& input_msg) void TwistGate::auto_cmd_twist_cmd_callback(const geometry_msgs::TwistStamped::ConstPtr& input_msg) { - node_status_pub_ptr_->NODE_ACTIVATE(); - node_status_pub_ptr_->CHECK_RATE("/topic/rate/twist_cmd/slow",8,5,1,"topic twist_cmd subscribe rate low."); - if(command_mode_ == CommandMode::AUTO) + if (command_mode_ == CommandMode::AUTO) { twist_gate_msg_.header.frame_id = input_msg->header.frame_id; twist_gate_msg_.header.stamp = input_msg->header.stamp; @@ -312,6 +380,36 @@ void TwistGate::ctrl_cmd_callback(const autoware_msgs::ControlCommandStamped::Co } void TwistGate::state_callback(const std_msgs::StringConstPtr& input_msg) +{ + if (command_mode_ == CommandMode::AUTO) + { + // Set Parking Gear + if (input_msg->data.find("WaitOrder") != std::string::npos) + { + twist_gate_msg_.gear = CMD_GEAR_P; + emergency_stop_msg_.data = false; + send_emergency_cmd = false; + } + // Set Drive Gear + else + { + twist_gate_msg_.gear = CMD_GEAR_D; + } + + // get drive state + if (input_msg->data.find("Drive\n") != std::string::npos) + { + is_state_drive_ = true; + } + else + { + is_state_drive_ = false; + } + vehicle_cmd_pub_.publish(twist_gate_msg_); + } +} + +int main(int argc, char** argv) { if (command_mode_ == CommandMode::AUTO) { diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/wf_simulator/wf_simulator.cpp b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/wf_simulator/wf_simulator.cpp index 7ced485d649..69a6a17612a 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/wf_simulator/wf_simulator.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/wf_simulator/wf_simulator.cpp @@ -34,67 +34,61 @@ const std::string SIMULATION_FRAME = "sim_base_link"; const std::string LIDAR_FRAME = "sim_lidar"; const std::string MAP_FRAME = "map"; -bool initial_set_ = false; -bool pose_set_ = false; -bool waypoint_set_ = false; -bool use_ctrl_cmd = false; -bool is_closest_waypoint_subscribed_ = false; - -geometry_msgs::Pose initial_pose_; -WayPoints current_waypoints_; -geometry_msgs::Twist current_velocity_; - -ros::Publisher odometry_publisher_; -ros::Publisher velocity_publisher_; - -int32_t closest_waypoint_ = -1; -double position_error_; -double angle_error_; -double linear_acceleration_ = 0; -double steering_angle_ = 0; -double lidar_height_ = 1.0; -double wheel_base_ = 2.7; +geometry_msgs::Pose _initial_pose; +bool _initial_set = false; +bool _pose_set = false; +bool _waypoint_set = false; +bool _use_ctrl_cmd = false; +bool g_is_closest_waypoint_subscribed = false; +WayPoints _current_waypoints; +ros::Publisher g_odometry_publisher; +ros::Publisher g_velocity_publisher; +int32_t g_closest_waypoint = -1; +double g_position_error; +double g_angle_error; +double g_linear_acceleration = 0; +double g_steering_angle = 0; +double g_wheel_base_m = 2.7; constexpr int LOOP_RATE = 50; // 50Hz void CmdCallBack(const autoware_msgs::VehicleCmdConstPtr& msg, double accel_rate) { - if (use_ctrl_cmd == true) + if (_use_ctrl_cmd == true) { - linear_acceleration_ = msg->ctrl_cmd.linear_acceleration; - steering_angle_ = msg->ctrl_cmd.steering_angle; + g_linear_acceleration = msg->ctrl_cmd.linear_acceleration; + g_steering_angle = msg->ctrl_cmd.steering_angle; } else { static double previous_linear_velocity = 0; - if (current_velocity_.linear.x < msg->twist_cmd.twist.linear.x) + if (_current_velocity.linear.x < msg->twist_cmd.twist.linear.x) { - current_velocity_.linear.x = previous_linear_velocity + accel_rate / (double)LOOP_RATE; + _current_velocity.linear.x = previous_linear_velocity + accel_rate / (double)LOOP_RATE; - if (current_velocity_.linear.x > msg->twist_cmd.twist.linear.x) + if (_current_velocity.linear.x > msg->twist_cmd.twist.linear.x) { - current_velocity_.linear.x = msg->twist_cmd.twist.linear.x; + _current_velocity.linear.x = msg->twist_cmd.twist.linear.x; } } else { - current_velocity_.linear.x = previous_linear_velocity - accel_rate / (double)LOOP_RATE; + _current_velocity.linear.x = previous_linear_velocity - accel_rate / (double)LOOP_RATE; - if (current_velocity_.linear.x < msg->twist_cmd.twist.linear.x) + if (_current_velocity.linear.x < msg->twist_cmd.twist.linear.x) { - current_velocity_.linear.x = msg->twist_cmd.twist.linear.x; + _current_velocity.linear.x = msg->twist_cmd.twist.linear.x; } } - previous_linear_velocity = current_velocity_.linear.x; + previous_linear_velocity = _current_velocity.linear.x; - current_velocity_.angular.z = msg->twist_cmd.twist.angular.z; + _current_velocity.angular.z = msg->twist_cmd.twist.angular.z; - //current_velocity_ = msg->twist; + //_current_velocity = msg->twist; } } - void getTransformFromTF(const std::string parent_frame, const std::string child_frame, tf::StampedTransform& transform) { static tf::TransformListener listener; @@ -136,8 +130,10 @@ void callbackFromPoseStamped(const geometry_msgs::PoseStampedConstPtr& msg) void waypointCallback(const autoware_msgs::LaneConstPtr& msg) { - current_waypoints_.setPath(*msg); - waypoint_set_ = true; + // _path_og.setPath(msg); + _current_waypoints.setPath(*msg); + _waypoint_set = true; + // ROS_INFO_STREAM("waypoint subscribed"); } void callbackFromClosestWaypoint(const std_msgs::Int32ConstPtr& msg) @@ -148,11 +144,11 @@ void callbackFromClosestWaypoint(const std_msgs::Int32ConstPtr& msg) void updateVelocity() { - if (use_ctrl_cmd == false) + if (_use_ctrl_cmd == false) return; - current_velocity_.linear.x += linear_acceleration_ / (double)LOOP_RATE; - current_velocity_.angular.z = current_velocity_.linear.x * std::sin(steering_angle_) / wheel_base_; + _current_velocity.linear.x += g_linear_acceleration / (double)LOOP_RATE; + _current_velocity.angular.z = _current_velocity.linear.x * std::sin(g_steering_angle) / g_wheel_base_m; } void publishOdometry() @@ -173,10 +169,21 @@ void publishOdometry() pose_set_ = true; } - if (waypoint_set_ && is_closest_waypoint_subscribed_) - pose.position.z = current_waypoints_.getWaypointPosition(closest_waypoint_).z; - double vx = current_velocity_.linear.x; - double vth = current_velocity_.angular.z; + /*int closest_waypoint = getClosestWaypoint(_current_waypoints.getCurrentWaypoints(), pose); + if (closest_waypoint == -1) + { + ROS_INFO("cannot publish odometry because closest waypoint is -1."); + return; + } + else + { + pose.position.z = _current_waypoints.getWaypointPosition(closest_waypoint).z; + } +*/ if ( + _waypoint_set && g_is_closest_waypoint_subscribed) + pose.position.z = _current_waypoints.getWaypointPosition(g_closest_waypoint).z; + double vx = _current_velocity.linear.x; + double vth = _current_velocity.angular.z; current_time = ros::Time::now(); // compute odometry in a typical way given the velocities of the robot @@ -197,6 +204,15 @@ void publishOdometry() th += delta_th; pose.orientation = tf::createQuaternionMsgFromYaw(th); + // std::cout << "delta (x y th) : (" << delta_x << " " << delta_y << " " << + // delta_th << ")" << std::endl; + // std::cout << "current_velocity(linear.x angular.z) : (" << + // _current_velocity.linear.x << " " << + // _current_velocity.angular.z << ")"<< std::endl; + // std::cout << "current_pose : (" << pose.position.x << " " << + // pose.position.y<< " " << pose.position.z << " " << + // th << ")" << std::endl << std::endl; + // first, we'll publish the transform over tf geometry_msgs::TransformStamped odom_trans; odom_trans.header.stamp = current_time; @@ -257,12 +273,9 @@ int main(int argc, char** argv) private_nh.param("accel_rate", accel_rate, double(1.0)); ROS_INFO_STREAM("accel_rate : " << accel_rate); - private_nh.param("position_error", position_error_, double(0.0)); - private_nh.param("angle_error", angle_error_, double(0.0)); - private_nh.param("lidar_height", lidar_height_, double(1.0)); - private_nh.param("use_ctrl_cmd", use_ctrl_cmd, false); - - nh.param("vehicle_info/wheel_base", wheel_base_, double(2.7)); + private_nh.param("position_error", g_position_error, double(0.0)); + private_nh.param("angle_error", g_angle_error, double(0.0)); + nh.param("vehicle_info/wheel_base", g_wheel_base_m, double(2.7)); // publish topic odometry_publisher_ = nh.advertise("sim_pose", 10); diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.cpp b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.cpp index 1358c8c0e71..8cad4ea57f6 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.cpp @@ -53,7 +53,31 @@ void WaypointLoaderNode::createLaneArray(const std::vector& paths, { autoware_msgs::Lane lane; createLaneWaypoint(el, &lane); - lane_array->lanes.emplace_back(lane); + if (replanning_mode_) + { + replanner_.replanLaneWaypointVel(&lane); + } + lane_array->lanes.push_back(lane); + } +} + +void WaypointLoaderNode::saveLaneArray(const std::vector& paths, + const autoware_msgs::LaneArray& lane_array) +{ + unsigned long idx = 0; + for (const auto& file_path : paths) + { + std::ofstream ofs(file_path.c_str()); + ofs << "x,y,z,yaw,velocity,change_flag,steering_flag,accel_flag,stop_flag,event_flag" << std::endl; + for (const auto& el : lane_array.lanes[idx].waypoints) + { + ofs << std::fixed << std::setprecision(4) << el.pose.pose.position.x << "," << el.pose.pose.position.y << "," + << el.pose.pose.position.z << "," << tf::getYaw(el.pose.pose.orientation) << "," + << mps2kmph(el.twist.twist.linear.x) << "," << (int)el.change_flag << "," << (int)el.wpstate.steering_state + << "," << (int)el.wpstate.accel_state << "," << (int)el.wpstate.stop_state << "," + << (int)el.wpstate.event_state << std::endl; + } + idx++; } } diff --git a/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg b/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg index 96a933e35c9..975beb3ec08 100644 --- a/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg +++ b/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg @@ -1,11 +1,11 @@ Header header +bool enable_display_marker bool auto_mission_reload -bool auto_engage -bool auto_mission_change -bool use_fms +bool use_management_system bool disuse_vector_map uint32 num_of_steer_behind float64 change_threshold_dist float64 change_threshold_angle +float64 time_to_avoidance float64 goal_threshold_dist float64 goal_threshold_vel diff --git a/ros/src/socket/packages/vehicle_socket/nodes/vehicle_sender/vehicle_sender.cpp b/ros/src/socket/packages/vehicle_socket/nodes/vehicle_sender/vehicle_sender.cpp index 70437419509..8bcabd5b2ba 100644 --- a/ros/src/socket/packages/vehicle_socket/nodes/vehicle_sender/vehicle_sender.cpp +++ b/ros/src/socket/packages/vehicle_socket/nodes/vehicle_sender/vehicle_sender.cpp @@ -98,8 +98,7 @@ static void *sendCommand(void *arg) oss << command_data.brakeValue << ","; oss << command_data.steerValue << ","; oss << command_data.linear_velocity << ","; - oss << command_data.steering_angle << ","; - oss << command_data.lampValue; + oss << command_data.steering_angle; std::string cmd(oss.str()); ssize_t n = write(client_sock, cmd.c_str(), cmd.size()); diff --git a/ros/src/util/packages/autoware_rviz_plugins/plugin_description.xml b/ros/src/util/packages/autoware_rviz_plugins/plugin_description.xml new file mode 100644 index 00000000000..87d0b3df570 --- /dev/null +++ b/ros/src/util/packages/autoware_rviz_plugins/plugin_description.xml @@ -0,0 +1,27 @@ + + + + + State Panel on rviz + + + + + + Tool for sim_obj flags on the ground plane in rviz. + + + + + + A panel widget to order state_cmd for decision_maekr. + + + + diff --git a/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.cpp b/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.cpp new file mode 100644 index 00000000000..e79b42d7d12 --- /dev/null +++ b/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.cpp @@ -0,0 +1,176 @@ +/* + * Copyright (c) 2018, TierIV Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include "decision_maker_panel.h" + +namespace autoware_rviz_debug +{ +// BEGIN_TUTORIAL +// Here is the implementation of the DecisionMakerPanel class. DecisionMakerPanel +// has these responsibilities: +// +// - Act as a container for GUI elements DriveWidget and QLineEdit. +// - Publish command velocities 10 times per second (whether 0 or not). +// - Saving and restoring internal state from a config file. +// +// We start with the constructor, doing the standard Qt thing of +// passing the optional *parent* argument on to the superclass +// constructor, and also zero-ing the velocities we will be +// publishing. + +class StateInfo +{ +private: +public: + uint64_t state_num_; + uint8_t state_category_; + std::string state_num_name_; + std::string state_category_name_; +}; + +DecisionMakerPanel::DecisionMakerPanel(QWidget* parent) : rviz::Panel(parent) +{ + statecmd_publisher_ = nh_.advertise("/state_cmd", 1); + // Subs_["state"] = nh_ + + // Next we lay out the "output topic" text entry field using a + // QLabel and a QLineEdit in a QHBoxLayout. + QHBoxLayout* label_layout = new QHBoxLayout; + label_layout->addWidget(new QLabel("DecisionMaker QuickOrder")); + + QSignalMapper* signalMapper = new QSignalMapper(this); + connect(signalMapper, SIGNAL(mapped(QString)), this, SLOT(sendTopic(QString))); + + QHBoxLayout* button_layout = new QHBoxLayout; + QPushButton* button_engage = new QPushButton("Engage"); + signalMapper->setMapping(button_engage, QString("engage")); + connect(button_engage, SIGNAL(clicked()), signalMapper, SLOT(map())); + + QPushButton* button_stop = new QPushButton("Stop"); + signalMapper->setMapping(button_stop, QString("found_obstacle_in_stopped_area")); + connect(button_stop, SIGNAL(clicked()), signalMapper, SLOT(map())); + + QPushButton* button_go = new QPushButton("Go"); + signalMapper->setMapping(button_go, QString("clear")); + connect(button_go, SIGNAL(clicked()), signalMapper, SLOT(map())); + + button_layout->addWidget(button_engage); + button_layout->addWidget(button_stop); + button_layout->addWidget(button_go); + + QHBoxLayout* button_second_layout = new QHBoxLayout; + QPushButton* button_execute_avoidance = new QPushButton("Execute Avoidance"); + signalMapper->setMapping(button_execute_avoidance, QString("execute_avoidance")); + connect(button_execute_avoidance, SIGNAL(clicked()), signalMapper, SLOT(map())); + + QPushButton* button_execute_lane_change = new QPushButton("Execute LaneChange"); + signalMapper->setMapping(button_execute_lane_change, QString("execute_lane_change")); + connect(button_execute_lane_change, SIGNAL(clicked()), signalMapper, SLOT(map())); + + button_second_layout->addWidget(button_execute_avoidance); + button_second_layout->addWidget(button_execute_lane_change); + + QHBoxLayout* button_middle_layout = new QHBoxLayout; + QPushButton* button_request_mission_change = new QPushButton("Request mission change"); + signalMapper->setMapping(button_request_mission_change, QString("request_mission_change")); + connect(button_request_mission_change, SIGNAL(clicked()), signalMapper, SLOT(map())); + + QPushButton* button_return_to_driving = new QPushButton("Return to driving"); + signalMapper->setMapping(button_return_to_driving, QString("return_to_driving")); + connect(button_return_to_driving, SIGNAL(clicked()), signalMapper, SLOT(map())); + + QPushButton* button_mission_canceled = new QPushButton("Mission cancel"); + signalMapper->setMapping(button_mission_canceled, QString("mission_canceled")); + connect(button_mission_canceled, SIGNAL(clicked()), signalMapper, SLOT(map())); + + button_middle_layout->addWidget(button_request_mission_change); + button_middle_layout->addWidget(button_return_to_driving); + button_middle_layout->addWidget(button_mission_canceled); + + QHBoxLayout* button_low_layout = new QHBoxLayout; + QPushButton* button_emergency = new QPushButton("Emergency"); + signalMapper->setMapping(button_emergency, QString("emergency")); + connect(button_emergency, SIGNAL(clicked()), signalMapper, SLOT(map())); + + QPushButton* button_return_from_emergency = new QPushButton("Return from emergency"); + signalMapper->setMapping(button_return_from_emergency, QString("return_from_emergency")); + connect(button_return_from_emergency, SIGNAL(clicked()), signalMapper, SLOT(map())); + + button_low_layout->addWidget(button_emergency); + button_low_layout->addWidget(button_return_from_emergency); + + QVBoxLayout* layout = new QVBoxLayout; + layout->addLayout(label_layout); + layout->addLayout(button_layout); + layout->addLayout(button_second_layout); + layout->addLayout(button_middle_layout); + layout->addLayout(button_low_layout); + setLayout(layout); +} + +void DecisionMakerPanel::sendTopic(const QString &text) +{ + if (statecmd_publisher_) + { + std_msgs::String msg; + msg.data = text.toStdString(); + statecmd_publisher_.publish(msg); + } +} + +void DecisionMakerPanel::save(rviz::Config config) const +{ + rviz::Panel::save(config); +} + +void DecisionMakerPanel::load(const rviz::Config& config) +{ + rviz::Panel::load(config); +} + +} // end namespace autoware_rviz_debug + +#include +PLUGINLIB_EXPORT_CLASS(autoware_rviz_debug::DecisionMakerPanel, rviz::Panel) +// END_TUTORIAL diff --git a/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.h b/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.h new file mode 100644 index 00000000000..7c35ac019d4 --- /dev/null +++ b/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.h @@ -0,0 +1,62 @@ +/* + * Copyright (c) 2011, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef TELEOP_PANEL_H +#define TELEOP_PANEL_H + +#ifndef Q_MOC_RUN +#include + +#include +#endif + +class QLineEdit; + +namespace autoware_rviz_debug +{ +class DecisionMakerPanel : public rviz::Panel +{ + Q_OBJECT +public: + DecisionMakerPanel(QWidget* parent = 0); + + virtual void load(const rviz::Config& config); + virtual void save(rviz::Config config) const; + +public Q_SLOTS: + void sendTopic(const QString &text); + + // Then we finish up with protected member variables. +protected: + ros::Publisher statecmd_publisher_; + ros::NodeHandle nh_; +}; + +} // end namespace autoware_rviz_debug + +#endif // TELEOP_PANEL_H diff --git a/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt b/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt index b054beded6b..dc3a22161f5 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt +++ b/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt @@ -54,7 +54,8 @@ set(CMAKE_AUTOMOC ON) set(SOURCE_FILES src/state_panel/state_panel.cpp src/sim_object/autoware_flag_tool.cpp -) + src/decision_maker_panel/decision_maker_panel.cpp + ) add_library(autoware_rviz_plugins ${SOURCE_FILES} ${UIC_FILES}) target_link_libraries(autoware_rviz_plugins ${QT_LIBRARIES} ${catkin_LIBRARIES} ${rviz_DEFAULT_PLUGIN_LIBRARIES}) @@ -75,4 +76,4 @@ install(DIRECTORY icons/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/icons) install(FILES plugin_description.xml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) \ No newline at end of file + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ros/src/util/packages/runtime_manager/scripts/computing.yaml b/ros/src/util/packages/runtime_manager/scripts/computing.yaml index fccc925bb7a..34fef0efee5 100755 --- a/ros/src/util/packages/runtime_manager/scripts/computing.yaml +++ b/ros/src/util/packages/runtime_manager/scripts/computing.yaml @@ -729,7 +729,7 @@ subs : use_fms: flags : [ nl ] auto_mission_reload: - depend : use_fms + depend : use_management_system depend_bool : 'lambda v : v == 0' auto_engage: depend : use_fms @@ -738,6 +738,11 @@ subs : depend : use_fms depend_bool : 'lambda v : v == 0' + - name : planner_selector + desc : planner_selector desc sample + cmd : roslaunch planner_selector planner_selector.launch + param: planner_selector + buttons: @@ -1968,6 +1973,14 @@ params : topic : /config/decision_maker msg : ConfigDecisionMaker vars : + - name : enable_display_marker + desc : enable display marker flag + label : enable_display_marker + kind : checkbox + v : False + cmd_param : + dash : '' + delim : ':=' - name : disuse_vector_map desc : If this is enabled, the state passes through the MapInit state without vectormap. label : disuse_vector_map @@ -2006,6 +2019,12 @@ params : min : 0.0 max : 90.0 v : 15.0 + - name : time_to_avoidance + desc : The stop time until the state transitions to Avoidance state after the vehicle stops due to the obstacle. + label : time_to_avoidance[s] + min : 0.0 + max : 60.0 + v : 3.0 - name : points_topic desc : points_topic kind : str @@ -2020,9 +2039,9 @@ params : cmd_param : dash : '' delim: ':=' - - name : use_fms + - name : use_management_system desc : If this is disbled, part of state transitions are automatically executed. - label : use_fms + label : use_management_system kind : checkbox v : False cmd_param : From 461e375426f153d6cb49a9afd78491df00ddde56 Mon Sep 17 00:00:00 2001 From: Yuki Iida Date: Wed, 7 Nov 2018 12:48:16 +0900 Subject: [PATCH 066/139] fix emergency bug --- .../waypoint_follower/nodes/twist_gate/twist_gate.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp index b1a805b4f22..6ab34c07739 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp @@ -259,7 +259,10 @@ void TwistGate::remote_cmd_callback(const remote_msgs_t::ConstPtr& input_msg) command_mode_ = static_cast(input_msg->control_mode); emergency_stop_msg_.data = static_cast(input_msg->vehicle_cmd.emergency); - if (command_mode_ == CommandMode::REMOTE) + // Update Emergency Mode + twist_gate_msg_.emergency = input_msg->vehicle_cmd.emergency; + + if (command_mode_ == CommandMode::REMOTE && emergency_stop_msg_.data == false) { twist_gate_msg_.header.frame_id = input_msg->vehicle_cmd.header.frame_id; twist_gate_msg_.header.stamp = input_msg->vehicle_cmd.header.stamp; From 08178fb5eb3b57f23143909f0dd647c7931ca768 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Wed, 7 Nov 2018 12:50:07 +0900 Subject: [PATCH 067/139] fixed state_machine_lib according to review. --- .../include/state_machine_lib/state.hpp | 10 +++++----- .../libs/state_machine_lib/src/state_context.cpp | 7 ++++--- 2 files changed, 9 insertions(+), 8 deletions(-) diff --git a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state.hpp b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state.hpp index 6742eb062cf..5ee60cab69d 100644 --- a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state.hpp +++ b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state.hpp @@ -20,9 +20,9 @@ class State std::string state_name_; uint64_t state_id_; - + std::shared_ptr parent_state_; - + std::function CallbackUpdateFunc; std::function CallbackEntryFunc; @@ -126,12 +126,12 @@ class State transition_map_[key] = val; } - uint64_t getTansitionVal(std::string key) + uint64_t getTansitionVal(std::string key) const { - return transition_map_[key]; + return transition_map_.at(key); } - std::map getTransitionMap(void) + const std::map& getTransitionMap(void) { return transition_map_; } diff --git a/ros/src/common/libs/state_machine_lib/src/state_context.cpp b/ros/src/common/libs/state_machine_lib/src/state_context.cpp index 8ea630fb506..4f93f88533f 100644 --- a/ros/src/common/libs/state_machine_lib/src/state_context.cpp +++ b/ros/src/common/libs/state_machine_lib/src/state_context.cpp @@ -79,14 +79,14 @@ void StateContext::nextState(const std::string& transition_key) const std::string dot_output_name = "/tmp/a.dot"; std::shared_ptr state = root_state_; std::string _target_state_name; - std::vector key_list_; + std::vector key_list; while (state) { if (state->getTransitionMap().count(transition_key) != 0) { const uint64_t transition_state_id = state->getTransitionMap().at(transition_key); - _target_state_name = state_map_[transition_state_id]->getStateName(); + _target_state_name = state_map_.at(transition_state_id)->getStateName(); if (isCurrentState(_target_state_name)) { @@ -105,7 +105,7 @@ void StateContext::nextState(const std::string& transition_key) { if (in_state->getChild()) { - key_list_.push_back(in_state->getChild()->getEnteredKey()); + key_list.push_back(in_state->getChild()->getEnteredKey()); in_state->getChild()->onExit(); } in_state->setChild(state_map_[transition_state_id]); @@ -313,6 +313,7 @@ std::shared_ptr StateContext::getStatePtr(const YAML::Node& node) { return getStatePtr(node["StateName"].as()); } + std::shared_ptr StateContext::getStatePtr(const std::string& _state_name) { if (_state_name == "~") From 42eadbe8727c1be53ae465fe3a3dd6eaa13f90a2 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Wed, 7 Nov 2018 14:05:02 +0900 Subject: [PATCH 068/139] deleted unused function in amathutils. --- .../amathutils_lib/include/amathutils_lib/amathutils.hpp | 2 -- ros/src/common/libs/amathutils_lib/src/Amathutils.cpp | 5 +---- 2 files changed, 1 insertion(+), 6 deletions(-) diff --git a/ros/src/common/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp b/ros/src/common/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp index 652136b615a..fd589452a8a 100644 --- a/ros/src/common/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp +++ b/ros/src/common/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp @@ -49,8 +49,6 @@ inline double getTimefromAcceleration(const double &_v0, const double &_v, const return (_v - _v0) / _a; } -geometry_msgs::Point getCrossPoint(const geometry_msgs::Point &_l1_p1, const geometry_msgs::Point &_l1_p2, - const geometry_msgs::Point &_l2_p1, const geometry_msgs::Point &_l2_p2); geometry_msgs::Point getNearPtOnLine(const geometry_msgs::Point &_p, const geometry_msgs::Point &_a, const geometry_msgs::Point &_b); double find_distance(const geometry_msgs::Point &_from, const geometry_msgs::Point &_to); diff --git a/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp b/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp index ab4ec72a1cc..37e4c585129 100644 --- a/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp +++ b/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp @@ -2,10 +2,7 @@ namespace amathutils { -geometry_msgs::Point getCrossPoint(const geometry_msgs::Point &_l1_p1, const geometry_msgs::Point &_l1_p2, - const geometry_msgs::Point &_l2_p1, const geometry_msgs::Point &_l2_p2) -{ -} + geometry_msgs::Point getNearPtOnLine(const geometry_msgs::Point &_p, const geometry_msgs::Point &_a, const geometry_msgs::Point &_b) { From dbac526001b6d9e0febdf6e3b07bb7de25e2c5e7 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Wed, 7 Nov 2018 16:09:54 +0900 Subject: [PATCH 069/139] fixed decision_maker nodes according to review. --- .../nodes/decision_maker/decision_maker_node_decision.cpp | 4 ++-- .../decision_maker/decision_maker_node_state_mission.cpp | 5 ----- .../decision_maker/decision_maker_node_state_vehicle.cpp | 1 + 3 files changed, 3 insertions(+), 7 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp index 1db4acafd83..6c5412ed0bb 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp @@ -79,7 +79,7 @@ bool DecisionMakerNode::isLocalizationConvergence(const geometry_msgs::Point& _c static std::vector distances; static uint32_t distances_count = 0; static geometry_msgs::Point prev_point; - static const int param_convergence_count_ = 10; + static const int param_convergence_count = 10; bool ret = false; @@ -91,7 +91,7 @@ bool DecisionMakerNode::isLocalizationConvergence(const geometry_msgs::Point& _c } distances.push_back(amathutils::find_distance(prev_point, _current_point)); - if (++distances_count > param_convergence_count_) /* num of count to judge convergence*/ + if (++distances_count > param_convergence_count) /* num of count to judge convergence*/ { distances.erase(distances.begin()); distances_count--; diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp index 290f820c5a4..dd60d66c9ae 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp @@ -111,11 +111,6 @@ void DecisionMakerNode::entryDriveReadyState(cstring_t& state_name, int status) void DecisionMakerNode::updateDriveReadyState(cstring_t& state_name, int status) { - const bool start_flag = false; - if (start_flag /*isEventFlagTrue("")*/) - { - tryNextState("engage"); - } } void DecisionMakerNode::entryDrivingState(cstring_t& state_name, int status) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp index c2d21bc1862..ff08766c6a5 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp @@ -48,6 +48,7 @@ void DecisionMakerNode::updateSensorInitState(cstring_t& state_name, int status) { ROS_INFO("DecisionMaker is in simulation mode"); tryNextState("sensor_is_ready"); + return; } else if (isEventFlagTrue("received_pointcloud_for_NDT")) { From 1950adeef601107f65c596585e4afca2a3479a28 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Thu, 8 Nov 2018 16:23:07 +0900 Subject: [PATCH 070/139] fixed emergency bug of state transition and command sent from decision_maker_pannel. moded dot file generation of state_machine. --- .../state_machine_lib/state_context.hpp | 4 +-- .../decision_maker/autoware_state_drive.yaml | 26 ++++++++----------- .../autoware_state_mission.yaml | 5 +++- .../autoware_state_vehicle.yaml | 4 +-- .../include/decision_maker_node.hpp | 6 ++--- .../decision_maker_node_state_mission.cpp | 1 - .../nodes/twist_gate/twist_gate.cpp | 2 +- .../decision_maker_panel.cpp | 20 ++++++++++++-- .../decision_maker_panel.h | 2 ++ .../state_panel/CMakeLists.txt | 1 + 10 files changed, 44 insertions(+), 27 deletions(-) diff --git a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp index c4397f2df3c..9fb8a69956d 100644 --- a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp +++ b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp @@ -43,11 +43,11 @@ class StateContext bool isCurrentState(const std::string& state_name); public: - StateContext(const std::string& file_name, const std::string& msg_name = "autoware_states") + StateContext(const std::string& file_name, const std::string& msg_name/* = "autoware_states"*/) { createStateMap(file_name, msg_name); root_state_ = getStartState(); - createDOTGraph("/tmp/a.dot"); + createDOTGraph("/tmp/" + msg_name + ".dot"); } ~StateContext() diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml index eb06c6fe6db..a59fa3f326c 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml +++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml @@ -1,5 +1,5 @@ --- -autoware_states: +autoware_states_drive: - StateName: Start Transition: @@ -14,6 +14,13 @@ autoware_states: Key: operation_start Target: Drive Parent: ~ + - + StateName: DriveEmergency + Transition: + - + Key: return_from_emergency + Target: WaitEngage + Parent: ~ - StateName: Drive Transition: @@ -26,6 +33,9 @@ autoware_states: - Key: operation_end Target: WaitEngage + - + Key: emergency + Target: DriveEmergency Parent: ~ - StateName: LaneArea @@ -36,9 +46,6 @@ autoware_states: - Key: on_bus_stop Target: BusStop - - - Key: emergency - Target: LaneAreaEmergency Parent: Drive - StateName: BusStop @@ -354,19 +361,8 @@ autoware_states: - Key: on_parking Target: Parking - - - Key: emergency - Target: FreeAreaEmergency Parent: Drive - StateName: Parking Transition: [] Parent: FreeArea - - - StateName: LaneAreaEmergency - Transition: [] - Parent: LaneArea - - - StateName: FreeAreaEmergency - Transition: [] - Parent: FreeArea diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml index 6ab51320820..dc67700847d 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml +++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml @@ -1,5 +1,5 @@ --- -autoware_states: +autoware_states_mission: - StateName: Start Transition: @@ -50,6 +50,9 @@ autoware_states: - Key: mission_aborted Target: MissionAborted + - + Key: emergency + Target: MissionAborted - Key: request_mission_change Target: DrivingMissionChange diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml index 8faef7fc4d8..5c016f7360c 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml +++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml @@ -1,5 +1,5 @@ --- -autoware_states: +autoware_states_vehicle: - StateName: Start Transition: @@ -60,6 +60,6 @@ autoware_states: StateName: Emergency Transition: - - Key: restart + Key: return_from_emergency Target: Init Parent: ~ diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp index 137b765a278..d2c0caba4ae 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp @@ -398,9 +398,9 @@ class DecisionMakerNode private_nh_.getParam("state_mission_file_name", file_name_mission); private_nh_.getParam("state_drive_file_name", file_name_drive); - ctx_vehicle = new state_machine::StateContext(file_name_vehicle); - ctx_mission = new state_machine::StateContext(file_name_mission); - ctx_drive = new state_machine::StateContext(file_name_drive); + ctx_vehicle = new state_machine::StateContext(file_name_vehicle, "autoware_states_vehicle"); + ctx_mission = new state_machine::StateContext(file_name_mission, "autoware_states_mission"); + ctx_drive = new state_machine::StateContext(file_name_drive, "autoware_states_drive"); init(); setupStateCallback(); diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp index dd60d66c9ae..cd8a42c9edd 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp @@ -92,7 +92,6 @@ void DecisionMakerNode::updateMissionCheckState(cstring_t& state_name, int statu void DecisionMakerNode::entryMissionAbortedState(cstring_t& state_name, int status) { - tryNextState("operation_end"); } void DecisionMakerNode::updateMissionAbortedState(cstring_t& state_name, int status) { diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp index 6ab34c07739..842ef05cf0a 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp @@ -400,7 +400,7 @@ void TwistGate::state_callback(const std_msgs::StringConstPtr& input_msg) } // get drive state - if (input_msg->data.find("Drive\n") != std::string::npos) + if (input_msg->data.find("Drive\n") != std::string::npos && input_msg->data.find("VehicleReady\n") != std::string::npos) { is_state_drive_ = true; } diff --git a/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.cpp b/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.cpp index e79b42d7d12..72293be37f0 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.cpp +++ b/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.cpp @@ -42,6 +42,7 @@ #include #include +#include "autoware_msgs/RemoteCmd.h" #include "decision_maker_panel.h" namespace autoware_rviz_debug @@ -72,7 +73,7 @@ class StateInfo DecisionMakerPanel::DecisionMakerPanel(QWidget* parent) : rviz::Panel(parent) { statecmd_publisher_ = nh_.advertise("/state_cmd", 1); - // Subs_["state"] = nh_ + emergency_publisher_ = nh_.advertise("/remote_cmd", 1); // Next we lay out the "output topic" text entry field using a // QLabel and a QLineEdit in a QHBoxLayout. @@ -151,7 +152,11 @@ DecisionMakerPanel::DecisionMakerPanel(QWidget* parent) : rviz::Panel(parent) void DecisionMakerPanel::sendTopic(const QString &text) { - if (statecmd_publisher_) + if (text == "emergency") + { + sendEmergency(); + } + else if (statecmd_publisher_) { std_msgs::String msg; msg.data = text.toStdString(); @@ -159,6 +164,17 @@ void DecisionMakerPanel::sendTopic(const QString &text) } } +void DecisionMakerPanel::sendEmergency() +{ + if (emergency_publisher_) + { + autoware_msgs::RemoteCmd remote_emergency; + remote_emergency.header.stamp = ros::Time::now(); + remote_emergency.vehicle_cmd.emergency = 1; + emergency_publisher_.publish(remote_emergency); + } +} + void DecisionMakerPanel::save(rviz::Config config) const { rviz::Panel::save(config); diff --git a/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.h b/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.h index 7c35ac019d4..fc02ea4e827 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.h +++ b/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.h @@ -50,10 +50,12 @@ class DecisionMakerPanel : public rviz::Panel public Q_SLOTS: void sendTopic(const QString &text); + void sendEmergency(); // Then we finish up with protected member variables. protected: ros::Publisher statecmd_publisher_; + ros::Publisher emergency_publisher_; ros::NodeHandle nh_; }; diff --git a/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt b/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt index dc3a22161f5..09adb0008c3 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt +++ b/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt @@ -5,6 +5,7 @@ find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS rviz std_msgs + autoware_msgs ) if(rviz_QT_VERSION VERSION_LESS "5") From 885204f236aeffddb537021af882fcf2616992d1 Mon Sep 17 00:00:00 2001 From: Servando German Date: Thu, 8 Nov 2018 16:04:23 +0000 Subject: [PATCH 071/139] Fix error in Amathutils.cpp which caused error calculating distance between 3D points --- ros/src/common/libs/amathutils_lib/src/Amathutils.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp b/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp index 37e4c585129..162f46f0bf9 100644 --- a/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp +++ b/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp @@ -14,17 +14,17 @@ geometry_msgs::Point getNearPtOnLine(const geometry_msgs::Point &_p, const geome vnab.x = (_b.x - _a.x) / len; vnab.y = (_b.y - _a.y) / len; - vnab.z = 0; //(_b.z - _a.z) / len; + vnab.z = (_b.z - _a.z) / len; vap.x = _p.x - _a.x; vap.y = _p.y - _a.y; - vap.z = 0; //_p.z - _a.z; + vap.z = _p.z - _a.z; - double dist_ax = vnab.x * vap.x + vnab.y * vap.y + vnab.z + vap.z; + double dist_ax = vnab.x * vap.x + vnab.y * vap.y + vnab.z * vap.z; ret.x = _a.x + (vnab.x * dist_ax); ret.y = _a.y + (vnab.y * dist_ax); - ret.z = 0; //_a.z + (vnab.z * dist_ax); + ret.z = _a.z + (vnab.z * dist_ax); return ret; } From 29218f195dad66a1aaf9b4c23cf01e5a222a3546 Mon Sep 17 00:00:00 2001 From: Yusuke FUJII Date: Tue, 13 Nov 2018 17:20:24 +0900 Subject: [PATCH 072/139] apply clang-format --- ros/src/common/libs/amathutils_lib/src/Amathutils.cpp | 1 - .../libs/state_machine_lib/include/state_machine_lib/state.hpp | 1 - .../include/state_machine_lib/state_context.hpp | 2 +- .../nodes/decision_maker/decision_maker_node_state_vehicle.cpp | 2 +- 4 files changed, 2 insertions(+), 4 deletions(-) diff --git a/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp b/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp index 162f46f0bf9..8422cbc6de5 100644 --- a/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp +++ b/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp @@ -2,7 +2,6 @@ namespace amathutils { - geometry_msgs::Point getNearPtOnLine(const geometry_msgs::Point &_p, const geometry_msgs::Point &_a, const geometry_msgs::Point &_b) { diff --git a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state.hpp b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state.hpp index 5ee60cab69d..f87a1100cab 100644 --- a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state.hpp +++ b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state.hpp @@ -23,7 +23,6 @@ class State std::shared_ptr parent_state_; - std::function CallbackUpdateFunc; std::function CallbackEntryFunc; std::function CallbackExitFunc; diff --git a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp index 9fb8a69956d..d2bcd7989bb 100644 --- a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp +++ b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp @@ -43,7 +43,7 @@ class StateContext bool isCurrentState(const std::string& state_name); public: - StateContext(const std::string& file_name, const std::string& msg_name/* = "autoware_states"*/) + StateContext(const std::string& file_name, const std::string& msg_name /* = "autoware_states"*/) { createStateMap(file_name, msg_name); root_state_ = getStartState(); diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp index ff08766c6a5..88f917841f7 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp @@ -77,7 +77,7 @@ void DecisionMakerNode::updateMapInitState(cstring_t& state_name, int status) { ROS_WARN("Necessary vectormap have not been loaded"); ROS_WARN("DecisionMaker keeps on waiting until it loads"); - if(disuse_vector_map_) + if (disuse_vector_map_) { ROS_WARN("Disuse vectormap mode."); tryNextState("map_is_ready"); From d04121382193439176f3c62c8f067c7e4a05b22f Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Wed, 14 Nov 2018 18:59:52 +0900 Subject: [PATCH 073/139] removed planner_selector and its related parameters --- .../include/planner_selector.hpp | 77 ------ .../planner_selector_node.cpp | 234 ------------------ .../dp_planner/include/dp_planner_core.h | 2 - .../dp_planner/launch/dp_planner.launch | 48 ++-- .../dp_planner/nodes/dp_planner_core.cpp | 39 +-- .../launch/velocity_set.launch | 2 - .../src/velocity_set/velocity_set.cpp | 8 +- .../runtime_manager/scripts/computing.yaml | 5 - 8 files changed, 26 insertions(+), 389 deletions(-) delete mode 100644 ros/src/computing/planning/decision/packages/decision_maker/include/planner_selector.hpp delete mode 100644 ros/src/computing/planning/decision/packages/decision_maker/nodes/planner_selector/planner_selector_node.cpp diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/planner_selector.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/planner_selector.hpp deleted file mode 100644 index 86eb42af78a..00000000000 --- a/ros/src/computing/planning/decision/packages/decision_maker/include/planner_selector.hpp +++ /dev/null @@ -1,77 +0,0 @@ -#ifndef __PLANNER_SELECTOR_HPP__ -#define __PLANNER_SELECTOR_HPP__ - -#include -#include -#include -#include - -#include -#include -#include - -#include - -namespace decision_maker -{ -#define DEFAULT_LATENCY_NUM 5 -#define DEFAULT_WAYPOINTS_NUM 3 -#define DEFAULT_CONVERGENCE_NUM 2.0 -class PlannerSelector -{ -private: - ros::NodeHandle nh_; - - std::unordered_map waypoints_; - std::unordered_map Pubs; - std::unordered_map Subs; - - autoware_msgs::Lane final_waypoints_dp_; - autoware_msgs::Lane final_waypoints_astar_; - - std::unordered_map closest_waypoints_; - int closest_waypoint_astar_; - int closest_waypoint_dp_; - - unsigned int way_offset; - - std::mutex _mutex; - - int enableLattice_; - bool pastWaypoint; - unsigned int config_latency_num_; - unsigned int config_waypoints_num_; - double config_convergence_num_; - double current_velocity_; - - bool existWaypoints(const int _config_waypoints_num); - -public: - PlannerSelector() - { - this->initROS(); - enableLattice_ = 0; - pastWaypoint = false; - config_latency_num_ = DEFAULT_LATENCY_NUM; - config_waypoints_num_ = DEFAULT_WAYPOINTS_NUM; - config_convergence_num_ = DEFAULT_CONVERGENCE_NUM; - } - - void initROS(); - -<<<<<<< HEAD - void callbackFromClosest(const ros::MessageEvent& event); - void callbackFromWaypoints(const ros::MessageEvent& event); - void callbackFromLattice(const std_msgs::Int32& msg); - void callbackFromConfig(const autoware_msgs::ConfigPlannerSelector& msg); - void callbackFromCurrentVelocity(const geometry_msgs::TwistStamped& msg); -======= - void callbackFromClosest(const ros::MessageEvent &event); - void callbackFromWaypoints(const ros::MessageEvent &event); - void callbackFromLattice(const std_msgs::Int32 &msg); - void callbackFromConfig(const autoware_config_msgs::ConfigPlannerSelector &msg); - void callbackFromCurrentVelocity(const geometry_msgs::TwistStamped &msg); ->>>>>>> develop -}; -} -#endif diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/planner_selector/planner_selector_node.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/planner_selector/planner_selector_node.cpp deleted file mode 100644 index 5f0b1fbd425..00000000000 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/planner_selector/planner_selector_node.cpp +++ /dev/null @@ -1,234 +0,0 @@ -#include -#include -#include -#include - -#include -#include -#include - -#include -#include - -namespace decision_maker -{ -void PlannerSelector::initROS() -{ - Subs["/dp/final_waypoints"] = nh_.subscribe("/dp/final_waypoints", 1, &PlannerSelector::callbackFromWaypoints, this); - Subs["/astar/final_waypoints"] = - nh_.subscribe("/astar/final_waypoints", 1, &PlannerSelector::callbackFromWaypoints, this); - Subs["/enableLattice"] = nh_.subscribe("/enableLattice", 10, &PlannerSelector::callbackFromLattice, this); - - Subs["/dp/closest_waypoint"] = nh_.subscribe("/dp/closest_waypoint", 1, &PlannerSelector::callbackFromClosest, this); - Subs["/astar/closest_waypoint"] = - nh_.subscribe("/astar/closest_waypoint", 1, &PlannerSelector::callbackFromClosest, this); - - Subs["/config/planner_selector"] = - nh_.subscribe("/config/PlannerSelector", 1, &PlannerSelector::callbackFromConfig, this); - - Subs["current_velocity"] = nh_.subscribe("current_velocity", 3, &PlannerSelector::callbackFromCurrentVelocity, this); - - Pubs["final_waypoints"] = nh_.advertise("/final_waypoints", 1); - Pubs["closest_waypoint"] = nh_.advertise("/closest_waypoint", 1); -} - -inline bool PlannerSelector::existWaypoints(const int _config_waypoints_num) -{ - bool ret; - ret = (_config_waypoints_num < final_waypoints_dp_.waypoints.size()) && - (_config_waypoints_num < final_waypoints_dp_.waypoints.size()); - return ret; -} - -void PlannerSelector::callbackFromLattice(const std_msgs::Int32& msg) -{ - // static int prev[LATENCY_NUM] = { 1 }; - static int counter = 0; - double _distance = 100.0; - - try - { - autoware_msgs::Waypoint dp_point = final_waypoints_dp_.waypoints.at(config_waypoints_num_); - autoware_msgs::Waypoint astar_point = final_waypoints_astar_.waypoints.at(config_waypoints_num_); - - amathutils::point p_dp, p_astar; - p_dp.x = dp_point.pose.pose.position.x; - p_dp.x = dp_point.pose.pose.position.y; - p_dp.z = 0.0; - - p_astar.x = astar_point.pose.pose.position.x; - p_astar.x = astar_point.pose.pose.position.y; - p_astar.z = 0.0; - - _distance = amathutils::find_distance(&p_dp, &p_astar); - // ROS_INFO("distance=%f. %d:%d", _distance, dp_point.dtlane.dist,astar_point.dtlane.dist); - } - catch (const std::out_of_range& ex) - { - ROS_ERROR("Out of Range:%s", ex.what()); - } - -#if 0 // delay switch - _mutex.lock(); - if(enableLattice_){ - if (msg.data == 0){ - if(counter++ >= config_latency_num_){ - enableLattice_ = 0; - counter = 0; - } - } - }else{ - enableLattice_ = msg.data; - } - ROS_INFO("msg.data=%d, enableLattice_ = %d", msg.data, enableLattice_); - _mutex.unlock(); -#else - _mutex.lock(); - if (msg.data != enableLattice_) - { - if (enableLattice_ == 1 && msg.data == 0) - { - if (pastWaypoint == false) - { - pastWaypoint = true; - counter = 0; - way_offset = config_waypoints_num_; - } - } - enableLattice_ = msg.data; - } - if (counter++ >= config_latency_num_) - { - counter = 0; - if (way_offset > 0) - { - way_offset--; - } - else - { - pastWaypoint = false; - } - } - - // ROS_INFO("msg.data=%d, enableLattice_ = %d", msg.data, enableLattice_); - _mutex.unlock(); -#endif - // for debug - // ROS_INFO("\n***** EnableLattice = %d **** \n",enableLattice_,msg.data); -} - -void PlannerSelector::callbackFromWaypoints(const ros::MessageEvent& event) -{ - const ros::M_string& header = event.getConnectionHeader(); - std::string topic = header.at("topic"); - const autoware_msgs::Lane* waypoints = event.getMessage().get(); - - _mutex.lock(); - - if (this->enableLattice_ && topic.find("dp") != std::string::npos) - { - Pubs["final_waypoints"].publish(*waypoints); - final_waypoints_dp_ = *waypoints; - } - else if (!this->enableLattice_ && topic.find("astar") != std::string::npos) - { - if (pastWaypoint) - { - for (int i = 0; i < config_waypoints_num_; i++) - { - if (!final_waypoints_astar_.waypoints.empty()) - final_waypoints_astar_.waypoints.erase(final_waypoints_astar_.waypoints.begin()); - else - { - pastWaypoint = false; - way_offset = 0; - } - } -#if 0 - if(final_waypoints_astar_.waypoints.empty()){ - int _size = final_waypoints_astar_.waypoints.size(); - _size = _size>=5?5:_size; - auto itr = final_waypoints_astar_.waypoints.begin(); - for(int i=0; i < 5; i++){ - itr->twist.twist.linear.x = (current_velocity_*2 + itr->twist.twist.linear.x) / 3; - std::cout << "set linear velocity:" << mps2kmph(itr->twist.twist.linear.x) << std::endl; - itr++; - } - } -#endif - Pubs["final_waypoints"].publish(final_waypoints_astar_); - } - else - { - Pubs["final_waypoints"].publish(*waypoints); - } - final_waypoints_astar_ = *waypoints; - } - - // for debug - // ROS_INFO("%s, %d-%d-%d", topic.c_str(), closest_waypoint_dp_, closest_waypoint_astar_, this->enableLattice_); - _mutex.unlock(); -} - -void PlannerSelector::callbackFromCurrentVelocity(const geometry_msgs::TwistStamped& msg) -{ - current_velocity_ = msg.twist.linear.x; -} - -void PlannerSelector::callbackFromConfig(const autoware_config_msgs::ConfigPlannerSelector& msg) -{ - config_latency_num_ = msg.latency_num; - config_waypoints_num_ = msg.waypoints_num; - config_convergence_num_ = msg.convergence_num; - - ROS_INFO("PARAM_SET-latency:%d, waypoints:%d, convergence:%f", config_latency_num_, config_waypoints_num_, - config_convergence_num_); -} - -void PlannerSelector::callbackFromClosest(const ros::MessageEvent& event) -{ - const ros::M_string& header = event.getConnectionHeader(); - std::string topic = header.at("topic"); - - int temp = event.getMessage().get()->data; - std_msgs::Int32 msg; - -#if 1 - if (topic.find("/dp") == 0) - { - closest_waypoints_["dp"] = temp; - - if (closest_waypoints_["astar"]) - { - msg.data = closest_waypoint_astar_; - } - closest_waypoint_dp_ = temp; - } - else if (topic.find("/astar") == 0) - { - closest_waypoints_["astar"] = temp; - closest_waypoint_astar_ = temp; - } - - // ROS_INFO("PastWaypoint:%s-offset:%d, latency:%d, closest:%d", pastWaypoint?"true":"false", way_offset, - // config_latency_num_,closest_waypoint_astar); - if (pastWaypoint && final_waypoints_astar_.waypoints.size() > closest_waypoint_astar_ + way_offset) - { - msg.data = closest_waypoint_astar_ + way_offset; - } - else - { - msg.data = closest_waypoint_astar_; - } -#endif - Pubs["closest_waypoint"].publish(msg); -} -} - -int main(int argc, char** argv) -{ - ros::init(argc, argv, "planner_selector"); - - decision_maker::PlannerSelector _psn; - ros::spin(); -} diff --git a/ros/src/computing/planning/motion/packages/dp_planner/include/dp_planner_core.h b/ros/src/computing/planning/motion/packages/dp_planner/include/dp_planner_core.h index e21fabbca11..7feda87e5c2 100644 --- a/ros/src/computing/planning/motion/packages/dp_planner/include/dp_planner_core.h +++ b/ros/src/computing/planning/motion/packages/dp_planner/include/dp_planner_core.h @@ -139,8 +139,6 @@ class PlannerX std::vector m_LogData; - bool enablePlannerDynamicSwitch; - protected: //ROS messages (topics) diff --git a/ros/src/computing/planning/motion/packages/dp_planner/launch/dp_planner.launch b/ros/src/computing/planning/motion/packages/dp_planner/launch/dp_planner.launch index e70b84dfc47..a6f2a449271 100644 --- a/ros/src/computing/planning/motion/packages/dp_planner/launch/dp_planner.launch +++ b/ros/src/computing/planning/motion/packages/dp_planner/launch/dp_planner.launch @@ -1,52 +1,52 @@ - + - - + + - - + + - + - + - + - + - + - + - + - + - + @@ -55,41 +55,39 @@ - - + + - + - + - + - + - + - + - + - - diff --git a/ros/src/computing/planning/motion/packages/dp_planner/nodes/dp_planner_core.cpp b/ros/src/computing/planning/motion/packages/dp_planner/nodes/dp_planner_core.cpp index 2cecd6fde59..5fd8659bc13 100644 --- a/ros/src/computing/planning/motion/packages/dp_planner/nodes/dp_planner_core.cpp +++ b/ros/src/computing/planning/motion/packages/dp_planner/nodes/dp_planner_core.cpp @@ -71,8 +71,6 @@ PlannerX::PlannerX() m_ObstacleTracking.m_dt = 0.12; m_ObstacleTracking.m_bUseCenterOnly = true; - enablePlannerDynamicSwitch = false; - int iSource = 0; nh.getParam("/dp_planner/mapSource", iSource); @@ -95,12 +93,6 @@ PlannerX::PlannerX() std::string topic_prefix; - nh.getParam("/dp_planner/enablePlannerDynamicSwitch", enablePlannerDynamicSwitch); - if(enablePlannerDynamicSwitch){ - topic_prefix = "/dp"; - pub_LocalTrajectoriesRviz_dynamic = nh.advertise("local_trajectories_dynamic", 1); - pub_EnableLattice = nh.advertise("enableLattice", 1); - } pub_LocalPath = nh.advertise(topic_prefix + "/final_waypoints", 100,true); pub_LocalBasePath = nh.advertise(topic_prefix + "/base_waypoints", 100,true); @@ -116,7 +108,7 @@ PlannerX::PlannerX() pub_DetectedPolygonsRviz = nh.advertise("detected_polygons", 1, true); pub_TrackedObstaclesRviz = nh.advertise("dp_planner_tracked_boxes", 1); pub_LocalTrajectoriesRviz = nh.advertise("local_trajectories", 1); - + pub_TestLineRviz = nh.advertise("testing_line", 1); pub_BehaviorStateRviz = nh.advertise("behavior_state", 1); pub_SafetyBorderRviz = nh.advertise("safety_border", 1); @@ -770,37 +762,10 @@ void PlannerX::PlannerMainLoop() pub_LocalPath.publish(current_trajectory); visualization_msgs::MarkerArray all_rollOuts; - + ROSHelpers::ConvertFromPlannerHToAutowareVisualizePathFormat(m_LocalPlanner.m_Path, m_LocalPlanner.m_RollOuts, m_LocalPlanner, all_rollOuts); pub_LocalTrajectoriesRviz.publish(all_rollOuts); - //Publish markers that visualize only when avoiding objects - if(enablePlannerDynamicSwitch){ - visualization_msgs::MarkerArray all_rollOuts_dynamic; - std_msgs::Int32 enableLattice; - if(iDirection != 0) { // if obstacle avoidance state, - all_rollOuts_dynamic = all_rollOuts; - - for(auto &ro : all_rollOuts_dynamic.markers){ - ro.ns = "global_lane_array_marker_dynamic"; - } - pub_LocalTrajectoriesRviz_dynamic.publish(all_rollOuts_dynamic); - enableLattice.data = 1; - }else{ - visualization_msgs::Marker delMarker; -#ifndef ROS_KINETIC - delMarker.action = visualization_msgs::Marker::DELETE; -#else - delMarker.action = visualization_msgs::Marker::DELETEALL; -#endif - delMarker.ns = "global_lane_array_marker_dynamic"; - all_rollOuts_dynamic.markers.push_back(delMarker); - pub_LocalTrajectoriesRviz_dynamic.publish(all_rollOuts_dynamic); - enableLattice.data = 0; - } - pub_EnableLattice.publish(enableLattice); //Publish flag of object avoidance - } - if(m_CurrentBehavior.bNewPlan) { diff --git a/ros/src/computing/planning/motion/packages/waypoint_planner/launch/velocity_set.launch b/ros/src/computing/planning/motion/packages/waypoint_planner/launch/velocity_set.launch index ee344be4fc7..afa3df973af 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_planner/launch/velocity_set.launch +++ b/ros/src/computing/planning/motion/packages/waypoint_planner/launch/velocity_set.launch @@ -6,7 +6,6 @@ - @@ -15,7 +14,6 @@ - diff --git a/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp index cfcdd2698f7..07df490ba36 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp @@ -529,12 +529,10 @@ int main(int argc, char** argv) bool use_crosswalk_detection; bool enable_multiple_crosswalk_detection; - bool enablePlannerDynamicSwitch; std::string points_topic; private_nh.param("use_crosswalk_detection", use_crosswalk_detection, true); private_nh.param("enable_multiple_crosswalk_detection", enable_multiple_crosswalk_detection, true); - private_nh.param("enablePlannerDynamicSwitch", enablePlannerDynamicSwitch, false); private_nh.param("points_topic", points_topic, "points_lanes"); @@ -570,11 +568,7 @@ int main(int argc, char** argv) ros::Publisher obstacle_waypoint_pub = nh.advertise("obstacle_waypoint", 1, true); ros::Publisher final_waypoints_pub; - if(enablePlannerDynamicSwitch){ - final_waypoints_pub = nh.advertise("astar/final_waypoints", 1, true); - }else{ - final_waypoints_pub = nh.advertise("final_waypoints", 1, true); - } + final_waypoints_pub = nh.advertise("final_waypoints", 1, true); ros::Rate loop_rate(LOOP_RATE); while (ros::ok()) diff --git a/ros/src/util/packages/runtime_manager/scripts/computing.yaml b/ros/src/util/packages/runtime_manager/scripts/computing.yaml index 34fef0efee5..cc56fc32586 100755 --- a/ros/src/util/packages/runtime_manager/scripts/computing.yaml +++ b/ros/src/util/packages/runtime_manager/scripts/computing.yaml @@ -738,11 +738,6 @@ subs : depend : use_fms depend_bool : 'lambda v : v == 0' - - name : planner_selector - desc : planner_selector desc sample - cmd : roslaunch planner_selector planner_selector.launch - param: planner_selector - buttons: From 12b7f9b66180d677ab74ad36f531f04b9282b972 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Sun, 18 Nov 2018 14:27:26 +0900 Subject: [PATCH 074/139] add WaitReady state into Drive states, and fixed emergency bag. --- .../decision_maker/autoware_state_drive.yaml | 10 ++++++++++ .../decision_maker/autoware_state_mission.yaml | 6 +++--- .../decision_maker/include/decision_maker_node.hpp | 3 +++ .../decision_maker/decision_maker_node_init.cpp | 4 ++++ .../decision_maker_node_state_drive.cpp | 14 ++++++++++++++ .../decision_maker_node_state_mission.cpp | 9 +++++++++ .../decision_maker_node_state_vehicle.cpp | 4 ++++ 7 files changed, 47 insertions(+), 3 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml index a59fa3f326c..d29284e5155 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml +++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml @@ -5,6 +5,13 @@ autoware_states_drive: Transition: - Key: started + Target: WaitReady + Parent: ~ + - + StateName: WaitReady + Transition: + - + Key: vehicle_is_ready Target: WaitEngage Parent: ~ - @@ -13,6 +20,9 @@ autoware_states_drive: - Key: operation_start Target: Drive + - + Key: emergency + Target: DriveEmergency Parent: ~ - StateName: DriveEmergency diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml index dc67700847d..ef76fd79464 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml +++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml @@ -50,9 +50,6 @@ autoware_states_mission: - Key: mission_aborted Target: MissionAborted - - - Key: emergency - Target: MissionAborted - Key: request_mission_change Target: DrivingMissionChange @@ -97,4 +94,7 @@ autoware_states_mission: - Key: goto_wait_order Target: WaitOrder + - + Key: return_from_emergency + Target: WaitVehicleReady Parent: ~ diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp index d2c0caba4ae..0868fc2d89e 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp @@ -316,7 +316,9 @@ class DecisionMakerNode void entryAvoidanceState(cstring_t& state_name, int status); void entryReturnToLaneState(cstring_t& state_name, int status); void entryLaneChangeState(cstring_t& state_name, int status); + void entryDriveEmergencyState(cstring_t& state_name, int status); // update callback + void updateWaitReadyState(cstring_t& state_name, int status); void updateWaitEngageState(cstring_t& state_name, int status); void updateDriveState(cstring_t& state_name, int status); void updateLaneAreaState(cstring_t& state_name, int status); @@ -347,6 +349,7 @@ class DecisionMakerNode void updateReturnToLaneState(cstring_t& state_name, int status); // exit callback void exitStopState(cstring_t& state_name, int status); + void exitDriveEmergencyState(cstring_t& state_name, int status); // callback by topic subscribing void callbackFromFilteredPoints(const sensor_msgs::PointCloud2::ConstPtr& msg); diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp index d016b15f9a8..4591c08c837 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp @@ -107,8 +107,12 @@ void DecisionMakerNode::setupStateCallback(void) std::bind(&DecisionMakerNode::updateBusStopState, this, std::placeholders::_1, 0)); ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "Parking", std::bind(&DecisionMakerNode::updateParkingState, this, std::placeholders::_1, 0)); + ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "DriveEmergency", + std::bind(&DecisionMakerNode::entryDriveEmergencyState, this, std::placeholders::_1, 0)); ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "DriveEmergency", std::bind(&DecisionMakerNode::updateDriveEmergencyState, this, std::placeholders::_1, 0)); + ctx_drive->setCallback(state_machine::CallbackType::EXIT, "DriveEmergency", + std::bind(&DecisionMakerNode::exitDriveEmergencyState, this, std::placeholders::_1, 0)); ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "LeftTurn", std::bind(&DecisionMakerNode::entryTurnState, this, std::placeholders::_1, 0)); ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "LeftTurn", diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp index 997ffee5f8a..53857cca439 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp @@ -2,6 +2,10 @@ namespace decision_maker { +void DecisionMakerNode::updateWaitReadyState(cstring_t& state_name, int status) +{ +} + void DecisionMakerNode::updateWaitEngageState(cstring_t& state_name, int status) { } @@ -398,7 +402,17 @@ void DecisionMakerNode::updateReturnToLaneState(cstring_t& state_name, int statu { } +void DecisionMakerNode::entryDriveEmergencyState(cstring_t& state_name, int status) +{ + setEventFlag("emergency_flag", true); + tryNextState("mission_aborted"); +} void DecisionMakerNode::updateDriveEmergencyState(cstring_t& state_name, int status) { } +void DecisionMakerNode::exitDriveEmergencyState(cstring_t& state_name, int status) +{ + setEventFlag("emergency_flag", false); +} + } diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp index cd8a42c9edd..d3ae43d8071 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp @@ -115,9 +115,18 @@ void DecisionMakerNode::updateDriveReadyState(cstring_t& state_name, int status) void DecisionMakerNode::entryDrivingState(cstring_t& state_name, int status) { tryNextState("operation_start"); + + if (isEventFlagTrue("emergency_flag")) + { + tryNextState("mission_aborted"); + } } void DecisionMakerNode::updateDrivingState(cstring_t& state_name, int status) { + if (isEventFlagTrue("emergency_flag")) + { + tryNextState("mission_aborted"); + } } void DecisionMakerNode::exitDrivingState(cstring_t& state_name, int status) { diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp index 88f917841f7..cd874a2599c 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp @@ -134,6 +134,10 @@ void DecisionMakerNode::entryVehicleReadyState(cstring_t& state_name, int status void DecisionMakerNode::updateVehicleReadyState(cstring_t& state_name, int status) { + if (isEventFlagTrue("emergency_flag")) + { + tryNextState("emergency"); + } } void DecisionMakerNode::entryVehicleEmergencyState(cstring_t& state_name, int status) From 2856ceeee24722b5d8d93c495600ddf77b51c447 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Sun, 18 Nov 2018 23:57:44 +0900 Subject: [PATCH 075/139] fixed TryAvoidance state bug. --- .../decision_maker/include/decision_maker_node.hpp | 1 + .../nodes/decision_maker/decision_maker_node_init.cpp | 9 +++++++++ .../decision_maker/decision_maker_node_state_drive.cpp | 7 ++++++- 3 files changed, 16 insertions(+), 1 deletion(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp index 0868fc2d89e..3081647b5ef 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp @@ -311,6 +311,7 @@ class DecisionMakerNode // entry callback void entryDriveState(cstring_t& state_name, int status); void entryTurnState(cstring_t& state_name, int status); + void entryGoState(cstring_t& state_name, int status); void entryTryAvoidanceState(cstring_t& state_name, int status); void entryCheckAvoidanceState(cstring_t& state_name, int status); void entryAvoidanceState(cstring_t& state_name, int status); diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp index 4591c08c837..83b49579a0c 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp @@ -151,6 +151,15 @@ void DecisionMakerNode::setupStateCallback(void) ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "ChangeToRight", std::bind(&DecisionMakerNode::updateChangeToRightState, this, std::placeholders::_1, 0)); + ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "Go", + std::bind(&DecisionMakerNode::entryGoState, this, std::placeholders::_1, 0)); + ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "L_Go", + std::bind(&DecisionMakerNode::entryGoState, this, std::placeholders::_1, 0)); + ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "R_Go", + std::bind(&DecisionMakerNode::entryGoState, this, std::placeholders::_1, 0)); + ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "B_Go", + std::bind(&DecisionMakerNode::entryGoState, this, std::placeholders::_1, 0)); + ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "Go", std::bind(&DecisionMakerNode::updateGoState, this, std::placeholders::_1, 0)); ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "L_Go", diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp index 53857cca439..fc58363141c 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp @@ -298,6 +298,10 @@ void DecisionMakerNode::updateParkingState(cstring_t& state_name, int status) publishLampCmd(E_Lamp::LAMP_HAZARD); } +void DecisionMakerNode::entryGoState(cstring_t& state_name, int status) +{ + setEventFlag("entry_go_state", true); +} void DecisionMakerNode::updateGoState(cstring_t& state_name, int status) { std::pair get_stopsign = getStopSignStateFromWaypoint(); @@ -308,7 +312,7 @@ void DecisionMakerNode::updateGoState(cstring_t& state_name, int status) } static double stopped_time; - if (current_status_.velocity == 0.0 && current_status_.obstacle_waypoint != -1) + if (current_status_.velocity == 0.0 && current_status_.obstacle_waypoint != -1 && !isEventFlagTrue("entry_go_state")) { if (ros::Time::now().toSec() - stopped_time > time_to_avoidance_) { @@ -319,6 +323,7 @@ void DecisionMakerNode::updateGoState(cstring_t& state_name, int status) { stopped_time = ros::Time::now().toSec(); } + setEventFlag("entry_go_state", false); } void DecisionMakerNode::updateWaitState(cstring_t& state_name, int status) From 94af9207568ed783877e1cb1776f5e589f141736 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Mon, 19 Nov 2018 01:21:32 +0900 Subject: [PATCH 076/139] fixed stop button bug and mission change bug. removed DTLANE from required vector_map. --- .../decision_maker/autoware_state_drive.yaml | 12 ++++++++++++ .../decision_maker/include/decision_maker_node.hpp | 1 + .../decision_maker/decision_maker_node_callback.cpp | 1 + .../decision_maker/decision_maker_node_init.cpp | 9 +++++++++ .../decision_maker_node_state_drive.cpp | 10 ++++++++++ .../decision_maker_node_state_mission.cpp | 1 + .../decision_maker_node_state_vehicle.cpp | 5 +++-- 7 files changed, 37 insertions(+), 2 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml index d29284e5155..12669b0b63c 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml +++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml @@ -109,6 +109,9 @@ autoware_states_drive: - Key: wait Target: L_Wait + - + Key: found_obstacle_in_stopped_area + Target: L_Stop Parent: Cruise - StateName: L_Stop @@ -159,6 +162,9 @@ autoware_states_drive: - Key: wait Target: R_Wait + - + Key: found_obstacle_in_stopped_area + Target: R_Stop Parent: Cruise - StateName: R_Stop @@ -209,6 +215,9 @@ autoware_states_drive: - Key: wait Target: Wait + - + Key: found_obstacle_in_stopped_area + Target: Stop Parent: Cruise - StateName: Stop @@ -295,6 +304,9 @@ autoware_states_drive: - Key: wait Target: B_Wait + - + Key: found_obstacle_in_stopped_area + Target: B_Stop Parent: Cruise - StateName: B_Stop diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp index 3081647b5ef..b9ba58eb153 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp @@ -318,6 +318,7 @@ class DecisionMakerNode void entryReturnToLaneState(cstring_t& state_name, int status); void entryLaneChangeState(cstring_t& state_name, int status); void entryDriveEmergencyState(cstring_t& state_name, int status); + void entryStopState(cstring_t& state_name, int status); // update callback void updateWaitReadyState(cstring_t& state_name, int status); void updateWaitEngageState(cstring_t& state_name, int status); diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp index a8d3f436c24..236d38837ac 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp @@ -261,6 +261,7 @@ void DecisionMakerNode::setWaypointState(autoware_msgs::LaneArray& lane_array) bool DecisionMakerNode::drivingMissionCheck() { publishOperatorHelpMessage("Received new mission, checking now..."); + setEventFlag("received_back_state_waypoint", false); int gid = 0; for (auto& lane : current_status_.based_lane_array.lanes) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp index 83b49579a0c..7cbf9da8c60 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp @@ -187,6 +187,15 @@ void DecisionMakerNode::setupStateCallback(void) ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "B_StopLine", std::bind(&DecisionMakerNode::updateStoplineState, this, std::placeholders::_1, 0)); + ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "Stop", + std::bind(&DecisionMakerNode::entryStopState, this, std::placeholders::_1, 1)); + ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "L_Stop", + std::bind(&DecisionMakerNode::entryStopState, this, std::placeholders::_1, 1)); + ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "R_Stop", + std::bind(&DecisionMakerNode::entryStopState, this, std::placeholders::_1, 1)); + ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "B_Stop", + std::bind(&DecisionMakerNode::entryStopState, this, std::placeholders::_1, 1)); + ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "Stop", std::bind(&DecisionMakerNode::updateStopState, this, std::placeholders::_1, 1)); ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "L_Stop", diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp index fc58363141c..ef3cafde377 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp @@ -237,6 +237,11 @@ void DecisionMakerNode::entryTurnState(cstring_t& state_name, int status) tryNextState("found_stopline"); return; } + else if (isEventFlagTrue("entry_stop_state")) + { + tryNextState("found_obstacle_in_stopped_area"); + return; + } tryNextState("clear"); } @@ -301,6 +306,7 @@ void DecisionMakerNode::updateParkingState(cstring_t& state_name, int status) void DecisionMakerNode::entryGoState(cstring_t& state_name, int status) { setEventFlag("entry_go_state", true); + setEventFlag("entry_stop_state", false); } void DecisionMakerNode::updateGoState(cstring_t& state_name, int status) { @@ -332,6 +338,10 @@ void DecisionMakerNode::updateWaitState(cstring_t& state_name, int status) publishStoplineWaypointIdx(current_status_.closest_waypoint + 1); } +void DecisionMakerNode::entryStopState(cstring_t& state_name, int status) +{ + setEventFlag("entry_stop_state", true); +} void DecisionMakerNode::updateStopState(cstring_t& state_name, int status) { publishStoplineWaypointIdx(current_status_.closest_waypoint + 1); diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp index d3ae43d8071..8c40d23d96f 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp @@ -92,6 +92,7 @@ void DecisionMakerNode::updateMissionCheckState(cstring_t& state_name, int statu void DecisionMakerNode::entryMissionAbortedState(cstring_t& state_name, int status) { + tryNextState("operation_end"); } void DecisionMakerNode::updateMissionAbortedState(cstring_t& state_name, int status) { diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp index cd874a2599c..d5703fe6eb3 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp @@ -66,12 +66,13 @@ void DecisionMakerNode::updateMapInitState(cstring_t& state_name, int status) { bool vmap_loaded = false; - g_vmap.subscribe(nh_, Category::POINT | Category::LINE | Category::VECTOR | Category::AREA | Category::DTLANE | + g_vmap.subscribe(nh_, Category::POINT | Category::LINE | Category::VECTOR | Category::AREA | Category::STOP_LINE | Category::ROAD_SIGN | Category::CROSS_ROAD, ros::Duration(5.0)); vmap_loaded = - g_vmap.hasSubscribed(Category::POINT | Category::LINE | Category::AREA | Category::DTLANE | Category::STOP_LINE); + g_vmap.hasSubscribed(Category::POINT | Category::LINE | Category::AREA | + Category::STOP_LINE | Category::ROAD_SIGN); if (!vmap_loaded) { From 3e9a4c62571855b847bb7156db787aa296b213b4 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Tue, 20 Nov 2018 21:19:10 +0900 Subject: [PATCH 077/139] corrected the codes that where pointed out by sgermanserrano. --- .../state_machine_lib/state_context.hpp | 4 +- .../state_machine_lib/src/state_context.cpp | 52 ++++++++----------- .../autoware_state_vehicle.yaml | 4 +- 3 files changed, 25 insertions(+), 35 deletions(-) diff --git a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp index d2bcd7989bb..117affceafa 100644 --- a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp +++ b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp @@ -38,12 +38,11 @@ class StateContext std::shared_ptr getStatePtr(const YAML::Node& node); std::shared_ptr getStatePtr(const std::string& _state_name); std::shared_ptr getStatePtr(const uint64_t& _state_id); - void parseChildTransitionMap(const YAML::Node& node); bool isCurrentState(const std::string& state_name); public: - StateContext(const std::string& file_name, const std::string& msg_name /* = "autoware_states"*/) + StateContext(const std::string& file_name, const std::string& msg_name) { createStateMap(file_name, msg_name); root_state_ = getStartState(); @@ -58,7 +57,6 @@ class StateContext std::shared_ptr getStartState(void); void onUpdate(void); - void onEntry(uint64_t _prev_state_id); void onExit(); bool setCallback(const CallbackType& _type, const std::string& _state_name, diff --git a/ros/src/common/libs/state_machine_lib/src/state_context.cpp b/ros/src/common/libs/state_machine_lib/src/state_context.cpp index 4f93f88533f..c6b03a58c21 100644 --- a/ros/src/common/libs/state_machine_lib/src/state_context.cpp +++ b/ros/src/common/libs/state_machine_lib/src/state_context.cpp @@ -6,6 +6,7 @@ #include #include #include +#include #include @@ -93,7 +94,7 @@ void StateContext::nextState(const std::string& transition_key) return; } - if (state_map_[transition_state_id]->getParent()) + if (state_map_.at(transition_state_id)->getParent()) { DEBUG_PRINT("[Child]:TransitionState: %d -> %d\n", state->getStateID(), transition_state_id); @@ -101,29 +102,29 @@ void StateContext::nextState(const std::string& transition_key) do { - if (in_state == state_map_[transition_state_id]->getParent()) + if (in_state == state_map_.at(transition_state_id)->getParent()) { if (in_state->getChild()) { key_list.push_back(in_state->getChild()->getEnteredKey()); in_state->getChild()->onExit(); } - in_state->setChild(state_map_[transition_state_id]); + in_state->setChild(state_map_.at(transition_state_id)); break; } in_state = in_state->getChild(); } while (in_state); createDOTGraph(dot_output_name); - state_map_[transition_state_id]->setEnteredKey(transition_key); - state_map_[transition_state_id]->onEntry(); + state_map_.at(transition_state_id)->setEnteredKey(transition_key); + state_map_.at(transition_state_id)->onEntry(); } else { DEBUG_PRINT("[Root]:TransitionState: %d -> %d\n", state->getStateID(), transition_state_id); state->onExit(); - root_state_ = state_map_[transition_state_id]; + root_state_ = state_map_.at(transition_state_id); root_state_->setChild(nullptr); root_state_->setParent(nullptr); root_state_->setEnteredKey(transition_key); @@ -152,11 +153,11 @@ void StateContext::createGraphTransitionList(std::ofstream& outputfile, int idx, /* FIX THIS * Not support single state, which state is integrated before state circle.....;( * */ - if (!sublist[idx].empty() || state_map_[idx]->getParent() == NULL) + if (!sublist[idx].empty() || state_map_.at(idx)->getParent() == NULL) { outputfile << "subgraph cluster_" << idx << "{\n" - << "label = \"" << state_map_[idx]->getStateName() << "\";\n"; - if (!state_map_[idx]->getParent()) + << "label = \"" << state_map_.at(idx)->getStateName() << "\";\n"; + if (!state_map_.at(idx)->getParent()) { outputfile << "group = 1;\n"; } @@ -167,24 +168,24 @@ void StateContext::createGraphTransitionList(std::ofstream& outputfile, int idx, } } - for (auto& map : state_map_[idx]->getTransitionMap()) + for (auto& map : state_map_.at(idx)->getTransitionMap()) { - if ((state_map_[map.second]->getParent() == state_map_[idx]->getParent() || - state_map_[map.second]->getParent() == state_map_[idx]) && - state_map_[map.second]->getParent() != NULL) + if ((state_map_.at(map.second)->getParent() == state_map_.at(idx)->getParent() || + state_map_.at(map.second)->getParent() == state_map_.at(idx)) && + state_map_.at(map.second)->getParent() != NULL) { outputfile << idx << "->" << map.second << " [label=\"" << map.first << "\"];\n"; } } - if (!sublist[idx].empty() || state_map_[idx]->getParent() == NULL) + if (!sublist[idx].empty() || state_map_.at(idx)->getParent() == NULL) { outputfile << "}\n"; } - for (auto& map : state_map_[idx]->getTransitionMap()) + for (auto& map : state_map_.at(idx)->getTransitionMap()) { - if ((state_map_[map.second]->getParent() != state_map_[idx]->getParent() && - state_map_[map.second]->getParent() != state_map_[idx]) || - state_map_[map.second]->getParent() == NULL) + if ((state_map_.at(map.second)->getParent() != state_map_.at(idx)->getParent() && + state_map_.at(map.second)->getParent() != state_map_.at(idx)) || + state_map_.at(map.second)->getParent() == NULL) { outputfile << idx << "->" << map.second << " [label=\"" << map.first << "\"];\n"; } @@ -258,7 +259,7 @@ uint64_t StateContext::getStateIDbyName(std::string _name) return i.second->getStateID(); } } - return 0; + return UINT64_MAX; } std::string StateContext::getAvailableTransition(void) @@ -270,7 +271,7 @@ std::string StateContext::getAvailableTransition(void) { for (const auto& keyval : state->getTransitionMap()) { - text += keyval.first + ":" + state_map_[keyval.second]->getStateName() + ","; + text += keyval.first + ":" + state_map_.at(keyval.second)->getStateName() + ","; } state = state->getChild(); } while (state != nullptr); @@ -324,16 +325,7 @@ std::shared_ptr StateContext::getStatePtr(const std::string& _state_name) std::shared_ptr StateContext::getStatePtr(const uint64_t& _state_id) { - return state_map_[_state_id]; -} - -void StateContext::parseChildTransitionMap(const YAML::Node& node) -{ - for (unsigned int j = 0; j < node.size(); j++) - { - setTransitionMap(node[j]["Transition"], getStatePtr(node[j])); - parseChildTransitionMap(node[j]["Child"]); - } + return state_map_.at(_state_id); } void StateContext::createStateMap(std::string _state_file_name, std::string _msg_name) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml index 5c016f7360c..66b842f88db 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml +++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml @@ -54,10 +54,10 @@ autoware_states_vehicle: Transition: - Key: emergency - Target: Emergency + Target: VehicleEmergency Parent: ~ - - StateName: Emergency + StateName: VehicleEmergency Transition: - Key: return_from_emergency From 02b57f9b9be76df794b7d686a2473747a347d1ec Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Wed, 21 Nov 2018 19:48:45 +0900 Subject: [PATCH 078/139] removed unnecessary codes. --- .../include/decision_maker_node.hpp | 2 - .../decision_maker_node_callback.cpp | 47 ----------- .../decision_maker_node_decision.cpp | 8 -- .../decision_maker_node_init.cpp | 83 ------------------- .../decision_maker_node_state_drive.cpp | 4 - 5 files changed, 144 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp index b9ba58eb153..a7459859a35 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp @@ -228,7 +228,6 @@ class DecisionMakerNode bool isArrivedGoal(void); bool isCrossRoadByVectorMapServer(const autoware_msgs::Lane& lane_msg, const geometry_msgs::PoseStamped& pose_msg); bool isLocalizationConvergence(const geometry_msgs::Point& _current_point); - bool handleStateCmd(const uint64_t _state_num); void insertPointWithinCrossRoad(const std::vector& _intersects, autoware_msgs::LaneArray& lane_array); void setWaypointState(autoware_msgs::LaneArray& lane_array); bool waitForEvent(cstring_t& key, const bool& flag); @@ -365,7 +364,6 @@ class DecisionMakerNode void callbackFromTwistCmd(const geometry_msgs::TwistStamped& msg); void callbackFromSimPose(const geometry_msgs::PoseStamped& msg); void callbackFromConfig(const autoware_config_msgs::ConfigDecisionMaker& msg); - void callbackFromObjectDetector(const autoware_msgs::CloudClusterArray& msg); void callbackFromStateCmd(const std_msgs::String& msg); void callbackFromObstacleWaypoint(const std_msgs::Int32& msg); diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp index 236d38837ac..1d929c1d6a8 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp @@ -64,53 +64,6 @@ void DecisionMakerNode::callbackFromLightColor(const ros::MessageEventisCurrentState(state_machine::DRIVE_STATE)) - { - if (msg.clusters.size()) - { - // if euclidean_cluster does not use wayarea, it may always founded. - for (const auto cluster : msg.clusters) - { - geometry_msgs::PoseStamped cluster_pose; - geometry_msgs::PoseStamped baselink_pose; - cluster_pose.pose = cluster.bounding_box.pose; - cluster_pose.header = cluster.header; - - tflistener_baselink.transformPose(cluster.header.frame_id, cluster.header.stamp, cluster_pose, "base_link", - baselink_pose); - - if (detectionArea_.x1 * param_detection_area_rate_ >= baselink_pose.pose.position.x && - baselink_pose.pose.position.x >= detectionArea_.x2 * param_detection_area_rate_ && - detectionArea_.y1 * param_detection_area_rate_ >= baselink_pose.pose.position.y && - baselink_pose.pose.position.y >= detectionArea_.y2 * param_detection_area_rate_) - { - l_detection_flag = true; - setFlagTime = ros::Time::now().toSec(); - break; - } - } - } - } - /* The true state continues for more than 1 second. */ - if (l_detection_flag || (ros::Time::now().toSec() - setFlagTime) >= 1.0 /*1.0sec*/) - { - foundOtherVehicleForIntersectionStop_ = l_detection_flag; - } -#endif -} - void DecisionMakerNode::insertPointWithinCrossRoad(const std::vector& _intersects, autoware_msgs::LaneArray& lane_array) { diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp index 6c5412ed0bb..5d5b7c1e360 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp @@ -118,12 +118,4 @@ bool DecisionMakerNode::isArrivedGoal() } return false; } -bool DecisionMakerNode::handleStateCmd(const uint64_t _state_num) -{ - bool _ret = false; - - /* todo */ - /* key */ - return _ret; -} } diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp index 7cbf9da8c60..85e0f97e12b 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp @@ -303,90 +303,7 @@ void DecisionMakerNode::initROS() spinners = std::shared_ptr(new ros::AsyncSpinner(3)); spinners->start(); -#if 0 - // message setup - state_text_msg.width = 400; - state_text_msg.height = 500; - state_text_msg.top = 10; - state_text_msg.left = 10; - state_text_msg.bg_color.r = 0; - state_text_msg.bg_color.g = 0; - state_text_msg.bg_color.b = 0; - state_text_msg.bg_color.a = 0.8; - - state_text_msg.line_width = 2; - state_text_msg.text_size = 18; - state_text_msg.font = "DejaVu Sans Mono"; - state_text_msg.fg_color.r = 0.1; - state_text_msg.fg_color.g = 1.0; - state_text_msg.fg_color.b = 0.94; - state_text_msg.fg_color.a = 0.8; - state_text_msg.text = "UNDEFINED"; -#endif update_msgs(); - -#if 0 - // status subscriber - Subs["sim_pose"] = nh_.subscribe("sim_pose", 20, &DecisionMakerNode::callbackFromSimPose, this); - Subs["current_pose"] = nh_.subscribe("current_pose", 20, &DecisionMakerNode::callbackFromCurrentPose, this); - Subs["current_velocity"] = - nh_.subscribe("current_velocity", 20, &DecisionMakerNode::callbackFromCurrentVelocity, this); - Subs["light_color"] = nh_.subscribe("light_color", 10, &DecisionMakerNode::callbackFromLightColor, this); - Subs["final_waypoints"] = nh_.subscribe("final_waypoints", 100, &DecisionMakerNode::callbackFromFinalWaypoint, this); - Subs["twist_cmd"] = nh_.subscribe("twist_cmd", 10, &DecisionMakerNode::callbackFromTwistCmd, this); - Subs["change_flag"] = nh_.subscribe("change_flag", 1, &DecisionMakerNode::callbackFromLaneChangeFlag, this); - Subs["state_cmd"] = nh_.subscribe("state_cmd", 1, &DecisionMakerNode::callbackFromStateCmd, this); - Subs["closest_waypoint"] = - nh_.subscribe("closest_waypoint", 1, &DecisionMakerNode::callbackFromClosestWaypoint, this); - Subs["cloud_clusters"] = nh_.subscribe("cloud_clusters", 1, &DecisionMakerNode::callbackFromObjectDetector, this); - - Subs["state_cmd"] = nh_.subscribe("/state_cmd", 1, &DecisionMakerNode::callbackFromStateCmd, this); - Subs["current_velocity"] = - nh_.subscribe("/current_velocity", 1, &DecisionMakerNode::callbackFromCurrentVelocity, this); - Subs["obstacle_waypoint"] = - nh_.subscribe("/obstacle_waypoint", 1, &DecisionMakerNode::callbackFromObstacleWaypoint, this); - Subs["change_flag"] = nh_.subscribe("/change_flag", 1, &DecisionMakerNode::callbackFromLaneChangeFlag, this); -} -void DecisionMakerNode::createPublisher(void) -{ - // pub - Pubs["state/stopline_wpidx"] = nh_.advertise("/state/stopline_wpidx", 1, false); - - // for controlling other planner - Pubs["lane_waypoints_array"] = nh_.advertise(TPNAME_CONTROL_LANE_WAYPOINTS_ARRAY, 10, true); - Pubs["light_color"] = nh_.advertise("/light_color_managed", 1); - - // for controlling vehicle - Pubs["lamp_cmd"] = nh_.advertise("/lamp_cmd", 1); - - // for visualize status - Pubs["state_overlay"] = nh_.advertise("/state/overlay_text", 1); - Pubs["crossroad_marker"] = nh_.advertise("/state/cross_road_marker", 1); - Pubs["crossroad_inside_marker"] = nh_.advertise("/state/cross_inside_marker", 1); - Pubs["crossroad_bbox"] = nh_.advertise("/state/crossroad_bbox", 10); - Pubs["detection_area"] = nh_.advertise("/state/detection_area", 1); - Pubs["stopline_target"] = nh_.advertise("/state/stopline_target", 1); - - // for debug - Pubs["target_velocity_array"] = nh_.advertise("target_velocity_array", 1); - Pubs["operator_help_text"] = private_nh_.advertise("operator_help_text", 1, true); -} - -void DecisionMakerNode::initROS() -{ - // for subscribe callback function - - ctx->nextState("started"); - - spinners = std::shared_ptr(new ros::AsyncSpinner(3)); - spinners->start(); - - ROS_INFO("Initialized OUT\n"); - // ctx->setCurrentState(state_machine::LOCATEVEHICLE_STATE); - - Subs["lane_waypoints_array"] = - nh_.subscribe(TPNAME_BASED_LANE_WAYPOINTS_ARRAY, 100, &DecisionMakerNode::callbackFromLaneWaypoint, this); -#endif } void DecisionMakerNode::initVectorMap(void) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp index ef3cafde377..7e22100df7e 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp @@ -275,14 +275,10 @@ void DecisionMakerNode::updateRightLaneChangeState(cstring_t& state_name, int st void DecisionMakerNode::updateCheckLeftLaneState(cstring_t& state_name, int status) { - /* need safety check function */ - // static bool is_target_lane_safe = false; } void DecisionMakerNode::updateCheckRightLaneState(cstring_t& state_name, int status) { - /* need safety check function */ - // static bool is_target_lane_safe = false; } void DecisionMakerNode::updateChangeToLeftState(cstring_t& state_name, int status) From e83693b32c9b120b8eb5006bd4b56e9d2e8cec49 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Thu, 22 Nov 2018 17:59:39 +0900 Subject: [PATCH 079/139] removed unnecessary codes. parameterized reset_count of stopline function. --- ros/src/common/libs/state_machine_lib/src/state_context.cpp | 3 --- .../packages/decision_maker/include/decision_maker_node.hpp | 3 +++ .../packages/decision_maker/launch/decision_maker.launch | 2 ++ .../nodes/decision_maker/decision_maker_node_callback.cpp | 3 --- .../nodes/decision_maker/decision_maker_node_state_drive.cpp | 2 +- 5 files changed, 6 insertions(+), 7 deletions(-) diff --git a/ros/src/common/libs/state_machine_lib/src/state_context.cpp b/ros/src/common/libs/state_machine_lib/src/state_context.cpp index c6b03a58c21..515c2d3b578 100644 --- a/ros/src/common/libs/state_machine_lib/src/state_context.cpp +++ b/ros/src/common/libs/state_machine_lib/src/state_context.cpp @@ -150,9 +150,6 @@ void StateContext::nextState(const std::string& transition_key) void StateContext::createGraphTransitionList(std::ofstream& outputfile, int idx, std::map>& sublist) { - /* FIX THIS - * Not support single state, which state is integrated before state circle.....;( - * */ if (!sublist[idx].empty() || state_map_.at(idx)->getParent() == NULL) { outputfile << "subgraph cluster_" << idx << "{\n" diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp index a7459859a35..e5c5e96580f 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp @@ -181,6 +181,7 @@ class DecisionMakerNode double time_to_avoidance_; double goal_threshold_dist_; double goal_threshold_vel_; + int stopline_reset_count_; // for vectormap server // ros::ServiceClient cross_road_cli; @@ -407,6 +408,8 @@ class DecisionMakerNode init(); setupStateCallback(); + stopline_reset_count_ = 20; + private_nh_.getParam("stopline_reset_count", stopline_reset_count_); current_status_.prev_stopped_wpidx = -1; } diff --git a/ros/src/computing/planning/decision/packages/decision_maker/launch/decision_maker.launch b/ros/src/computing/planning/decision/packages/decision_maker/launch/decision_maker.launch index ebc8dd90877..bf508b0c906 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/launch/decision_maker.launch +++ b/ros/src/computing/planning/decision/packages/decision_maker/launch/decision_maker.launch @@ -3,11 +3,13 @@ + + diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp index 1d929c1d6a8..fca5d0ac9d0 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp @@ -22,9 +22,6 @@ namespace decision_maker void DecisionMakerNode::callbackFromFilteredPoints(const sensor_msgs::PointCloud2::ConstPtr& msg) { setEventFlag("received_pointcloud_for_NDT", true); - - /* todo */ - /* create timer for flags reset */ } void DecisionMakerNode::callbackFromSimPose(const geometry_msgs::PoseStamped& msg) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp index 7e22100df7e..636b6779eb2 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp @@ -102,7 +102,7 @@ std::pair DecisionMakerNode::getStopSignStateFromWaypoint(void) static const double g = 9.80665; static const double margin = 5; static const double reaction_time = 0.3 + margin; // system delay(sec) - static const size_t reset_count = 20; // + static const size_t reset_count = stopline_reset_count_; const double velocity = amathutils::kmph2mps(current_status_.velocity); const double free_running_distance = reaction_time * velocity; From 11226e2a7051f6f16f53968c48c19b0dcb463932 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Wed, 28 Nov 2018 17:54:17 +0900 Subject: [PATCH 080/139] removed unnecessary codes. add exception handling for getStateIDbyName function in state_context.cpp. --- .../state_machine_lib/state_context.hpp | 3 +- .../state_machine_lib/src/state_context.cpp | 28 +++++++++++-------- 2 files changed, 18 insertions(+), 13 deletions(-) diff --git a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp index 117affceafa..758abf64b2b 100644 --- a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp +++ b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp @@ -32,7 +32,7 @@ class StateContext state_map_[child]->setParent(state_map_[parent]); } uint64_t parseChildState(const YAML::Node& node, uint64_t _id_counter, uint64_t _parent_id); - uint64_t getStateIDbyName(std::string _name); + int32_t getStateIDbyName(std::string _name); void setTransitionMap(const YAML::Node& node, const std::shared_ptr& _state); std::shared_ptr getStatePtr(const YAML::Node& node); @@ -57,7 +57,6 @@ class StateContext std::shared_ptr getStartState(void); void onUpdate(void); - void onExit(); bool setCallback(const CallbackType& _type, const std::string& _state_name, const std::function& _f); diff --git a/ros/src/common/libs/state_machine_lib/src/state_context.cpp b/ros/src/common/libs/state_machine_lib/src/state_context.cpp index 515c2d3b578..15f7f817b37 100644 --- a/ros/src/common/libs/state_machine_lib/src/state_context.cpp +++ b/ros/src/common/libs/state_machine_lib/src/state_context.cpp @@ -28,21 +28,21 @@ bool StateContext::setCallback(const CallbackType& _type, const std::string& _st const std::function& _f) { bool ret = false; - uint64_t _state_id = getStateIDbyName(_state_name); - if (getStatePtr(_state_id)) + int32_t _state_id = getStateIDbyName(_state_name); + if (_state_id != -1 && getStatePtr(static_cast(_state_id))) { switch (_type) { case CallbackType::UPDATE: - getStatePtr(_state_id)->setCallbackUpdate(_f); + getStatePtr(static_cast(_state_id))->setCallbackUpdate(_f); ret = true; break; case CallbackType::ENTRY: - getStatePtr(_state_id)->setCallbackEntry(_f); + getStatePtr(static_cast(_state_id))->setCallbackEntry(_f); ret = true; break; case CallbackType::EXIT: - getStatePtr(_state_id)->setCallbackExit(_f); + getStatePtr(static_cast(_state_id))->setCallbackExit(_f); ret = true; break; default: @@ -247,16 +247,16 @@ std::shared_ptr StateContext::getStartState() return nullptr; } -uint64_t StateContext::getStateIDbyName(std::string _name) +int32_t StateContext::getStateIDbyName(std::string _name) { for (const auto& i : state_map_) { if (i.second->getStateName() == _name) { - return i.second->getStateID(); + return static_cast(i.second->getStateID()); } } - return UINT64_MAX; + return -1; } std::string StateContext::getAvailableTransition(void) @@ -294,7 +294,11 @@ void StateContext::setTransitionMap(const YAML::Node& node, const std::shared_pt { for (unsigned int j = 0; j < node.size(); j++) { - _state->addTransition(node[j]["Key"].as(), getStateIDbyName(node[j]["Target"].as())); + int32_t state_id = getStateIDbyName(node[j]["Target"].as()); + if (state_id == -1) + continue; + + _state->addTransition(node[j]["Key"].as(), static_cast(state_id)); } } @@ -314,10 +318,12 @@ std::shared_ptr StateContext::getStatePtr(const YAML::Node& node) std::shared_ptr StateContext::getStatePtr(const std::string& _state_name) { - if (_state_name == "~") + int32_t state_id = getStateIDbyName(_state_name); + + if (_state_name == "~" || state_id == -1) return nullptr; else - return getStatePtr(getStateIDbyName(_state_name)); + return getStatePtr(static_cast(state_id)); } std::shared_ptr StateContext::getStatePtr(const uint64_t& _state_id) From 72d0b6392362e5e4d676398342a989e3943cfb7b Mon Sep 17 00:00:00 2001 From: mitsudome-r Date: Thu, 27 Dec 2018 20:57:35 +0900 Subject: [PATCH 081/139] initial commit for decision_maker README.md --- .../packages/decision_maker/README.md | 172 ++++++------------ 1 file changed, 51 insertions(+), 121 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/README.md b/ros/src/computing/planning/decision/packages/decision_maker/README.md index 2884e619199..3228fcfaa9d 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/README.md +++ b/ros/src/computing/planning/decision/packages/decision_maker/README.md @@ -1,44 +1,24 @@ # Decision Maker -## Overview -**This feature is experimental.**
-Autoware package that manages the Vehicle status, given Mission(waypoints) status, and Driving(Motion) status. -Each status is managed by state machine. - -### Vehicle - +### Overview +Autoware package that visualize internal state and publish some commands. -### Mission - - -### Driving - - -## Runtime Manager Parameters +### Parameters from runtime manager Parameter|Type|Description --|---|-- -auto_mission_reload|Bool|(default: *false*)
If this is set true, decision maker automatically reloads mission as new mission after previous mission is completed. -auto_engage|Bool|(default: *false*)
If this is set true, decision maker automatically engage immediately after ready to drive. -auto_mission_change|Bool|(default: *false*)
If this is set true, decision maker automatically change the mission(waypoint) without state_cmd when new mission is loaded while driving. -use_fms|Bool|(default: *false*)
This must be true in order to incoorporate with [Autoware Management System](https://github.com/CPFL/AMS) +enable_display_marker|Bool|(default: *false*)
not used +auto_mission_reload|Bool|(default: *false*)
If this is set true, decision maker automatically reloads mission after mission is completed. +use_management_system|Bool|(default: *false*)
This must be true in order to incoorporate with [Autoware Management System](https://github.com/CPFL/AMS) disuse_vector_map|Bool|(default: *false*)
If set *true*, decision_maker will exit "MapInitState" even if vector map is not successfully loaded. num_of_steer_behind|Int|(default: *20*)
lookup distance along waypoints to determine steering state(straight, turning right, or turning left) -change_threshold_dist|Double|(default: *1*)
This is relevent only if *use_fms* is *true*.
If the distance from vehicle to closest waypoint in the new mission is further than *change_threshold_dist* [m], mission change fails. -change_threshold_angle|Double|(default:*15*)
This is relevent only if *use_fms* is *true*.
If the angle from vehicle to closest waypoint in the new mission is further than this *change_threshold_dist* [deg], mission change fails. +change_threshold_dist|Double|(default: *1*)
This is relevent only if *use_management_system* is *true*.
If the distance from vehicle to closest waypoint in the new mission is further than *change_threshold_dist* [m], mission change fails. +change_threshold_angle|Double|(default:*15*)
This is relevent only if *use_management_system* is *true*.
If the angle from vehicle to closest waypoint in the new mission is further than this *change_threshold_dist* [deg], mission change fails. time_to_avoidance|Double|(default: *3*)
If the vehicle is stuck for *time_to_avoidance* seconds (e.g. due to obstacles), the state transits to from "Go" to "Avoidance". goal_threshold_dist|Double|(default: *3*)
Threshold used to check if vehicle has reached to the goal (i.e. end of waypoints). The vehicle must be less than *goal_threshold_dist* [m] to the goal. goal_threshold_vel|Double|(default: *0.1*)
Threshold used to check if vehicle has reached to the goal (i.e. end of waypoints). The vehicle must be less than *goal_threshold_vel* [m/s] to be treated as goal arrival. -## ROS Parameters -Parameter|Type|Description ---|---|-- -state_vehicle_file_name|string|file that defines vehicle state transition -state_mission_file_name|string|file that defines mission state transition -state_drive_file_name|string|file that defines drive state transition -stopline_reset_count|int|This parameter is used if the vehicle stops at the stop line and moves backward without crossing the stop line. When the vehicle moves backward by this count of the waypoints, the stop line is recognized again. - -## Subscribed topics +### Subscribed topics Topic|Type|Objective --|---|-- /based/lane_waypoints_array|autoware_msgs/LaneArray|waypoints for the vehicle to follow. (e.g. waypoints given from waypoint_loader node) @@ -48,9 +28,10 @@ Topic|Type|Objective /current_pose|geometry_msgs/PoseStamped|Current pose of vehicle /current_velocity|geometry_msgs/TwistStamped|Current velocity of vehicle /filtered_points|sensor_msgs/PointCloud2|Used to check if sensor data is ready. This is meant to give pointcloud data used for ndt_matching. -/final_waypoints|autoware_msgs/Lane|resultant waypoints from planner nodes, e.g. from velocity_set node. +/lane_waypoints_array|autoware_msgs/LaneArray| +/final_waypoints|autoware_msgs/Lane| /obstacle_waypoint|std_msgs/Int32|Obstacle waypoint index. Used in "Go" state. -/state_cmd|std_msgs/String|Decision_maker will try to transit state according to the key given through this topic. +/state_cmd|std_msgs/String|Decision_maker will try to transit state according to key given by through this topic. /vector_map_info/area|vector_map_msgs/AreaArray|Area information from vector map.
This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed. /vector_map_info/cross_road|vector_map_msgs/CrossRoadArray|Cross road information from vector map.
This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed. /vector_map_info/line|vector_map_msgs/LineArray|Line information from vector map.
This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed. @@ -60,106 +41,55 @@ Topic|Type|Objective /vector_map_info/vector|vector_map_msgs/VectorArray|Vector information from vector map.
This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed. -## Published topics +### Published topics Topic|Type|Objective --|---|-- -/decision_maker/available_transition|std_msgs/String|available transition from current state -/decision_maker/operator_help_text|jsk_rviz_plugins/OverlayText|Help message during operation -/decision_maker/state|std_msgs/String|current state for "Vehicle", "Mission", and "Drive" state machine. -/decision_maker/state_msg|autoware_msgs/State|current state for "Vehicle", "Mission", and "Drive" state machine with header. -/lamp_cmd|autoware_msgs/LampCmd|blinker command to vehicle (0=straight, 1=right, 2=left) -/lane_waypoints_array|autoware_msgs/LaneArray|waypoints passed down to following planners. (e.g. lane_rule) -/light_color_managed|autoware_msgs/TrafficLight|meant to publish light_color status. Not implemented yet. -/decision_maker/state_overlay|jsk_rviz_plugins/OverlayText|Current state as overlay_txt. -/state/stopline_wpidx|std_msgs/Int32|Index of waypoint for the vehicle to stop. -/decision_maker/target_velocity_array|std_msgs/Float64MultiArray| Array of target velocity obtained from final_waypoints. - - -## State Description -### Vehicle States -State name|Required topic|Description|Implementation ---|--|---|-- -Init|-|The parent state of the following states.|- -SensorInit|/filtered_points|Waits until all sensors are ready.|Waits until /filtered_points is received unless wf_simulator node is launched. -MapInit||Waits until vector map is ready|Waits until vector_map is subscribed if disuse_vector_map is set false. -LocalizationInit|/current_pose|Waits until localizer is ready | Waits until current_pose is converged. (i.e. ndt_matching is stable.) -PlanningInit|/closest_waypoint|Waits unil planners are ready | Subscriber is set for /closest_waypoint. -VehicleInit|-|Waits until vehicle is ready for departure.|No implementation goes directly to vehilce ready state. -VehicleReady|-|Vehicle is ready to move.|Exits to VehicleEmergency when `emergency` key is given by state_cmd from other states, or if `emergency_flag` is set true by other states. -VehicleEmergency|-|Emergency is detected somewhere in the system. |Waits until `return_from_emergency` or `return_to_ready` key is by /state_cmd (e.g. by DecisionMakerPanel) - -### Mission States -State name|Required topic|Description|Implementation ---|--|---|-- -WaitVehicleReady|-|Waits until vehicle setup is done|Waits until vehicle_is_ready key is given from Vehicle State Machine -WaitOrder|/based_lane_array|wayits until mission is given. | waits until base_lane_array is received. -MissionCheck|/final_waypoints
/current_waypoint|Waits until all the planners are ready. |Waits until /final_waypoints (from planner nodes) and /current_waypoint are received. -DriveReady|-|Given Mission is approved and vehicle is ready to move. |Waits until engage or mission_canceled key is given. -Driving|-|The vehicle is driving. According to the planner nodes|Sets operation_start key. Goes to MissionAborted in case of emergency. -DrivingMissionChange|/based/lane_waypoints_array|Waits for new mission while the vehicle keeps driving. | Waits until new /based/lane_waypoints_array is sent from management system. Then, checks if the waypoint is compatible or not depending on change_threshold_dist and change_threshold_angle parameters. Publish the new mission as /lane_waypoints_array if compatible. -MissionChangeSucceeded|-|New waypoints are compatible and vehicle will start following the new mission. | Throws return_to_driving key after 1 second if use_fms is set false. -MissionChangeFailed|-|New waypoints are NOT compatible and vehicle will continue following the old mission. | Throws return_to_driving key after 1 second if use_fms is set false. -MissionComplete|-|Vehicle has reached the goal.|If use_fms is false and auto_mission_reload is true, go to MissionCheck state. Otherwise, got to WaitOrder state after 1 second. -MissionAborted|-|Mission is aborted by other nodes(e.g. by AMS). | Throws operation_end to Drving State Machine. Then, go to wait order automatically if use_fms is false, otherwise waits until goto_wait_order key is given by management system. - -### Driving States -State name|Required topic|Description|Implementation ---|--|---|-- -WaitReady|-|Waits until vehicle setup is done|Waits until vehicle_is_ready key is given from Vehicle State Machine -WaitEngage|-|Waits for engage button in DecisionMakerPanel to be pressed|Waits until engage key is given by DecisionMakerPanel -DriveEmergency|-|Vehicle is stopping due to emergency |Throws mission_aborted key -Drive|/closest_waypoint|Vehicle drives according to the waypoint|mission_aborted key if waypoint is far from the vehicle.(i.e. vehicle moves out of the waypoint) Throws arrived_goal key if vehicle is near the end of the waypoints. -LaneArea|/final_waypoints|Vehicle is driving within lanes| Throws on_bus_stop key if waypoint state has bus stop event, otherwise, throws on_cruise key. -Cruise|-|Vehicle Drives along the waypoint|Throws on_left_turn, on_right_turn, on_straight, lane_change_left, or lane_change_right key depending on waypoint state and change flags. -Straight|-|Vehicle is driving along lane (i.e. not turning at intersection)| publish /lamp_cmd to clear blinkers -Stop|-|vehicle is stopping since stop signal is sent from other nodes (e.g. by stop button on decisionMakerPanel)|Publishes /state/stopline_wpidx with the index = closest_waypoint + 1. -Wait|-|Vehilce is waiting (e.g. due to safety reason)|Publishes /state/stopline_wpidx with the index = closest_waypoint + 1. -Go|-|Vehicle is moving|Throws found_stopline if stopline is nearby. Throws completely_stopped if vehicle stops due to obstacle. -StopLine|/vector_map_info/stop_line|Vehicle is stopping due to stop line|Throws clear key after vehicle stops for 0.5 seconds. -LeftTurn|-|Vehicle is turning left at intersection. Change blinker to left. | Publish /lamp_cmd to change blinker. -L_Stop|-|Same as Stop State|Same as Stop State -L_Wait|-|Same as Wait State|Same as Wait State -L_Go|-|Same as Go State|Same as Go State -L_StopLine|-|Same as StopLine State|Same as StopLine State -RightTurn|-|Vehicle is turning right at intersection. Change blinker to right. | Publish /lamp_cmd to change blinker. -R_Stop|-|Same as Stop State|Same as Stop State -R_Wait|-|Same as Wait State|Same as Wait State -R_Go|-|Same as Go State|Same as Go State -R_StopLine|-|Same as StopLine State|Same as StopLine State -Back|-|Vehicle is moving backwards|Publish /lamp_cmd to clear blinkers -B_Stop|-|Same as Stop State|Same as Stop State -B_Wait|-|Same as Wait State|Same as Wait State -B_Go|-|Same as Go State|Same as Go State -B_StopLine|-|Same as StopLine State|Same as StopLine State -LeftLaneChange|-|Vehicle is switching to left lane|publish /lamp_cmd to change blinker to left. -CheckLeftLane|-|Check if it is safe to change lane to left|No implementation. -ChangeToLeft|-|Change to left lane|No implementation. -RightLaneChange|-|Vehicle is switching to right lane|publish /lamp_cmd to change blinker to right. -CheckRightLane|-|Check if it is safe to change lane to left|No implementation. -ChangeToRight|-|Change to left lane|No implementation. -BusStop|-|Vehicle is approaching to bus stop(not supported yet)| No implementation. -PullIn|-|Vehicle is pulling in to bus stop| publish /lamp_cmd to change blinker to left. -PullOut|-|Vehicle is pulling out from bus stop|publish /lamp_cmd to change blinker to right. -FreeArea|-|Vehicle is driving in free space(e.g. parking area)(not supported yet)|No implementation. -Parking|-|Vehicle is parking|Publish /lamp_cmd to change blinker to hazard. +/decision_maker/available_transition|std_msgs/String| +/decision_maker/operator_help_text|jsk_rviz_plugins/OverlayText| +/decision_maker/state|std_msgs/String| +/lamp_cmd|autoware_msgs/LampCmd| +/lane_waypoints_array|autoware_msgs/LaneArray| +/light_color_managed|autoware_msgs/TrafficLight| +/state/cross_inside_marker|visualization_msgs/Marker| +/state/cross_road_marker|visualization_msgs/MarkerArray| +/state/crossroad_bbox|jsk_recognition_msgs/BoundingBoxArray| +/state/overlay_text|jsk_rviz_plugins/OverlayText| +/state/stopline_target|visualization_msgs/Marker| +/state/stopline_wpidx|std_msgs/Int32| +/target_velocity_array|std_msgs/Float64MultiArray| + +### Requirements of each state or behavior + +- ##### Initialize + +State name|Required topic|Description +--|---|-- +Init|-|The parent state of the following states. +SensorInit|/filtered_points| +MapInit|| +LocalizationInit|/current_pose| +PlanningInit|/closest_waypoint| +VehicleInit|-| -## Basic Usage in Autoware +- ##### Ready to driving + 1. Launch Autoware and localization on real vehicle or wf_simulator + 2. Launch `decision_maker` and lane_planner, astar_planner, waypoint_follower + 3. When `VehicleReady` and `WaitOrder` state, launch `waypoint_loader` + 4. On `DriveReady` state, push `Engage` button on DecisionMakerPannel + 5. When the vehicle reaches the end of waypoint and stops, state Mission state transits to `WaitOrder` via the `MissionComplete` + 6. You can repeat from 3. with other waypoint -### Start Driving -1. Launch Autoware and localization on real vehicle or wf_simulator -2. Launch `decision_maker` and lane_planner, astar_planner, waypoint_follower -3. When `VehicleReady` and `WaitOrder` state, launch `waypoint_loader` -4. On `DriveReady` state, push `Engage` button on DecisionMakerPannel -5. When the vehicle reaches the end of waypoint and stops, state Mission state transits to `WaitOrder` via the `MissionComplete` -6. You can repeat from 3. with other waypoint +- ##### Move backward -### Lane change +- ##### Lane change 1. Start Normal driving with waypoint files necessary for lane change 2. On `CheckLeft` or `RightLane` state, push `Execute LaneChange` button on DecisionMakerPannel 3. The vehicle start lane change -### Driving mission change +- ##### Stop at stop line + +- ##### Driving mission change 1. Prepare waypoint files to change, and start Normal driving 2. On `Driving` state, push `Request mission change` button on DecisionMakerPannel 3. When the state becomes `DrivingMissionChange`, please load another waypoint for change From 7a48ecf278afb34522c6a9865d00a6ace0f3eda4 Mon Sep 17 00:00:00 2001 From: mitsudome-r Date: Thu, 27 Dec 2018 23:14:06 +0900 Subject: [PATCH 082/139] modified README.md for decision_maker --- .../planning/decision/packages/decision_maker/README.md | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/README.md b/ros/src/computing/planning/decision/packages/decision_maker/README.md index 3228fcfaa9d..dae1006fcd9 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/README.md +++ b/ros/src/computing/planning/decision/packages/decision_maker/README.md @@ -7,7 +7,7 @@ Autoware package that visualize internal state and publish some commands. Parameter|Type|Description --|---|-- enable_display_marker|Bool|(default: *false*)
not used -auto_mission_reload|Bool|(default: *false*)
If this is set true, decision maker automatically reloads mission after mission is completed. +auto_mission_reload|Bool|(default: *false*)
If this is set true, decision maker automatically reloads mission as new mission after previous mission is completed. use_management_system|Bool|(default: *false*)
This must be true in order to incoorporate with [Autoware Management System](https://github.com/CPFL/AMS) disuse_vector_map|Bool|(default: *false*)
If set *true*, decision_maker will exit "MapInitState" even if vector map is not successfully loaded. num_of_steer_behind|Int|(default: *20*)
lookup distance along waypoints to determine steering state(straight, turning right, or turning left) @@ -28,7 +28,6 @@ Topic|Type|Objective /current_pose|geometry_msgs/PoseStamped|Current pose of vehicle /current_velocity|geometry_msgs/TwistStamped|Current velocity of vehicle /filtered_points|sensor_msgs/PointCloud2|Used to check if sensor data is ready. This is meant to give pointcloud data used for ndt_matching. -/lane_waypoints_array|autoware_msgs/LaneArray| /final_waypoints|autoware_msgs/Lane| /obstacle_waypoint|std_msgs/Int32|Obstacle waypoint index. Used in "Go" state. /state_cmd|std_msgs/String|Decision_maker will try to transit state according to key given by through this topic. From 01ca6ba7a5090629d016f38a5e57d4354ae30c8e Mon Sep 17 00:00:00 2001 From: Kenji Funaoka Date: Fri, 28 Dec 2018 08:56:25 +0900 Subject: [PATCH 083/139] Replace const double & with double in amathutils_lib --- .../include/amathutils_lib/amathutils.hpp | 16 ++++++++-------- .../libs/amathutils_lib/src/Amathutils.cpp | 2 +- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/ros/src/common/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp b/ros/src/common/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp index fd589452a8a..1063d9a2ef2 100644 --- a/ros/src/common/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp +++ b/ros/src/common/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp @@ -15,36 +15,36 @@ namespace amathutils { #define G_MPSS 9.80665 // m/s^2 -inline double rad2deg(const double &_angle) +inline double rad2deg(double _angle) { return _angle * 180 / M_PI; } -inline double deg2rad(const double &_angle) +inline double deg2rad(double _angle) { return _angle / 180 * M_PI; } -inline double mps2kmph(const double &_mpsval) +inline double mps2kmph(double _mpsval) { return (_mpsval * 3.6); // mps * 60sec * 60minutes / 1000m } -inline double kmph2mps(const double &_kmphval) +inline double kmph2mps(double _kmphval) { return (_kmphval * 1000 / 60 / 60); // kmph * 1000m / 60sec / 60sec } -inline double getGravityAcceleration(const double &_acceleration_mpss) +inline double getGravityAcceleration(double _acceleration_mpss) { return _acceleration_mpss / G_MPSS; } -inline double getAcceleration(const double &_v0, const double &_v, const double &_x) +inline double getAcceleration(double _v0, double _v, double _x) { return (_v * _v - _v0 * _v0) / 2 / _x; } -inline double getTimefromAcceleration(const double &_v0, const double &_v, const double &_a) +inline double getTimefromAcceleration(double _v0, double _v, double _a) { return (_v - _v0) / _a; } @@ -60,7 +60,7 @@ int isPointLeftFromLine(const geometry_msgs::Point &_target, const geometry_msgs const geometry_msgs::Point &_line_p2); double getPoseYawAngle(const geometry_msgs::Pose &_pose); double calcPosesAngleDiffRaw(const geometry_msgs::Pose &p_from, const geometry_msgs::Pose &_p_to); -double radianNormalize(const double &_angle); +double radianNormalize(double _angle); double calcPosesAngleDiffDeg(const geometry_msgs::Pose &_p_from, const geometry_msgs::Pose &_p_to); double calcPosesAngleDiffRad(const geometry_msgs::Pose &_p_from, const geometry_msgs::Pose &_p_to); } diff --git a/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp b/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp index 8422cbc6de5..be827ea7ce4 100644 --- a/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp +++ b/ros/src/common/libs/amathutils_lib/src/Amathutils.cpp @@ -94,7 +94,7 @@ double calcPosesAngleDiffRaw(const geometry_msgs::Pose &p_from, const geometry_m return getPoseYawAngle(p_from) - getPoseYawAngle(_p_to); } -double radianNormalize(const double &_angle) +double radianNormalize(double _angle) { double n_angle = std::fmod(_angle, 2 * M_PI); n_angle = n_angle > M_PI ? n_angle - 2 * M_PI : n_angle < -M_PI ? 2 * M_PI + n_angle : n_angle; From 266708dbc1ff57c4b640a8a92203b1025e02cd06 Mon Sep 17 00:00:00 2001 From: Kenji Funaoka Date: Fri, 28 Dec 2018 10:42:31 +0900 Subject: [PATCH 084/139] Revert vehicle_sender.cpp --- .../vehicle_socket/nodes/vehicle_sender/vehicle_sender.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ros/src/socket/packages/vehicle_socket/nodes/vehicle_sender/vehicle_sender.cpp b/ros/src/socket/packages/vehicle_socket/nodes/vehicle_sender/vehicle_sender.cpp index 8bcabd5b2ba..70437419509 100644 --- a/ros/src/socket/packages/vehicle_socket/nodes/vehicle_sender/vehicle_sender.cpp +++ b/ros/src/socket/packages/vehicle_socket/nodes/vehicle_sender/vehicle_sender.cpp @@ -98,7 +98,8 @@ static void *sendCommand(void *arg) oss << command_data.brakeValue << ","; oss << command_data.steerValue << ","; oss << command_data.linear_velocity << ","; - oss << command_data.steering_angle; + oss << command_data.steering_angle << ","; + oss << command_data.lampValue; std::string cmd(oss.str()); ssize_t n = write(client_sock, cmd.c_str(), cmd.size()); From 839f4dff7e520c65a95d5dc6d7aa1cd596ea9a80 Mon Sep 17 00:00:00 2001 From: dimethylether Date: Fri, 28 Dec 2018 19:55:36 +0900 Subject: [PATCH 085/139] updated README.md --- .../packages/decision_maker/README.md | 77 +++++++++++++++--- .../decision_maker/docs/DriveStates.jpg | Bin 1048593 -> 1241916 bytes .../decision_maker/docs/MissionStates.jpg | Bin 259175 -> 239848 bytes .../decision_maker/docs/VehicleStates.jpg | Bin 119869 -> 115745 bytes 4 files changed, 64 insertions(+), 13 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/README.md b/ros/src/computing/planning/decision/packages/decision_maker/README.md index dae1006fcd9..e214703dca5 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/README.md +++ b/ros/src/computing/planning/decision/packages/decision_maker/README.md @@ -1,9 +1,17 @@ # Decision Maker -### Overview -Autoware package that visualize internal state and publish some commands. +## Overview +Autoware package that manages the Vehicle status, given Mission(waypoints) status, and Driving(Motion) status. +Each status is managed by state machine. + +### Vehicle + +### Mission + +### Driving + -### Parameters from runtime manager +## Runtime Manager Parameters Parameter|Type|Description --|---|-- enable_display_marker|Bool|(default: *false*)
not used @@ -17,8 +25,16 @@ time_to_avoidance|Double|(default: *3*)
If the vehicle is stuck for *time_to goal_threshold_dist|Double|(default: *3*)
Threshold used to check if vehicle has reached to the goal (i.e. end of waypoints). The vehicle must be less than *goal_threshold_dist* [m] to the goal. goal_threshold_vel|Double|(default: *0.1*)
Threshold used to check if vehicle has reached to the goal (i.e. end of waypoints). The vehicle must be less than *goal_threshold_vel* [m/s] to be treated as goal arrival. +## ROS Parameters +Parameter|Type|Description +--|---|-- +state_vehicle_file_name|string|file that defines vehicle state transition +state_mission_file_name|string|file that defines mission state transition +state_drive_file_name|string|file that defines drive state transition +stopline_reset_count|int| -### Subscribed topics + +## Subscribed topics Topic|Type|Objective --|---|-- /based/lane_waypoints_array|autoware_msgs/LaneArray|waypoints for the vehicle to follow. (e.g. waypoints given from waypoint_loader node) @@ -30,7 +46,7 @@ Topic|Type|Objective /filtered_points|sensor_msgs/PointCloud2|Used to check if sensor data is ready. This is meant to give pointcloud data used for ndt_matching. /final_waypoints|autoware_msgs/Lane| /obstacle_waypoint|std_msgs/Int32|Obstacle waypoint index. Used in "Go" state. -/state_cmd|std_msgs/String|Decision_maker will try to transit state according to key given by through this topic. +/state_cmd|std_msgs/String|Decision_maker will try to transit state according to the key given through this topic. /vector_map_info/area|vector_map_msgs/AreaArray|Area information from vector map.
This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed. /vector_map_info/cross_road|vector_map_msgs/CrossRoadArray|Cross road information from vector map.
This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed. /vector_map_info/line|vector_map_msgs/LineArray|Line information from vector map.
This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed. @@ -40,24 +56,59 @@ Topic|Type|Objective /vector_map_info/vector|vector_map_msgs/VectorArray|Vector information from vector map.
This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed. -### Published topics +## Published topics Topic|Type|Objective --|---|-- -/decision_maker/available_transition|std_msgs/String| -/decision_maker/operator_help_text|jsk_rviz_plugins/OverlayText| -/decision_maker/state|std_msgs/String| -/lamp_cmd|autoware_msgs/LampCmd| -/lane_waypoints_array|autoware_msgs/LaneArray| +/decision_maker/available_transition|std_msgs/String|available transition from current state +/decision_maker/operator_help_text|jsk_rviz_plugins/OverlayText|Help message during operation +/decision_maker/state|std_msgs/String|current state for "Vehicle", "Mission", and "Drive" state machine. +/lamp_cmd|autoware_msgs/LampCmd|blinker command to vehicle (0=straight, 1=right, 2=left) +/lane_waypoints_array|autoware_msgs/LaneArray|waypoints passed down to following planners. (e.g. lane_rule) /light_color_managed|autoware_msgs/TrafficLight| /state/cross_inside_marker|visualization_msgs/Marker| /state/cross_road_marker|visualization_msgs/MarkerArray| /state/crossroad_bbox|jsk_recognition_msgs/BoundingBoxArray| -/state/overlay_text|jsk_rviz_plugins/OverlayText| +/state/overlay_text|jsk_rviz_plugins/OverlayText|Current state as overlay_txt /state/stopline_target|visualization_msgs/Marker| /state/stopline_wpidx|std_msgs/Int32| /target_velocity_array|std_msgs/Float64MultiArray| -### Requirements of each state or behavior +## Basic Usage in Autoware +1. Launch Autoware and localization on real vehicle or wf_simulator +2. Launch `decision_maker` and lane_planner, astar_planner, waypoint_follower +3. When `VehicleReady` and `WaitOrder` state, launch `waypoint_loader` +4. On `DriveReady` state, push `Engage` button on DecisionMakerPannel +5. When the vehicle reaches the end of waypoint and stops, state Mission state transits to `WaitOrder` via the `MissionComplete` +6. You can repeat from 3. with other waypoint + + + +## Requirements of each state or behavior +### Vehicle States +State name|Group|Required topic|Description +--|--|---|-- +Init|Init|-|The parent state of the following states. +SensorInit|Init|/filtered_points|Waits until /filtered_points is received unless wf_simulator node is launched. +MapInit|Init||Waits until vector_map is loaded unless disuse_vector_map is set true. +LocalizationInit|Init|/current_pose|waits until current_pose is converged. (i.e. ndt_matching is stable.) +PlanningInit|Init|/closest_waypoint|Do initialization for planning. Currently, only subscriber is set for /closest_waypoint. +VehicleInit|Init|-|Waits until vehicle is ready for departure. Currently nothing is implemented and goes to Vehicle Ready. +VehicleReady|-|-|Exits to VehicleEmergency when `emergency` key is given by state_cmd from other states, or if `emergency_flag` is set true by other states. +VehicleEmergency|-|-|Waits until `return_from_emergency` key is by /state_cmd (e.g. by DecisionMakerPanel) + +### Mission States +State name|Group|Required topic|Description +--|--|---|-- +WaitVehicleReady|-||Waits until vehicle_is_ready key is given.(e.g. from Vehicle State Machine) +WaitOrder|-|/based_lane_array|wayits until base_lane_array is received. +MissionCheck|-||waits until /final_waypoints (from planner nodes) and /current_waypoint are received. +DriveReady|-||Waits until engage or mission_canceled key is given. +Driving|-||Sets operation_start key. Goes to MissionAborted in case of emergency. +DrivingMissionChange|-|| +MissionChangeSucceeded|-|| +MissionChangeFailed|-|| +MissionComplete|-|| +MissionAborted|-||Throws operation_end to Drving State Machine. 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zC8WQ3&!n!SyQ3#X;tV1;@)$Aq2=*c4mM!Spo`xb?Dl5)dt{T@uvGfzE({YVSN1l!{bM4)9fDwK0fhY zq{P?h{`!r{d#;wvespj0(fe&Bcf(9ytIl~S@sD*guwcKwCD1_*xB^V@>uMh0fptIF zW48oeecW?mfBno*`L%ZUAM3ZIS6>Z^4ZDcW~1T+=;%u)h7f%H)S%-E1H4oLcYjV*&R@f1byN_1-egS0$t-?OeH! z;fIp*jKx=U&nJsseEjbh+d_NB5@7T2@%1Bh%Iz1pmstFn5CA;=y~zE+l#9S5u)W{L zRebsT&VMezSq8t?hu_tBU1tDp-ZccB>A`sYVod!XEqP(!X&~mIe-eOKd}IMNarGZf zUw`DSyWBO<=`{>*G}hJI{}Tb8x5j_($IR99zb64ZGg~#?53Wu9&v3oQj;zgmx`nIE%dOE-MEt8V>@ zlQ*Jor~jPuZ|bXS^Y}lU?Xx@m@U51R_3?BG`+3?)7K>Y%T)H}}w0amFaPkZr=RS?mzEYwz%iEk+xKpHXP5F6N1tg`>2kfZZg~@jt*bZiq@?|m1(l># zN`Z%2X#-y=AL3 m9x$*w23-U$RH;%#UABZ}8Pnv4DiOf*N>hMXM~RT?|2F~Mr%)jP From d3fbd2ee0a4e49428f0f64372aa6ddbe93fa264d Mon Sep 17 00:00:00 2001 From: dimethylether Date: Fri, 4 Jan 2019 20:28:49 +0900 Subject: [PATCH 086/139] updated state description in readme --- .../packages/decision_maker/README.md | 153 +++++++++++------- 1 file changed, 93 insertions(+), 60 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/README.md b/ros/src/computing/planning/decision/packages/decision_maker/README.md index e214703dca5..34cdfd7654d 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/README.md +++ b/ros/src/computing/planning/decision/packages/decision_maker/README.md @@ -44,7 +44,7 @@ Topic|Type|Objective /current_pose|geometry_msgs/PoseStamped|Current pose of vehicle /current_velocity|geometry_msgs/TwistStamped|Current velocity of vehicle /filtered_points|sensor_msgs/PointCloud2|Used to check if sensor data is ready. This is meant to give pointcloud data used for ndt_matching. -/final_waypoints|autoware_msgs/Lane| +/final_waypoints|autoware_msgs/Lane|resultant waypoints from planner nodes, e.g. from velocity_set node. /obstacle_waypoint|std_msgs/Int32|Obstacle waypoint index. Used in "Go" state. /state_cmd|std_msgs/String|Decision_maker will try to transit state according to the key given through this topic. /vector_map_info/area|vector_map_msgs/AreaArray|Area information from vector map.
This is ignored unless area, cross_road, line, point, road_sign, stop_line, and vector are subscribed. @@ -64,83 +64,116 @@ Topic|Type|Objective /decision_maker/state|std_msgs/String|current state for "Vehicle", "Mission", and "Drive" state machine. /lamp_cmd|autoware_msgs/LampCmd|blinker command to vehicle (0=straight, 1=right, 2=left) /lane_waypoints_array|autoware_msgs/LaneArray|waypoints passed down to following planners. (e.g. lane_rule) -/light_color_managed|autoware_msgs/TrafficLight| -/state/cross_inside_marker|visualization_msgs/Marker| -/state/cross_road_marker|visualization_msgs/MarkerArray| -/state/crossroad_bbox|jsk_recognition_msgs/BoundingBoxArray| -/state/overlay_text|jsk_rviz_plugins/OverlayText|Current state as overlay_txt -/state/stopline_target|visualization_msgs/Marker| -/state/stopline_wpidx|std_msgs/Int32| -/target_velocity_array|std_msgs/Float64MultiArray| - -## Basic Usage in Autoware -1. Launch Autoware and localization on real vehicle or wf_simulator -2. Launch `decision_maker` and lane_planner, astar_planner, waypoint_follower -3. When `VehicleReady` and `WaitOrder` state, launch `waypoint_loader` -4. On `DriveReady` state, push `Engage` button on DecisionMakerPannel -5. When the vehicle reaches the end of waypoint and stops, state Mission state transits to `WaitOrder` via the `MissionComplete` -6. You can repeat from 3. with other waypoint +/light_color_managed|autoware_msgs/TrafficLight|meant to publish light_color status. Not implemented yet. +/state/cross_inside_marker|visualization_msgs/Marker|visualization of objectes inside cross roads. Not implemented yet. +/state/cross_road_marker|visualization_msgs/MarkerArray|visualization of crossroads. Not implemented yet. +/state/crossroad_bbox|jsk_recognition_msgs/BoundingBoxArray| visualization of crossroads by bounding box. Not implemented yet. +/state/overlay_text|jsk_rviz_plugins/OverlayText|Current state as overlay_txt. +/state/stopline_target|visualization_msgs/Marker| Visualization of referenced stop line. Not implemented yet. +/state/stopline_wpidx|std_msgs/Int32|Index of waypoint for the vehicle to stop. +/target_velocity_array|std_msgs/Float64MultiArray| Array of target velocity obtained from final_waypoints. - -## Requirements of each state or behavior +## State Desctription ### Vehicle States -State name|Group|Required topic|Description +State name|Group|Required topic|Description|Implementation --|--|---|-- -Init|Init|-|The parent state of the following states. -SensorInit|Init|/filtered_points|Waits until /filtered_points is received unless wf_simulator node is launched. -MapInit|Init||Waits until vector_map is loaded unless disuse_vector_map is set true. -LocalizationInit|Init|/current_pose|waits until current_pose is converged. (i.e. ndt_matching is stable.) -PlanningInit|Init|/closest_waypoint|Do initialization for planning. Currently, only subscriber is set for /closest_waypoint. -VehicleInit|Init|-|Waits until vehicle is ready for departure. Currently nothing is implemented and goes to Vehicle Ready. -VehicleReady|-|-|Exits to VehicleEmergency when `emergency` key is given by state_cmd from other states, or if `emergency_flag` is set true by other states. -VehicleEmergency|-|-|Waits until `return_from_emergency` key is by /state_cmd (e.g. by DecisionMakerPanel) +Init|Init|-|The parent state of the following states.|- +SensorInit|Init|/filtered_points|Waits until all sensors are ready.|Waits until /filtered_points is received unless wf_simulator node is launched. +MapInit|Init||Waits until vector map is ready|Waits until vector_map is subscribed if disuse_vector_map is set false. +LocalizationInit|Init|/current_pose|Waits until localizer is ready | Waits until current_pose is converged. (i.e. ndt_matching is stable.) +PlanningInit|Init|/closest_waypoint|Waits unil planners are ready | Subscriber is set for /closest_waypoint. +VehicleInit|Init|-|Waits until vehicle is ready for departure.|No implementation goes directly to vehilce ready state. +VehicleReady|-|-|Vehicle is ready to move.|Exits to VehicleEmergency when `emergency` key is given by state_cmd from other states, or if `emergency_flag` is set true by other states. +VehicleEmergency|-|-|Emergency is detected somewhere in the system. |Waits until `return_from_emergency` key is by /state_cmd (e.g. by DecisionMakerPanel) ### Mission States -State name|Group|Required topic|Description +State name|Group|Required topic|Description|Implementation --|--|---|-- -WaitVehicleReady|-||Waits until vehicle_is_ready key is given.(e.g. from Vehicle State Machine) -WaitOrder|-|/based_lane_array|wayits until base_lane_array is received. -MissionCheck|-||waits until /final_waypoints (from planner nodes) and /current_waypoint are received. -DriveReady|-||Waits until engage or mission_canceled key is given. -Driving|-||Sets operation_start key. Goes to MissionAborted in case of emergency. -DrivingMissionChange|-|| -MissionChangeSucceeded|-|| -MissionChangeFailed|-|| -MissionComplete|-|| -MissionAborted|-||Throws operation_end to Drving State Machine. Then, go to wait order automatically if use_management_system is false, otherwise waits until goto_wait_order key is given by management system. - -- ##### Initialize - -State name|Required topic|Description +WaitVehicleReady|-||Waits until vehicle setup is done|Waits until vehicle_is_ready key is given from Vehicle State Machine +WaitOrder|-|/based_lane_array|wayits until mission is given. | waits until base_lane_array is received. +MissionCheck|-|/final_waypoints
/current_waypoint|Waits until all the planners are ready. |Waits until /final_waypoints (from planner nodes) and /current_waypoint are received. +DriveReady|-||Given Mission is approved and vehicle is ready to move. |Waits until engage or mission_canceled key is given. +Driving|-||The vehicle is driving. According to the planner nodes|Sets operation_start key. Goes to MissionAborted in case of emergency. +DrivingMissionChange|-|/based/lane_waypoints_array|Waits for new mission while the vehicle keeps driving. | Waits until new /based/lane_waypoints_array is sent from management system. Then, checks if the waypoint is compatible or not depending on change_threshold_dist and change_threshold_angle parameters. Publish the new mission as /lane_waypoints_array if compatible. +MissionChangeSucceeded|-||New waypoints are compatible and vehicle will start following the new mission. | Throws return_to_driving key after 1 second if use_management_system is set false. +MissionChangeFailed|-||New waypoints are NOT compatible and vehicle will continue following the old mission. | Throws return_to_driving key after 1 second if use_management_system is set false. +MissionComplete|-||Vehicle has reached the goal.|If use_management_system is false and auto_mission_reload is true, go to MissionCheck state. Otherwise, got to WaitOrder state after 1 second. +MissionAborted|-||Mission is aborted by other nodes(e.g. by AMS). | Throws operation_end to Drving State Machine. Then, go to wait order automatically if use_management_system is false, otherwise waits until goto_wait_order key is given by management system. + +### Driving States +State name|Required topic|Description|Implementation --|---|-- -Init|-|The parent state of the following states. -SensorInit|/filtered_points| -MapInit|| -LocalizationInit|/current_pose| -PlanningInit|/closest_waypoint| -VehicleInit|-| +WaitReady|-|Waits until vehicle setup is done|Waits until vehicle_is_ready key is given from Vehicle State Machine +WaitEngage|-|Waits for engage button in DecisionMakerPanel to be pressed|Waits until engage key is given by DecisionMakerPanel +DriveEmergency|-|Vehicle is stopping due to emergency |Throws mission_aborted key +Drive|/closest_waypoint|Vehicle drives according to the waypoint|mission_aborted key if waypoint is far from the vehicle.(i.e. vehicle moves out of the waypoint) Throws arrived_goal key if vehicle is near the end of the waypoints. +LaneArea|/final_waypoints|Vehicle is driving within lanes| Throws on_bus_stop key if waypoint state has bus stop event, otherwise, throws on_cruise key. +Cruise|-|Vehicle Drives along the waypoint|Throws on_left_turn, on_right_turn, on_straight, lane_change_left, or lane_change_right key depending on waypoint state and change flags. +Straight|-|Vehicle is driving along lane (i.e. not turning at intersection)| publish /lamp_cmd to clear blinkers +Stop|-|vehicle is stopping since stop signal is sent from other nodes (e.g. by stop button on decisionMakerPanel)|Publishes /state/stopline_wpidx with the index = closest_waypoint + 1. +Wait|-|Vehilce is waiting (e.g. due to safety reason)|Publishes /state/stopline_wpidx with the index = closest_waypoint + 1. +Go|-|Vehicle is moving|Throws found_stopline if stopline is nearby. Throws completely_stopped if vehicle stops due to obstacle. +StopLine|/vector_map_info/stop_line|Vehicle is stopping due to stop line|Throws clear key after vehicle stops for 0.5 seconds. +TryAvoidance|-|Vehicle trys to avoid obstacle. Not implemented yet|No implementation. +CheckAvoidance|-|Checks if obstalce avoidance is safe or not. Not implemented yet|No implementation. +Avoidance|-|Vehicle is avoiding obstacle. Not implemented.|No implementation. +ReturnToLane|-|Goes back to lane after avoiding obstacle. Not implemented.|- +LeftTurn|-|Vehicle is turning left at intersection. Change blinker to left. | Publish /lamp_cmd to change blinker. +L_Stop|-|Same as Stop State|Same as Stop State +L_Wait|-|Same as Wait State|Same as Wait State +L_Go|-|Same as Go State|Same as Go State +L_StopLine|-|Same as StopLine State|Same as StopLine State +RightTurn|-|Vehicle is turning right at intersection. Change blinker to right. | Publish /lamp_cmd to change blinker. +R_Stop|-|Same as Stop State|Same as Stop State +R_Wait|-|Same as Wait State|Same as Wait State +R_Go|-|Same as Go State|Same as Go State +R_StopLine|-|Same as StopLine State|Same as StopLine State +Back|-|Vehicle is moving backwards|Publish /lamp_cmd to clear blinkers +B_Stop|-|Same as Stop State|Same as Stop State +B_Wait|-|Same as Wait State|Same as Wait State +B_Go|-|Same as Go State|Same as Go State +B_StopLine|-|Same as StopLine State|Same as StopLine State +LeftLaneChange|-|Vehicle is switching to left lane|publish /lamp_cmd to change blinker to left. +CheckLeftLane|-|Check if it is safe to change lane to left|No implementation. +ChangeToLeft|-|Change to left lane|No implementation. +RightLaneChange|-|Vehicle is switching to right lane|publish /lamp_cmd to change blinker to right. +CheckRightLane|-|Check if it is safe to change lane to left|No implementation. +ChangeToRight|-|Change to left lane|No implementation. +BusStop|-|Vehicle is approaching to bus stop| No implementation. +PullOver|-|Vehicle is pulling over to bus stop| publish /lamp_cmd to change blinker to left. +PullOut|-|Vehicle is pulling out from bus stop|publish /lamp_cmd to change blinker to right. +FreeArea|-|Vehicle is driving in free space(e.g. parking area)|No implementation. +Parking|-|Vehicle is parking|Publish /lamp_cmd to change blinker to hazard. + +## Basic Usage in Autoware -- ##### Ready to driving - 1. Launch Autoware and localization on real vehicle or wf_simulator - 2. Launch `decision_maker` and lane_planner, astar_planner, waypoint_follower - 3. When `VehicleReady` and `WaitOrder` state, launch `waypoint_loader` - 4. On `DriveReady` state, push `Engage` button on DecisionMakerPannel - 5. When the vehicle reaches the end of waypoint and stops, state Mission state transits to `WaitOrder` via the `MissionComplete` - 6. You can repeat from 3. with other waypoint +### Start Driving +1. Launch Autoware and localization on real vehicle or wf_simulator +2. Launch `decision_maker` and lane_planner, astar_planner, waypoint_follower +3. When `VehicleReady` and `WaitOrder` state, launch `waypoint_loader` +4. On `DriveReady` state, push `Engage` button on DecisionMakerPannel +5. When the vehicle reaches the end of waypoint and stops, state Mission state transits to `WaitOrder` via the `MissionComplete` +6. You can repeat from 3. with other waypoint -- ##### Move backward +### Move backward -- ##### Lane change +### Lane change 1. Start Normal driving with waypoint files necessary for lane change 2. On `CheckLeft` or `RightLane` state, push `Execute LaneChange` button on DecisionMakerPannel 3. The vehicle start lane change -- ##### Stop at stop line +### Stop at stop line -- ##### Driving mission change +### Driving mission change 1. Prepare waypoint files to change, and start Normal driving 2. On `Driving` state, push `Request mission change` button on DecisionMakerPannel 3. When the state becomes `DrivingMissionChange`, please load another waypoint for change 4. If it is possible to change the waypoint will switch, otherwise it will not be changed + +### Obstacle avoidance + +### Pull over & Pull out + +### Emergency stop From b3af883bc8ef52d0de9be1a7194398314bf779eb Mon Sep 17 00:00:00 2001 From: dimethylether Date: Fri, 4 Jan 2019 20:35:26 +0900 Subject: [PATCH 087/139] fixed typo in state description in readme --- .../packages/decision_maker/README.md | 44 ++++++++++--------- 1 file changed, 23 insertions(+), 21 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/README.md b/ros/src/computing/planning/decision/packages/decision_maker/README.md index 34cdfd7654d..b5e5cd6e389 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/README.md +++ b/ros/src/computing/planning/decision/packages/decision_maker/README.md @@ -6,8 +6,10 @@ Each status is managed by state machine. ### Vehicle + ### Mission + ### Driving @@ -74,32 +76,32 @@ Topic|Type|Objective /target_velocity_array|std_msgs/Float64MultiArray| Array of target velocity obtained from final_waypoints. -## State Desctription +## State Description ### Vehicle States -State name|Group|Required topic|Description|Implementation +State name|Required topic|Description|Implementation --|--|---|-- -Init|Init|-|The parent state of the following states.|- -SensorInit|Init|/filtered_points|Waits until all sensors are ready.|Waits until /filtered_points is received unless wf_simulator node is launched. -MapInit|Init||Waits until vector map is ready|Waits until vector_map is subscribed if disuse_vector_map is set false. -LocalizationInit|Init|/current_pose|Waits until localizer is ready | Waits until current_pose is converged. (i.e. ndt_matching is stable.) -PlanningInit|Init|/closest_waypoint|Waits unil planners are ready | Subscriber is set for /closest_waypoint. -VehicleInit|Init|-|Waits until vehicle is ready for departure.|No implementation goes directly to vehilce ready state. -VehicleReady|-|-|Vehicle is ready to move.|Exits to VehicleEmergency when `emergency` key is given by state_cmd from other states, or if `emergency_flag` is set true by other states. -VehicleEmergency|-|-|Emergency is detected somewhere in the system. |Waits until `return_from_emergency` key is by /state_cmd (e.g. by DecisionMakerPanel) +Init|-|The parent state of the following states.|- +SensorInit|/filtered_points|Waits until all sensors are ready.|Waits until /filtered_points is received unless wf_simulator node is launched. +MapInit||Waits until vector map is ready|Waits until vector_map is subscribed if disuse_vector_map is set false. +LocalizationInit|/current_pose|Waits until localizer is ready | Waits until current_pose is converged. (i.e. ndt_matching is stable.) +PlanningInit|/closest_waypoint|Waits unil planners are ready | Subscriber is set for /closest_waypoint. +VehicleInit|-|Waits until vehicle is ready for departure.|No implementation goes directly to vehilce ready state. +VehicleReady|-|Vehicle is ready to move.|Exits to VehicleEmergency when `emergency` key is given by state_cmd from other states, or if `emergency_flag` is set true by other states. +VehicleEmergency|-|Emergency is detected somewhere in the system. |Waits until `return_from_emergency` key is by /state_cmd (e.g. by DecisionMakerPanel) ### Mission States -State name|Group|Required topic|Description|Implementation +State name|Required topic|Description|Implementation --|--|---|-- -WaitVehicleReady|-||Waits until vehicle setup is done|Waits until vehicle_is_ready key is given from Vehicle State Machine -WaitOrder|-|/based_lane_array|wayits until mission is given. | waits until base_lane_array is received. -MissionCheck|-|/final_waypoints
/current_waypoint|Waits until all the planners are ready. |Waits until /final_waypoints (from planner nodes) and /current_waypoint are received. -DriveReady|-||Given Mission is approved and vehicle is ready to move. |Waits until engage or mission_canceled key is given. -Driving|-||The vehicle is driving. According to the planner nodes|Sets operation_start key. Goes to MissionAborted in case of emergency. -DrivingMissionChange|-|/based/lane_waypoints_array|Waits for new mission while the vehicle keeps driving. | Waits until new /based/lane_waypoints_array is sent from management system. Then, checks if the waypoint is compatible or not depending on change_threshold_dist and change_threshold_angle parameters. Publish the new mission as /lane_waypoints_array if compatible. -MissionChangeSucceeded|-||New waypoints are compatible and vehicle will start following the new mission. | Throws return_to_driving key after 1 second if use_management_system is set false. -MissionChangeFailed|-||New waypoints are NOT compatible and vehicle will continue following the old mission. | Throws return_to_driving key after 1 second if use_management_system is set false. -MissionComplete|-||Vehicle has reached the goal.|If use_management_system is false and auto_mission_reload is true, go to MissionCheck state. Otherwise, got to WaitOrder state after 1 second. -MissionAborted|-||Mission is aborted by other nodes(e.g. by AMS). | Throws operation_end to Drving State Machine. Then, go to wait order automatically if use_management_system is false, otherwise waits until goto_wait_order key is given by management system. +WaitVehicleReady|-|Waits until vehicle setup is done|Waits until vehicle_is_ready key is given from Vehicle State Machine +WaitOrder|/based_lane_array|wayits until mission is given. | waits until base_lane_array is received. +MissionCheck|/final_waypoints
/current_waypoint|Waits until all the planners are ready. |Waits until /final_waypoints (from planner nodes) and /current_waypoint are received. +DriveReady|-|Given Mission is approved and vehicle is ready to move. |Waits until engage or mission_canceled key is given. +Driving|-|The vehicle is driving. According to the planner nodes|Sets operation_start key. Goes to MissionAborted in case of emergency. +DrivingMissionChange|/based/lane_waypoints_array|Waits for new mission while the vehicle keeps driving. | Waits until new /based/lane_waypoints_array is sent from management system. Then, checks if the waypoint is compatible or not depending on change_threshold_dist and change_threshold_angle parameters. Publish the new mission as /lane_waypoints_array if compatible. +MissionChangeSucceeded|-|New waypoints are compatible and vehicle will start following the new mission. | Throws return_to_driving key after 1 second if use_management_system is set false. +MissionChangeFailed|-|New waypoints are NOT compatible and vehicle will continue following the old mission. | Throws return_to_driving key after 1 second if use_management_system is set false. +MissionComplete|-|Vehicle has reached the goal.|If use_management_system is false and auto_mission_reload is true, go to MissionCheck state. Otherwise, got to WaitOrder state after 1 second. +MissionAborted|-|Mission is aborted by other nodes(e.g. by AMS). | Throws operation_end to Drving State Machine. Then, go to wait order automatically if use_management_system is false, otherwise waits until goto_wait_order key is given by management system. ### Driving States State name|Required topic|Description|Implementation From dcc46c3f67e06832c829c996e1b2420ec5f65955 Mon Sep 17 00:00:00 2001 From: mitsudome-r <43976834+mitsudome-r@users.noreply.github.com> Date: Fri, 4 Jan 2019 20:37:56 +0900 Subject: [PATCH 088/139] Update README.md --- .../planning/decision/packages/decision_maker/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/README.md b/ros/src/computing/planning/decision/packages/decision_maker/README.md index b5e5cd6e389..5c5b828eebe 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/README.md +++ b/ros/src/computing/planning/decision/packages/decision_maker/README.md @@ -105,7 +105,7 @@ MissionAborted|-|Mission is aborted by other nodes(e.g. by AMS). | Throws operat ### Driving States State name|Required topic|Description|Implementation ---|---|-- +--|--|---|-- WaitReady|-|Waits until vehicle setup is done|Waits until vehicle_is_ready key is given from Vehicle State Machine WaitEngage|-|Waits for engage button in DecisionMakerPanel to be pressed|Waits until engage key is given by DecisionMakerPanel DriveEmergency|-|Vehicle is stopping due to emergency |Throws mission_aborted key From 5603f1edf688d96edb93fdb64bf214e94501aedd Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Tue, 8 Jan 2019 18:07:24 +0900 Subject: [PATCH 089/139] change output dot file name of state_machine_lib. --- .../include/state_machine_lib/state_context.hpp | 5 ++++- ros/src/common/libs/state_machine_lib/src/state_context.cpp | 5 ++++- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp index 758abf64b2b..69bc9020fe1 100644 --- a/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp +++ b/ros/src/common/libs/state_machine_lib/include/state_machine_lib/state_context.hpp @@ -41,12 +41,15 @@ class StateContext bool isCurrentState(const std::string& state_name); + std::string dot_output_name; + public: StateContext(const std::string& file_name, const std::string& msg_name) { createStateMap(file_name, msg_name); root_state_ = getStartState(); - createDOTGraph("/tmp/" + msg_name + ".dot"); + dot_output_name = "/tmp/" + msg_name + ".dot"; + createDOTGraph(dot_output_name); } ~StateContext() diff --git a/ros/src/common/libs/state_machine_lib/src/state_context.cpp b/ros/src/common/libs/state_machine_lib/src/state_context.cpp index 15f7f817b37..7b41abad3e8 100644 --- a/ros/src/common/libs/state_machine_lib/src/state_context.cpp +++ b/ros/src/common/libs/state_machine_lib/src/state_context.cpp @@ -77,7 +77,6 @@ bool StateContext::isCurrentState(const std::string& state_name) void StateContext::nextState(const std::string& transition_key) { - const std::string dot_output_name = "/tmp/a.dot"; std::shared_ptr state = root_state_; std::string _target_state_name; std::vector key_list; @@ -115,7 +114,9 @@ void StateContext::nextState(const std::string& transition_key) in_state = in_state->getChild(); } while (in_state); +#ifdef DEBUG createDOTGraph(dot_output_name); +#endif state_map_.at(transition_state_id)->setEnteredKey(transition_key); state_map_.at(transition_state_id)->onEntry(); } @@ -128,7 +129,9 @@ void StateContext::nextState(const std::string& transition_key) root_state_->setChild(nullptr); root_state_->setParent(nullptr); root_state_->setEnteredKey(transition_key); +#ifdef DEBUG createDOTGraph(dot_output_name); +#endif root_state_->onEntry(); } From ea0eb3e7397cc92a4e20569d210fa65ea4c1d283 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Wed, 9 Jan 2019 16:36:50 +0900 Subject: [PATCH 090/139] fixed function to get angle diff in drivingMissionCheck function. --- .../nodes/decision_maker/decision_maker_node_callback.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp index fca5d0ac9d0..ef8bdb42af0 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp @@ -261,7 +261,7 @@ bool DecisionMakerNode::drivingMissionCheck() } double angle_diff_degree = - fabs(amathutils::calcPosesAngleDiffRaw(current_status_.pose, nearest_wp_pose)) * 180 / M_PI; + fabs(amathutils::calcPosesAngleDiffDeg(current_status_.pose, nearest_wp_pose)); if (min_dist > change_threshold_dist_ || angle_diff_degree > change_threshold_angle_) { return false; From 5e596fa8dccfdbb669b419f53bcd6063f8354eff Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Thu, 17 Jan 2019 17:35:18 +0900 Subject: [PATCH 091/139] fix bug if the vehicle stops due to obstacle while StopLine state. --- .../nodes/decision_maker/decision_maker_node_state_drive.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp index 636b6779eb2..78424dc9ce8 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp @@ -357,7 +357,7 @@ void DecisionMakerNode::updateStoplineState(cstring_t& state_name, int status) static bool timerflag = false; static ros::Timer stopping_timer; - if (current_status_.velocity == 0.0 && !timerflag) + if (current_status_.velocity == 0.0 && !timerflag && (current_status_.obstacle_waypoint + current_status_.closest_waypoint) == current_status_.found_stopsign_idx) { stopping_timer = nh_.createTimer(ros::Duration(0.5), [&](const ros::TimerEvent&) { From 30084fbf2407f475f96fa588fd86f37ac44a5c5b Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Thu, 17 Jan 2019 17:50:33 +0900 Subject: [PATCH 092/139] remove unused state: Avoidance --- .../decision_maker/autoware_state_drive.yaml | 43 ------------------- .../include/decision_maker_node.hpp | 9 ---- .../decision_maker_node_callback.cpp | 1 - .../decision_maker_node_init.cpp | 17 -------- .../decision_maker_node_state_drive.cpp | 42 ------------------ .../msg/ConfigDecisionMaker.msg | 1 - .../runtime_manager/scripts/computing.yaml | 6 --- 7 files changed, 119 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml index 12669b0b63c..21418bf9656 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml +++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml @@ -251,49 +251,6 @@ autoware_states_drive: - Key: found_stopline Target: StopLine - - - Key: completely_stopped - Target: TryAvoidance - Parent: Straight - - - StateName: TryAvoidance - Transition: - - - Key: found_path - Target: CheckAvoidance - - - Key: cannot_found_path - Target: Go - Parent: Straight - - - StateName: CheckAvoidance - Transition: - - - Key: execute_avoidance - Target: Avoidance - - - Key: avoidance_aborted - Target: Go - Parent: Straight - - - StateName: Avoidance - Transition: - - - Key: completed_avoidance - Target: ReturnToLane - - - Key: avoidance_aborted - Target: Go - Parent: Straight - - - StateName: ReturnToLane - Transition: - - - Key: completed_return - Target: Go - - - Key: avoidance_aborted - Target: Go Parent: Straight - StateName: Back diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp index e5c5e96580f..e44f13b299c 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp @@ -178,7 +178,6 @@ class DecisionMakerNode uint32_t param_num_of_steer_behind_; double change_threshold_dist_; double change_threshold_angle_; - double time_to_avoidance_; double goal_threshold_dist_; double goal_threshold_vel_; int stopline_reset_count_; @@ -312,10 +311,6 @@ class DecisionMakerNode void entryDriveState(cstring_t& state_name, int status); void entryTurnState(cstring_t& state_name, int status); void entryGoState(cstring_t& state_name, int status); - void entryTryAvoidanceState(cstring_t& state_name, int status); - void entryCheckAvoidanceState(cstring_t& state_name, int status); - void entryAvoidanceState(cstring_t& state_name, int status); - void entryReturnToLaneState(cstring_t& state_name, int status); void entryLaneChangeState(cstring_t& state_name, int status); void entryDriveEmergencyState(cstring_t& state_name, int status); void entryStopState(cstring_t& state_name, int status); @@ -345,10 +340,6 @@ class DecisionMakerNode void updateCheckRightLaneState(cstring_t& state_name, int status); void updateChangeToLeftState(cstring_t& state_name, int status); void updateChangeToRightState(cstring_t& state_name, int status); - void updateTryAvoidanceState(cstring_t& state_name, int status); - void updateCheckAvoidanceState(cstring_t& state_name, int status); - void updateAvoidanceState(cstring_t& state_name, int status); - void updateReturnToLaneState(cstring_t& state_name, int status); // exit callback void exitStopState(cstring_t& state_name, int status); void exitDriveEmergencyState(cstring_t& state_name, int status); diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp index ef8bdb42af0..c57acfc569c 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp @@ -50,7 +50,6 @@ void DecisionMakerNode::callbackFromConfig(const autoware_config_msgs::ConfigDec param_num_of_steer_behind_ = msg.num_of_steer_behind; change_threshold_dist_ = msg.change_threshold_dist; change_threshold_angle_ = msg.change_threshold_angle; - time_to_avoidance_ = msg.time_to_avoidance; goal_threshold_dist_ = msg.goal_threshold_dist; goal_threshold_vel_ = msg.goal_threshold_vel; disuse_vector_map_ = msg.disuse_vector_map; diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp index 85e0f97e12b..9b0407a594b 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp @@ -230,23 +230,6 @@ void DecisionMakerNode::setupStateCallback(void) ctx_drive->setCallback(state_machine::CallbackType::EXIT, "B_Stop", std::bind(&DecisionMakerNode::exitStopState, this, std::placeholders::_1, 1)); - ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "TryAvoidance", - std::bind(&DecisionMakerNode::entryTryAvoidanceState, this, std::placeholders::_1, 0)); - ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "TryAvoidance", - std::bind(&DecisionMakerNode::updateTryAvoidanceState, this, std::placeholders::_1, 0)); - ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "CheckAvoidance", - std::bind(&DecisionMakerNode::entryCheckAvoidanceState, this, std::placeholders::_1, 0)); - ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "CheckAvoidance", - std::bind(&DecisionMakerNode::updateCheckAvoidanceState, this, std::placeholders::_1, 0)); - ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "Avoidance", - std::bind(&DecisionMakerNode::entryAvoidanceState, this, std::placeholders::_1, 0)); - ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "Avoidance", - std::bind(&DecisionMakerNode::updateAvoidanceState, this, std::placeholders::_1, 0)); - ctx_drive->setCallback(state_machine::CallbackType::ENTRY, "ReturnToLane", - std::bind(&DecisionMakerNode::entryReturnToLaneState, this, std::placeholders::_1, 0)); - ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "ReturnToLane", - std::bind(&DecisionMakerNode::updateReturnToLaneState, this, std::placeholders::_1, 0)); - ctx_vehicle->nextState("started"); ctx_mission->nextState("started"); ctx_drive->nextState("started"); diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp index 78424dc9ce8..2db20057342 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp @@ -301,7 +301,6 @@ void DecisionMakerNode::updateParkingState(cstring_t& state_name, int status) void DecisionMakerNode::entryGoState(cstring_t& state_name, int status) { - setEventFlag("entry_go_state", true); setEventFlag("entry_stop_state", false); } void DecisionMakerNode::updateGoState(cstring_t& state_name, int status) @@ -313,19 +312,6 @@ void DecisionMakerNode::updateGoState(cstring_t& state_name, int status) tryNextState("found_stopline"); } - static double stopped_time; - if (current_status_.velocity == 0.0 && current_status_.obstacle_waypoint != -1 && !isEventFlagTrue("entry_go_state")) - { - if (ros::Time::now().toSec() - stopped_time > time_to_avoidance_) - { - tryNextState("completely_stopped"); - } - } - else - { - stopped_time = ros::Time::now().toSec(); - } - setEventFlag("entry_go_state", false); } void DecisionMakerNode::updateWaitState(cstring_t& state_name, int status) @@ -385,34 +371,6 @@ void DecisionMakerNode::exitStopState(cstring_t& state_name, int status) } } -void DecisionMakerNode::entryTryAvoidanceState(cstring_t& state_name, int status) -{ -} -void DecisionMakerNode::updateTryAvoidanceState(cstring_t& state_name, int status) -{ -} - -void DecisionMakerNode::entryCheckAvoidanceState(cstring_t& state_name, int status) -{ -} -void DecisionMakerNode::updateCheckAvoidanceState(cstring_t& state_name, int status) -{ -} - -void DecisionMakerNode::entryAvoidanceState(cstring_t& state_name, int status) -{ -} -void DecisionMakerNode::updateAvoidanceState(cstring_t& state_name, int status) -{ -} - -void DecisionMakerNode::entryReturnToLaneState(cstring_t& state_name, int status) -{ -} -void DecisionMakerNode::updateReturnToLaneState(cstring_t& state_name, int status) -{ -} - void DecisionMakerNode::entryDriveEmergencyState(cstring_t& state_name, int status) { setEventFlag("emergency_flag", true); diff --git a/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg b/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg index 975beb3ec08..ea5a847fb1c 100644 --- a/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg +++ b/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg @@ -6,6 +6,5 @@ bool disuse_vector_map uint32 num_of_steer_behind float64 change_threshold_dist float64 change_threshold_angle -float64 time_to_avoidance float64 goal_threshold_dist float64 goal_threshold_vel diff --git a/ros/src/util/packages/runtime_manager/scripts/computing.yaml b/ros/src/util/packages/runtime_manager/scripts/computing.yaml index cc56fc32586..c3624f7fe86 100755 --- a/ros/src/util/packages/runtime_manager/scripts/computing.yaml +++ b/ros/src/util/packages/runtime_manager/scripts/computing.yaml @@ -2014,12 +2014,6 @@ params : min : 0.0 max : 90.0 v : 15.0 - - name : time_to_avoidance - desc : The stop time until the state transitions to Avoidance state after the vehicle stops due to the obstacle. - label : time_to_avoidance[s] - min : 0.0 - max : 60.0 - v : 3.0 - name : points_topic desc : points_topic kind : str From 94eef61c00eae8403373efc488a42823681bbc91 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Fri, 18 Jan 2019 14:41:22 +0900 Subject: [PATCH 093/139] add state transition return from emergency to ready state --- .../packages/decision_maker/autoware_state_mission.yaml | 3 +++ .../packages/decision_maker/autoware_state_vehicle.yaml | 3 +++ 2 files changed, 6 insertions(+) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml index ef76fd79464..1753ff5da6a 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml +++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml @@ -97,4 +97,7 @@ autoware_states_mission: - Key: return_from_emergency Target: WaitVehicleReady + - + Key: return_to_ready + Target: DriveReady Parent: ~ diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml index 66b842f88db..06c26c609c3 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml +++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml @@ -62,4 +62,7 @@ autoware_states_vehicle: - Key: return_from_emergency Target: Init + - + Key: return_to_ready + Target: VehicleReady Parent: ~ From 54224cb8f6e1283474df2a277f161188c13c666d Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Fri, 18 Jan 2019 16:33:14 +0900 Subject: [PATCH 094/139] add automatically engage and automatically mission change function, and those checkbox to runtime_manager --- .../include/decision_maker_node.hpp | 4 ++++ .../decision_maker_node_callback.cpp | 2 ++ .../decision_maker_node_state_mission.cpp | 17 +++++++++++++++-- .../msg/ConfigDecisionMaker.msg | 2 ++ .../runtime_manager/scripts/computing.yaml | 8 +++++--- 5 files changed, 28 insertions(+), 5 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp index e44f13b299c..582a39cb9c1 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp @@ -173,6 +173,8 @@ class DecisionMakerNode // Param bool enableDisplayMarker; bool auto_mission_reload_; + bool auto_engage_; + bool auto_mission_change_; bool use_management_system_; bool disuse_vector_map_; uint32_t param_num_of_steer_behind_; @@ -383,6 +385,8 @@ class DecisionMakerNode : private_nh_("~") , enableDisplayMarker(false) , auto_mission_reload_(false) + , auto_engage_(false) + , auto_mission_change_(false) , use_management_system_(false) , param_num_of_steer_behind_(30) { diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp index c57acfc569c..d2ebf09c005 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp @@ -46,6 +46,8 @@ void DecisionMakerNode::callbackFromConfig(const autoware_config_msgs::ConfigDec ROS_INFO("Param setted by Runtime Manager"); enableDisplayMarker = msg.enable_display_marker; auto_mission_reload_ = msg.auto_mission_reload; + auto_engage_ = msg.auto_engage; + auto_mission_change_ = msg.auto_mission_change; use_management_system_ = msg.use_management_system; param_num_of_steer_behind_ = msg.num_of_steer_behind; change_threshold_dist_ = msg.change_threshold_dist; diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp index 8c40d23d96f..7563881fd5f 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp @@ -111,16 +111,23 @@ void DecisionMakerNode::entryDriveReadyState(cstring_t& state_name, int status) void DecisionMakerNode::updateDriveReadyState(cstring_t& state_name, int status) { + if (!use_management_system_ && auto_engage_) + { + tryNextState("engage"); + } } void DecisionMakerNode::entryDrivingState(cstring_t& state_name, int status) { - tryNextState("operation_start"); + setEventFlag("received_based_lane_waypoint", false); if (isEventFlagTrue("emergency_flag")) { tryNextState("mission_aborted"); + return; } + + tryNextState("operation_start"); } void DecisionMakerNode::updateDrivingState(cstring_t& state_name, int status) { @@ -128,6 +135,11 @@ void DecisionMakerNode::updateDrivingState(cstring_t& state_name, int status) { tryNextState("mission_aborted"); } + + if (!use_management_system_ && auto_mission_change_ && isEventFlagTrue("received_based_lane_waypoint")) + { + tryNextState("request_mission_change"); + } } void DecisionMakerNode::exitDrivingState(cstring_t& state_name, int status) { @@ -135,7 +147,8 @@ void DecisionMakerNode::exitDrivingState(cstring_t& state_name, int status) void DecisionMakerNode::entryDrivingMissionChangeState(cstring_t& state_name, int status) { - setEventFlag("received_based_lane_waypoint", false); + if (!auto_mission_change_) + setEventFlag("received_based_lane_waypoint", false); } void DecisionMakerNode::updateDrivingMissionChangeState(cstring_t& state_name, int status) diff --git a/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg b/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg index ea5a847fb1c..02aa18adb61 100644 --- a/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg +++ b/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg @@ -1,6 +1,8 @@ Header header bool enable_display_marker bool auto_mission_reload +bool auto_engage +bool auto_mission_change bool use_management_system bool disuse_vector_map uint32 num_of_steer_behind diff --git a/ros/src/util/packages/runtime_manager/scripts/computing.yaml b/ros/src/util/packages/runtime_manager/scripts/computing.yaml index c3624f7fe86..1c9e5a0a3b4 100755 --- a/ros/src/util/packages/runtime_manager/scripts/computing.yaml +++ b/ros/src/util/packages/runtime_manager/scripts/computing.yaml @@ -726,16 +726,18 @@ subs : gui : dialog_width : 400 dialog_height : 600 - use_fms: + enable_display_marker: + flags : [ nl ] + use_management_system: flags : [ nl ] auto_mission_reload: depend : use_management_system depend_bool : 'lambda v : v == 0' auto_engage: - depend : use_fms + depend : use_management_system depend_bool : 'lambda v : v == 0' auto_mission_change: - depend : use_fms + depend : use_management_system depend_bool : 'lambda v : v == 0' From b672aca7d2b6a7bd55893d8cd19bb9fc4a9706cc Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Wed, 23 Jan 2019 14:29:31 +0900 Subject: [PATCH 095/139] remove unused variables & functions --- .../include/decision_maker_node.hpp | 57 ------------------- .../decision_maker_node_callback.cpp | 3 - .../decision_maker_node_init.cpp | 6 -- .../decision_maker_node_publish.cpp | 31 ---------- 4 files changed, 97 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp index 582a39cb9c1..ac9aa9b126b 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp @@ -125,37 +125,8 @@ class DecisionMakerNode AutowareStatus current_status_; - // ROS Messages - std_msgs::String state_string_msg; - geometry_msgs::PoseStamped current_pose_; - - jsk_rviz_plugins::OverlayText state_text_msg; - - // ROS Messages(Autoware) - autoware_msgs::Lane current_finalwaypoints_; - vector_map_msgs::AreaArray vMap_Areas; - vector_map_msgs::PointArray vMap_Points; - vector_map_msgs::LineArray vMap_Lines; - vector_map_msgs::CrossRoadArray vMap_CrossRoads; - - std::vector inside_points_; - - tf::TransformListener tflistener_baselink; - - int closest_stop_waypoint_; - int closest_stopline_waypoint_; - int goal_waypoint_; - autoware_msgs::Waypoint CurrentStoplineTarget_; - - double average_velocity_; - int closest_waypoint_; - CrossRoadArea* ClosestArea_; - std::string CurrentStateName; - std::string TextOffset; std::vector intersects; - double displacement_from_path_; - bool foundOtherVehicleForIntersectionStop_; // In fact this should be defined as state. class DetectionArea { public: @@ -184,19 +155,9 @@ class DecisionMakerNode double goal_threshold_vel_; int stopline_reset_count_; - // for vectormap server - // ros::ServiceClient cross_road_cli; - // vector_map_server::GetCrossRoad cross_road_srv; - - // initialization flags for initialized by callback - std::mutex vMap_mutex; - bool created_shift_lane_flag_; - // initialization method void initROS(); void initVectorMap(void); - void initStateMsgs(void); - bool initVectorMapClient(void); void createSubscriber(void); void createPublisher(void); @@ -204,21 +165,8 @@ class DecisionMakerNode // looping method void update(void); void update_msgs(void); - void update_pubsub(void); void publishToVelocityArray(); - int createCrossRoadAreaMarker(visualization_msgs::Marker& crossroad_marker, double scale); - - /* for planning according to state*/ - void publishStoppedLaneArray(void); - void publishControlledLaneArray(void); - void updateLaneWaypointsArray(void); - void changeVelocityBasedLane(void); - void changeVelocityLane(int dir); - void createShiftLane(void); - void changeShiftLane(void); - void removeShiftLane(void); - void setAllStoplineStop(void); void publishOperatorHelpMessage(cstring_t& message); void publishLampCmd(const E_Lamp& status); @@ -228,7 +176,6 @@ class DecisionMakerNode /* decision */ void tryNextState(cstring_t& key); bool isArrivedGoal(void); - bool isCrossRoadByVectorMapServer(const autoware_msgs::Lane& lane_msg, const geometry_msgs::PoseStamped& pose_msg); bool isLocalizationConvergence(const geometry_msgs::Point& _current_point); void insertPointWithinCrossRoad(const std::vector& _intersects, autoware_msgs::LaneArray& lane_array); void setWaypointState(autoware_msgs::LaneArray& lane_array); @@ -237,9 +184,6 @@ class DecisionMakerNode bool drivingMissionCheck(void); double calcIntersectWayAngle(const autoware_msgs::Lane& laneinArea); - double calcPosesAngleDiff(const geometry_msgs::Pose& p_from, const geometry_msgs::Pose& p_to); - double calcPosesAngleDiffN(const geometry_msgs::Pose& p_from, const geometry_msgs::Pose& p_to); - double getPoseAngle(const geometry_msgs::Pose& p); uint8_t getSteeringStateFromWaypoint(void); uint8_t getEventStateFromWaypoint(void); @@ -355,7 +299,6 @@ class DecisionMakerNode void callbackFromLaneChangeFlag(const std_msgs::Int32& msg); void callbackFromFinalWaypoint(const autoware_msgs::Lane& msg); void callbackFromLaneWaypoint(const autoware_msgs::LaneArray& msg); - void callbackFromTwistCmd(const geometry_msgs::TwistStamped& msg); void callbackFromSimPose(const geometry_msgs::PoseStamped& msg); void callbackFromConfig(const autoware_config_msgs::ConfigDecisionMaker& msg); void callbackFromStateCmd(const std_msgs::String& msg); diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp index d2ebf09c005..95346d6bb08 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp @@ -295,9 +295,6 @@ void DecisionMakerNode::callbackFromFinalWaypoint(const autoware_msgs::Lane& msg current_status_.finalwaypoints = msg; setEventFlag("received_finalwaypoints", true); } -void DecisionMakerNode::callbackFromTwistCmd(const geometry_msgs::TwistStamped& msg) -{ -} void DecisionMakerNode::callbackFromClosestWaypoint(const std_msgs::Int32& msg) { diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp index 9b0407a594b..b4120dc974c 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp @@ -261,12 +261,6 @@ void DecisionMakerNode::createPublisher(void) Pubs["lamp_cmd"] = nh_.advertise("/lamp_cmd", 1); // for visualize status - Pubs["crossroad_marker"] = nh_.advertise("/state/cross_road_marker", 1); - Pubs["stopline_target"] = nh_.advertise("/state/stopline_target", 1); - - Pubs["crossroad_inside_marker"] = private_nh_.advertise("/state/cross_inside_marker", 1); - Pubs["crossroad_bbox"] = private_nh_.advertise("/state/crossroad_bbox", 10); - Pubs["state"] = private_nh_.advertise("state", 1, true); Pubs["state_overlay"] = private_nh_.advertise("/state/overlay_text", 1); Pubs["available_transition"] = private_nh_.advertise("available_transition", 1, true); diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp index c240c766270..3f1113e831f 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp @@ -76,37 +76,6 @@ void DecisionMakerNode::publishOperatorHelpMessage(cstring_t& message) Pubs["operator_help_text"].publish(createOverlayText(joined_msg, 0)); } -void DecisionMakerNode::update_pubsub(void) -{ -} - -int DecisionMakerNode::createCrossRoadAreaMarker(visualization_msgs::Marker& crossroad_marker, double scale) -{ - jsk_rviz_plugins::OverlayText ret; - - // message setup - ret.width = 500; - ret.height = 500; - ret.top = 10 + (column * 500); - ret.left = 10; - ret.bg_color.r = 0; - ret.bg_color.g = 0; - ret.bg_color.b = 0; - ret.bg_color.a = 0.8; - - ret.line_width = 2; - ret.text_size = 9; - ret.font = "DejaVu Sans Mono"; - ret.fg_color.r = 1.0; - ret.fg_color.g = 1.0; - ret.fg_color.b = 0.5; - ret.fg_color.a = 0.9; - - ret.text = data; - - return ret; -} - void DecisionMakerNode::update_msgs(void) { #if 1 From 91c6e0d9f2d3f5f4fa846842758654d73f322c23 Mon Sep 17 00:00:00 2001 From: Kenji Funaoka Date: Thu, 24 Jan 2019 17:18:21 +0900 Subject: [PATCH 096/139] Revert dp_planner to split the changes into #1919 --- .../dp_planner/include/dp_planner_core.h | 2 + .../dp_planner/launch/dp_planner.launch | 48 ++++++++++--------- .../dp_planner/nodes/dp_planner_core.cpp | 39 ++++++++++++++- 3 files changed, 64 insertions(+), 25 deletions(-) diff --git a/ros/src/computing/planning/motion/packages/dp_planner/include/dp_planner_core.h b/ros/src/computing/planning/motion/packages/dp_planner/include/dp_planner_core.h index 7feda87e5c2..e21fabbca11 100644 --- a/ros/src/computing/planning/motion/packages/dp_planner/include/dp_planner_core.h +++ b/ros/src/computing/planning/motion/packages/dp_planner/include/dp_planner_core.h @@ -139,6 +139,8 @@ class PlannerX std::vector m_LogData; + bool enablePlannerDynamicSwitch; + protected: //ROS messages (topics) diff --git a/ros/src/computing/planning/motion/packages/dp_planner/launch/dp_planner.launch b/ros/src/computing/planning/motion/packages/dp_planner/launch/dp_planner.launch index a6f2a449271..e70b84dfc47 100644 --- a/ros/src/computing/planning/motion/packages/dp_planner/launch/dp_planner.launch +++ b/ros/src/computing/planning/motion/packages/dp_planner/launch/dp_planner.launch @@ -1,52 +1,52 @@ - + - - + + - - + + - + - + - + - + - + - + - + - + - + @@ -55,39 +55,41 @@ - - + + - + - + - + - + - + - + - + + + diff --git a/ros/src/computing/planning/motion/packages/dp_planner/nodes/dp_planner_core.cpp b/ros/src/computing/planning/motion/packages/dp_planner/nodes/dp_planner_core.cpp index 5fd8659bc13..2cecd6fde59 100644 --- a/ros/src/computing/planning/motion/packages/dp_planner/nodes/dp_planner_core.cpp +++ b/ros/src/computing/planning/motion/packages/dp_planner/nodes/dp_planner_core.cpp @@ -71,6 +71,8 @@ PlannerX::PlannerX() m_ObstacleTracking.m_dt = 0.12; m_ObstacleTracking.m_bUseCenterOnly = true; + enablePlannerDynamicSwitch = false; + int iSource = 0; nh.getParam("/dp_planner/mapSource", iSource); @@ -93,6 +95,12 @@ PlannerX::PlannerX() std::string topic_prefix; + nh.getParam("/dp_planner/enablePlannerDynamicSwitch", enablePlannerDynamicSwitch); + if(enablePlannerDynamicSwitch){ + topic_prefix = "/dp"; + pub_LocalTrajectoriesRviz_dynamic = nh.advertise("local_trajectories_dynamic", 1); + pub_EnableLattice = nh.advertise("enableLattice", 1); + } pub_LocalPath = nh.advertise(topic_prefix + "/final_waypoints", 100,true); pub_LocalBasePath = nh.advertise(topic_prefix + "/base_waypoints", 100,true); @@ -108,7 +116,7 @@ PlannerX::PlannerX() pub_DetectedPolygonsRviz = nh.advertise("detected_polygons", 1, true); pub_TrackedObstaclesRviz = nh.advertise("dp_planner_tracked_boxes", 1); pub_LocalTrajectoriesRviz = nh.advertise("local_trajectories", 1); - + pub_TestLineRviz = nh.advertise("testing_line", 1); pub_BehaviorStateRviz = nh.advertise("behavior_state", 1); pub_SafetyBorderRviz = nh.advertise("safety_border", 1); @@ -762,10 +770,37 @@ void PlannerX::PlannerMainLoop() pub_LocalPath.publish(current_trajectory); visualization_msgs::MarkerArray all_rollOuts; - + ROSHelpers::ConvertFromPlannerHToAutowareVisualizePathFormat(m_LocalPlanner.m_Path, m_LocalPlanner.m_RollOuts, m_LocalPlanner, all_rollOuts); pub_LocalTrajectoriesRviz.publish(all_rollOuts); + //Publish markers that visualize only when avoiding objects + if(enablePlannerDynamicSwitch){ + visualization_msgs::MarkerArray all_rollOuts_dynamic; + std_msgs::Int32 enableLattice; + if(iDirection != 0) { // if obstacle avoidance state, + all_rollOuts_dynamic = all_rollOuts; + + for(auto &ro : all_rollOuts_dynamic.markers){ + ro.ns = "global_lane_array_marker_dynamic"; + } + pub_LocalTrajectoriesRviz_dynamic.publish(all_rollOuts_dynamic); + enableLattice.data = 1; + }else{ + visualization_msgs::Marker delMarker; +#ifndef ROS_KINETIC + delMarker.action = visualization_msgs::Marker::DELETE; +#else + delMarker.action = visualization_msgs::Marker::DELETEALL; +#endif + delMarker.ns = "global_lane_array_marker_dynamic"; + all_rollOuts_dynamic.markers.push_back(delMarker); + pub_LocalTrajectoriesRviz_dynamic.publish(all_rollOuts_dynamic); + enableLattice.data = 0; + } + pub_EnableLattice.publish(enableLattice); //Publish flag of object avoidance + } + if(m_CurrentBehavior.bNewPlan) { From 4bdc2ce11d8c79059712857e6007953679244ef8 Mon Sep 17 00:00:00 2001 From: Kenji Funaoka Date: Thu, 24 Jan 2019 17:25:16 +0900 Subject: [PATCH 097/139] Revert dp_planner to split the changes into #1919 --- .../waypoint_planner/src/velocity_set/velocity_set.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp index 07df490ba36..cfcdd2698f7 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp @@ -529,10 +529,12 @@ int main(int argc, char** argv) bool use_crosswalk_detection; bool enable_multiple_crosswalk_detection; + bool enablePlannerDynamicSwitch; std::string points_topic; private_nh.param("use_crosswalk_detection", use_crosswalk_detection, true); private_nh.param("enable_multiple_crosswalk_detection", enable_multiple_crosswalk_detection, true); + private_nh.param("enablePlannerDynamicSwitch", enablePlannerDynamicSwitch, false); private_nh.param("points_topic", points_topic, "points_lanes"); @@ -568,7 +570,11 @@ int main(int argc, char** argv) ros::Publisher obstacle_waypoint_pub = nh.advertise("obstacle_waypoint", 1, true); ros::Publisher final_waypoints_pub; - final_waypoints_pub = nh.advertise("final_waypoints", 1, true); + if(enablePlannerDynamicSwitch){ + final_waypoints_pub = nh.advertise("astar/final_waypoints", 1, true); + }else{ + final_waypoints_pub = nh.advertise("final_waypoints", 1, true); + } ros::Rate loop_rate(LOOP_RATE); while (ros::ok()) From 363803b1f057b7fc3a46d5335df11d46a8344186 Mon Sep 17 00:00:00 2001 From: Kenji Funaoka Date: Thu, 24 Jan 2019 17:52:50 +0900 Subject: [PATCH 098/139] Rename directories of decision_maker_panel --- .../src/decision_maker_panel.cpp | 243 ++++-------------- .../src/decision_maker_panel.h | 1 - .../decision_maker_panel.cpp | 192 -------------- .../decision_maker_panel.h | 64 ----- 4 files changed, 53 insertions(+), 447 deletions(-) delete mode 100644 ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.cpp delete mode 100644 ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.h diff --git a/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp index e526342d89d..72293be37f0 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp +++ b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp @@ -37,7 +37,6 @@ #include #include #include -#include #include @@ -78,212 +77,76 @@ DecisionMakerPanel::DecisionMakerPanel(QWidget* parent) : rviz::Panel(parent) // Next we lay out the "output topic" text entry field using a // QLabel and a QLineEdit in a QHBoxLayout. - QGridLayout* label_layout = new QGridLayout; - label_layout->addWidget(new QLabel("DecisionMaker QuickOrder"), 0, 0); + QHBoxLayout* label_layout = new QHBoxLayout; + label_layout->addWidget(new QLabel("DecisionMaker QuickOrder")); QSignalMapper* signalMapper = new QSignalMapper(this); connect(signalMapper, SIGNAL(mapped(QString)), this, SLOT(sendTopic(QString))); - QMap buttons_def; - // main - buttons_def["engage"] = new QPushButton("\nEngage\n"); - signalMapper->setMapping(buttons_def["engage"], QString("engage")); - buttons_def["stop"] = new QPushButton("\nStop\n"); - signalMapper->setMapping(buttons_def["stop"], QString("found_obstacle_in_stopped_area")); - buttons_def["go"] = new QPushButton("\nGo\n"); - signalMapper->setMapping(buttons_def["go"], QString("clear")); - // execute - buttons_def["execute_lane_change"] = new QPushButton("Execute \nLaneChange"); - signalMapper->setMapping(buttons_def["execute_lane_change"], QString("execute_lane_change")); - // mission - buttons_def["request_mission_change"] = new QPushButton("Request \nmission change"); - signalMapper->setMapping(buttons_def["request_mission_change"], QString("request_mission_change")); - buttons_def["return_to_driving"] = new QPushButton("Return \nto driving"); - signalMapper->setMapping(buttons_def["return_to_driving"], QString("return_to_driving")); - buttons_def["mission_canceled"] = new QPushButton("Mission \ncancel"); - signalMapper->setMapping(buttons_def["mission_canceled"], QString("mission_canceled")); - // emergency - buttons_def["emergency"] = new QPushButton("Emergency"); - signalMapper->setMapping(buttons_def["emergency"], QString("emergency")); - buttons_def["return_from_emergency"] = new QPushButton("Return \nfrom emergency"); - signalMapper->setMapping(buttons_def["return_from_emergency"], QString("return_from_emergency")); - buttons_def["return_to_ready"] = new QPushButton("Return \nto ready"); - signalMapper->setMapping(buttons_def["return_to_ready"], QString("return_to_ready")); - // set options - QMap::const_iterator i = buttons_def.constBegin(); - QFont* q_font = new QFont("Arial", 11); - QSizePolicy* q_size_policy = new QSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); - while (i != buttons_def.constEnd()) - { - i.value()->setSizePolicy(*q_size_policy); - i.value()->setFont(*q_font); - connect(i.value(), SIGNAL(clicked()), signalMapper, SLOT(map())); - ++i; - } + QHBoxLayout* button_layout = new QHBoxLayout; + QPushButton* button_engage = new QPushButton("Engage"); + signalMapper->setMapping(button_engage, QString("engage")); + connect(button_engage, SIGNAL(clicked()), signalMapper, SLOT(map())); - QGridLayout* button_layout_main = new QGridLayout; - button_layout_main->addWidget(new QLabel("Main"), 0, 0); - button_layout_main->addWidget(buttons_def["engage"], 1, 0); - button_layout_main->addWidget(buttons_def["stop"], 1, 1); - button_layout_main->addWidget(buttons_def["go"], 1, 2); + QPushButton* button_stop = new QPushButton("Stop"); + signalMapper->setMapping(button_stop, QString("found_obstacle_in_stopped_area")); + connect(button_stop, SIGNAL(clicked()), signalMapper, SLOT(map())); - QGridLayout* button_layout_execute = new QGridLayout; - button_layout_execute->addWidget(new QLabel("Execute"), 0, 0); button_layout_execute->addWidget(buttons_def["execute_lane_change"], 1, 0); + QPushButton* button_go = new QPushButton("Go"); + signalMapper->setMapping(button_go, QString("clear")); + connect(button_go, SIGNAL(clicked()), signalMapper, SLOT(map())); - QGridLayout* button_layout_mission = new QGridLayout; - button_layout_mission->addWidget(new QLabel("Mission"), 0, 0); - button_layout_mission->addWidget(buttons_def["request_mission_change"], 1, 0); - button_layout_mission->addWidget(buttons_def["return_to_driving"], 1, 1); - button_layout_mission->addWidget(buttons_def["mission_canceled"], 1, 2); + button_layout->addWidget(button_engage); + button_layout->addWidget(button_stop); + button_layout->addWidget(button_go); - QGridLayout* button_layout_emergency = new QGridLayout; - button_layout_emergency->addWidget(new QLabel("Emergency"), 0, 0); - button_layout_emergency->addWidget(buttons_def["emergency"], 1, 0); - button_layout_emergency->addWidget(buttons_def["return_from_emergency"], 1, 1); - button_layout_emergency->addWidget(buttons_def["return_to_ready"], 1, 2); + QHBoxLayout* button_second_layout = new QHBoxLayout; + QPushButton* button_execute_avoidance = new QPushButton("Execute Avoidance"); + signalMapper->setMapping(button_execute_avoidance, QString("execute_avoidance")); + connect(button_execute_avoidance, SIGNAL(clicked()), signalMapper, SLOT(map())); + QPushButton* button_execute_lane_change = new QPushButton("Execute LaneChange"); + signalMapper->setMapping(button_execute_lane_change, QString("execute_lane_change")); + connect(button_execute_lane_change, SIGNAL(clicked()), signalMapper, SLOT(map())); - QMap buttons_ext; - // state vehicle - buttons_ext["sensor_is_ready"] = new QPushButton("Sensor is ready"); - signalMapper->setMapping(buttons_ext["sensor_is_ready"], QString("sensor_is_ready")); - buttons_ext["map_is_ready"] = new QPushButton("Map is ready"); - signalMapper->setMapping(buttons_ext["map_is_ready"], QString("map_is_ready")); - buttons_ext["localization_is_ready"] = new QPushButton("Localization \nis ready"); - signalMapper->setMapping(buttons_ext["localization_is_ready"], QString("localization_is_ready")); - buttons_ext["planning_is_ready"] = new QPushButton("Planning is ready"); - signalMapper->setMapping(buttons_ext["planning_is_ready"], QString("planning_is_ready")); - buttons_ext["vehicle_is_ready"] = new QPushButton("Vehicle is ready"); - signalMapper->setMapping(buttons_ext["vehicle_is_ready"], QString("vehicle_is_ready")); - // state mission - buttons_ext["received_mission_order"] = new QPushButton("Received mission order"); - signalMapper->setMapping(buttons_ext["received_mission_order"], QString("received_mission_order")); - buttons_ext["mission_is_compatible"] = new QPushButton("Mission is compatible"); - signalMapper->setMapping(buttons_ext["mission_is_compatible"], QString("mission_is_compatible")); - buttons_ext["mission_aborted"] = new QPushButton("Mission aborted"); - signalMapper->setMapping(buttons_ext["mission_aborted"], QString("mission_aborted")); - buttons_ext["arrived_goal"] = new QPushButton("Arrived goal"); - signalMapper->setMapping(buttons_ext["arrived_goal"], QString("arrived_goal")); - buttons_ext["request_mission_change"] = new QPushButton("Request mission change"); - signalMapper->setMapping(buttons_ext["request_mission_change"], QString("request_mission_change")); - buttons_ext["mission_is_conflicting"] = new QPushButton("Mission is conflicting"); - signalMapper->setMapping(buttons_ext["mission_is_conflicting"], QString("mission_is_conflicting")); - buttons_ext["return_to_driving"] = new QPushButton("Return to driving"); - signalMapper->setMapping(buttons_ext["return_to_driving"], QString("return_to_driving")); - buttons_ext["goto_wait_order"] = new QPushButton("Go to WaitOrder"); - signalMapper->setMapping(buttons_ext["goto_wait_order"], QString("goto_wait_order")); - // state drive - buttons_ext["operation_start"] = new QPushButton("Operation start"); - signalMapper->setMapping(buttons_ext["operation_start"], QString("operation_start")); - buttons_ext["operation_end"] = new QPushButton("Operation end"); - signalMapper->setMapping(buttons_ext["operation_end"], QString("operation_end")); - buttons_ext["on_lane_area"] = new QPushButton("Lane area"); - signalMapper->setMapping(buttons_ext["on_lane_area"], QString("on_lane_area")); - buttons_ext["on_free_area"] = new QPushButton("Free area"); - signalMapper->setMapping(buttons_ext["on_free_area"], QString("on_free_area")); - buttons_ext["on_cruise"] = new QPushButton("Cruise"); - signalMapper->setMapping(buttons_ext["on_cruise"], QString("on_cruise")); - buttons_ext["on_bus_stop"] = new QPushButton("Bus stop"); - signalMapper->setMapping(buttons_ext["on_bus_stop"], QString("on_bus_stop")); - buttons_ext["on_parking"] = new QPushButton("Parking"); - signalMapper->setMapping(buttons_ext["on_parking"], QString("on_parking")); - buttons_ext["on_straight"] = new QPushButton("Straight"); - signalMapper->setMapping(buttons_ext["on_straight"], QString("on_straight")); - buttons_ext["on_right_turn"] = new QPushButton("Right turn"); - signalMapper->setMapping(buttons_ext["on_right_turn"], QString("on_right_turn")); - buttons_ext["on_left_turn"] = new QPushButton("Left turn"); - signalMapper->setMapping(buttons_ext["on_left_turn"], QString("on_left_turn")); - buttons_ext["on_back"] = new QPushButton("Back"); - signalMapper->setMapping(buttons_ext["on_back"], QString("on_back")); - buttons_ext["lane_change_right"] = new QPushButton("Lanechange Right"); - signalMapper->setMapping(buttons_ext["lane_change_right"], QString("lane_change_right")); - buttons_ext["lane_change_left"] = new QPushButton("Lanechange Left"); - signalMapper->setMapping(buttons_ext["lane_change_left"], QString("lane_change_left")); - buttons_ext["on_pull_over"] = new QPushButton("Pull over"); - signalMapper->setMapping(buttons_ext["on_pull_over"], QString("on_pull_over")); - buttons_ext["on_pull_out"] = new QPushButton("Pull out"); - signalMapper->setMapping(buttons_ext["on_pull_out"], QString("on_pull_out")); - // set options - QMap::const_iterator j = buttons_ext.constBegin(); - while (j != buttons_ext.constEnd()) - { - j.value()->setSizePolicy(*q_size_policy); - j.value()->setFont(*q_font); - connect(j.value(), SIGNAL(clicked()), signalMapper, SLOT(map())); - ++j; - } + button_second_layout->addWidget(button_execute_avoidance); + button_second_layout->addWidget(button_execute_lane_change); + + QHBoxLayout* button_middle_layout = new QHBoxLayout; + QPushButton* button_request_mission_change = new QPushButton("Request mission change"); + signalMapper->setMapping(button_request_mission_change, QString("request_mission_change")); + connect(button_request_mission_change, SIGNAL(clicked()), signalMapper, SLOT(map())); + + QPushButton* button_return_to_driving = new QPushButton("Return to driving"); + signalMapper->setMapping(button_return_to_driving, QString("return_to_driving")); + connect(button_return_to_driving, SIGNAL(clicked()), signalMapper, SLOT(map())); + + QPushButton* button_mission_canceled = new QPushButton("Mission cancel"); + signalMapper->setMapping(button_mission_canceled, QString("mission_canceled")); + connect(button_mission_canceled, SIGNAL(clicked()), signalMapper, SLOT(map())); - // state vehicle - QGridLayout* extra_layout_vehicle = new QGridLayout; - extra_layout_vehicle->addWidget(new QLabel("state Vehicle"), 0, 0); - extra_layout_vehicle->addWidget(buttons_ext["sensor_is_ready"], 1, 0); - extra_layout_vehicle->addWidget(buttons_ext["map_is_ready"], 1, 1); - extra_layout_vehicle->addWidget(buttons_ext["localization_is_ready"], 1, 2); - extra_layout_vehicle->addWidget(buttons_ext["planning_is_ready"], 2, 0); - extra_layout_vehicle->addWidget(buttons_ext["vehicle_is_ready"], 2, 1); - // state mission - QGridLayout* extra_layout_mission = new QGridLayout; - extra_layout_mission->addWidget(new QLabel("state Mission"), 0, 0); - extra_layout_mission->addWidget(buttons_ext["received_mission_order"],1, 0); - extra_layout_mission->addWidget(buttons_ext["mission_is_compatible"], 1, 1); - extra_layout_mission->addWidget(buttons_ext["mission_aborted"], 1, 2); - extra_layout_mission->addWidget(buttons_ext["arrived_goal"], 2, 0); - extra_layout_mission->addWidget(buttons_ext["request_mission_change"], 2, 1); - extra_layout_mission->addWidget(buttons_ext["mission_is_conflicting"], 2, 2); - extra_layout_mission->addWidget(buttons_ext["return_to_driving"], 3, 0); - extra_layout_mission->addWidget(buttons_ext["goto_wait_order"], 3, 1); - // state drive - QGridLayout* extra_layout_drive = new QGridLayout; - extra_layout_drive->addWidget(new QLabel("state Drive"), 0, 0); - extra_layout_drive->addWidget(buttons_ext["operation_start"], 1, 0); - extra_layout_drive->addWidget(buttons_ext["operation_end"], 1, 1); - extra_layout_drive->addWidget(buttons_ext["on_lane_area"], 2, 0); - extra_layout_drive->addWidget(buttons_ext["on_free_area"], 2, 1); - extra_layout_drive->addWidget(buttons_ext["on_cruise"], 3, 0); - extra_layout_drive->addWidget(buttons_ext["on_bus_stop"], 3, 1); - extra_layout_drive->addWidget(buttons_ext["on_parking"], 3, 2); - extra_layout_drive->addWidget(buttons_ext["on_straight"], 4, 0); - extra_layout_drive->addWidget(buttons_ext["on_right_turn"],4, 1); - extra_layout_drive->addWidget(buttons_ext["on_left_turn"], 4, 2); - extra_layout_drive->addWidget(buttons_ext["on_back"], 4, 3); - extra_layout_drive->addWidget(buttons_ext["lane_change_right"], 5, 0); - extra_layout_drive->addWidget(buttons_ext["lane_change_left"], 5, 1); - extra_layout_drive->addWidget(buttons_ext["on_pull_over"], 6, 0); - extra_layout_drive->addWidget(buttons_ext["on_pull_out"], 6, 1); - // set layout to window - window_vehicle = new QWidget; - window_vehicle->setLayout(extra_layout_vehicle); - window_vehicle->hide(); - window_mission = new QWidget; - window_mission->setLayout(extra_layout_mission); - window_mission->hide(); - window_drive = new QWidget; - window_drive->setLayout(extra_layout_drive); - window_drive->hide(); + button_middle_layout->addWidget(button_request_mission_change); + button_middle_layout->addWidget(button_return_to_driving); + button_middle_layout->addWidget(button_mission_canceled); + QHBoxLayout* button_low_layout = new QHBoxLayout; + QPushButton* button_emergency = new QPushButton("Emergency"); + signalMapper->setMapping(button_emergency, QString("emergency")); + connect(button_emergency, SIGNAL(clicked()), signalMapper, SLOT(map())); - QPushButton* button_more = new QPushButton("&More..."); - button_more->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); - button_more->setFont(*q_font); - button_more->setCheckable(true); - connect(button_more, &QAbstractButton::toggled, window_vehicle, &QWidget::setVisible); - connect(button_more, &QAbstractButton::toggled, window_mission, &QWidget::setVisible); - connect(button_more, &QAbstractButton::toggled, window_drive, &QWidget::setVisible); + QPushButton* button_return_from_emergency = new QPushButton("Return from emergency"); + signalMapper->setMapping(button_return_from_emergency, QString("return_from_emergency")); + connect(button_return_from_emergency, SIGNAL(clicked()), signalMapper, SLOT(map())); - QHBoxLayout* button_toggle_layout = new QHBoxLayout; - button_toggle_layout->addWidget(button_more); - button_toggle_layout->addWidget(new QLabel("(Normally unused commands)")); + button_low_layout->addWidget(button_emergency); + button_low_layout->addWidget(button_return_from_emergency); QVBoxLayout* layout = new QVBoxLayout; layout->addLayout(label_layout); - layout->addLayout(button_layout_main); - layout->addLayout(button_layout_execute); - layout->addLayout(button_layout_mission); - layout->addLayout(button_layout_emergency); - layout->addLayout(button_toggle_layout); - layout->addWidget(window_vehicle); - layout->addWidget(window_mission); - layout->addWidget(window_drive); + layout->addLayout(button_layout); + layout->addLayout(button_second_layout); + layout->addLayout(button_middle_layout); + layout->addLayout(button_low_layout); setLayout(layout); } diff --git a/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.h b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.h index a6aacdd51db..fc02ea4e827 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.h +++ b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.h @@ -44,7 +44,6 @@ class DecisionMakerPanel : public rviz::Panel Q_OBJECT public: DecisionMakerPanel(QWidget* parent = 0); - QWidget *window_vehicle, *window_mission, *window_drive; virtual void load(const rviz::Config& config); virtual void save(rviz::Config config) const; diff --git a/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.cpp b/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.cpp deleted file mode 100644 index 72293be37f0..00000000000 --- a/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.cpp +++ /dev/null @@ -1,192 +0,0 @@ -/* - * Copyright (c) 2018, TierIV Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include -#include -#include "autoware_msgs/RemoteCmd.h" -#include "decision_maker_panel.h" - -namespace autoware_rviz_debug -{ -// BEGIN_TUTORIAL -// Here is the implementation of the DecisionMakerPanel class. DecisionMakerPanel -// has these responsibilities: -// -// - Act as a container for GUI elements DriveWidget and QLineEdit. -// - Publish command velocities 10 times per second (whether 0 or not). -// - Saving and restoring internal state from a config file. -// -// We start with the constructor, doing the standard Qt thing of -// passing the optional *parent* argument on to the superclass -// constructor, and also zero-ing the velocities we will be -// publishing. - -class StateInfo -{ -private: -public: - uint64_t state_num_; - uint8_t state_category_; - std::string state_num_name_; - std::string state_category_name_; -}; - -DecisionMakerPanel::DecisionMakerPanel(QWidget* parent) : rviz::Panel(parent) -{ - statecmd_publisher_ = nh_.advertise("/state_cmd", 1); - emergency_publisher_ = nh_.advertise("/remote_cmd", 1); - - // Next we lay out the "output topic" text entry field using a - // QLabel and a QLineEdit in a QHBoxLayout. - QHBoxLayout* label_layout = new QHBoxLayout; - label_layout->addWidget(new QLabel("DecisionMaker QuickOrder")); - - QSignalMapper* signalMapper = new QSignalMapper(this); - connect(signalMapper, SIGNAL(mapped(QString)), this, SLOT(sendTopic(QString))); - - QHBoxLayout* button_layout = new QHBoxLayout; - QPushButton* button_engage = new QPushButton("Engage"); - signalMapper->setMapping(button_engage, QString("engage")); - connect(button_engage, SIGNAL(clicked()), signalMapper, SLOT(map())); - - QPushButton* button_stop = new QPushButton("Stop"); - signalMapper->setMapping(button_stop, QString("found_obstacle_in_stopped_area")); - connect(button_stop, SIGNAL(clicked()), signalMapper, SLOT(map())); - - QPushButton* button_go = new QPushButton("Go"); - signalMapper->setMapping(button_go, QString("clear")); - connect(button_go, SIGNAL(clicked()), signalMapper, SLOT(map())); - - button_layout->addWidget(button_engage); - button_layout->addWidget(button_stop); - button_layout->addWidget(button_go); - - QHBoxLayout* button_second_layout = new QHBoxLayout; - QPushButton* button_execute_avoidance = new QPushButton("Execute Avoidance"); - signalMapper->setMapping(button_execute_avoidance, QString("execute_avoidance")); - connect(button_execute_avoidance, SIGNAL(clicked()), signalMapper, SLOT(map())); - - QPushButton* button_execute_lane_change = new QPushButton("Execute LaneChange"); - signalMapper->setMapping(button_execute_lane_change, QString("execute_lane_change")); - connect(button_execute_lane_change, SIGNAL(clicked()), signalMapper, SLOT(map())); - - button_second_layout->addWidget(button_execute_avoidance); - button_second_layout->addWidget(button_execute_lane_change); - - QHBoxLayout* button_middle_layout = new QHBoxLayout; - QPushButton* button_request_mission_change = new QPushButton("Request mission change"); - signalMapper->setMapping(button_request_mission_change, QString("request_mission_change")); - connect(button_request_mission_change, SIGNAL(clicked()), signalMapper, SLOT(map())); - - QPushButton* button_return_to_driving = new QPushButton("Return to driving"); - signalMapper->setMapping(button_return_to_driving, QString("return_to_driving")); - connect(button_return_to_driving, SIGNAL(clicked()), signalMapper, SLOT(map())); - - QPushButton* button_mission_canceled = new QPushButton("Mission cancel"); - signalMapper->setMapping(button_mission_canceled, QString("mission_canceled")); - connect(button_mission_canceled, SIGNAL(clicked()), signalMapper, SLOT(map())); - - button_middle_layout->addWidget(button_request_mission_change); - button_middle_layout->addWidget(button_return_to_driving); - button_middle_layout->addWidget(button_mission_canceled); - - QHBoxLayout* button_low_layout = new QHBoxLayout; - QPushButton* button_emergency = new QPushButton("Emergency"); - signalMapper->setMapping(button_emergency, QString("emergency")); - connect(button_emergency, SIGNAL(clicked()), signalMapper, SLOT(map())); - - QPushButton* button_return_from_emergency = new QPushButton("Return from emergency"); - signalMapper->setMapping(button_return_from_emergency, QString("return_from_emergency")); - connect(button_return_from_emergency, SIGNAL(clicked()), signalMapper, SLOT(map())); - - button_low_layout->addWidget(button_emergency); - button_low_layout->addWidget(button_return_from_emergency); - - QVBoxLayout* layout = new QVBoxLayout; - layout->addLayout(label_layout); - layout->addLayout(button_layout); - layout->addLayout(button_second_layout); - layout->addLayout(button_middle_layout); - layout->addLayout(button_low_layout); - setLayout(layout); -} - -void DecisionMakerPanel::sendTopic(const QString &text) -{ - if (text == "emergency") - { - sendEmergency(); - } - else if (statecmd_publisher_) - { - std_msgs::String msg; - msg.data = text.toStdString(); - statecmd_publisher_.publish(msg); - } -} - -void DecisionMakerPanel::sendEmergency() -{ - if (emergency_publisher_) - { - autoware_msgs::RemoteCmd remote_emergency; - remote_emergency.header.stamp = ros::Time::now(); - remote_emergency.vehicle_cmd.emergency = 1; - emergency_publisher_.publish(remote_emergency); - } -} - -void DecisionMakerPanel::save(rviz::Config config) const -{ - rviz::Panel::save(config); -} - -void DecisionMakerPanel::load(const rviz::Config& config) -{ - rviz::Panel::load(config); -} - -} // end namespace autoware_rviz_debug - -#include -PLUGINLIB_EXPORT_CLASS(autoware_rviz_debug::DecisionMakerPanel, rviz::Panel) -// END_TUTORIAL diff --git a/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.h b/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.h deleted file mode 100644 index fc02ea4e827..00000000000 --- a/ros/src/util/packages/autoware_rviz_plugins/src/decision_maker_panel/decision_maker_panel.h +++ /dev/null @@ -1,64 +0,0 @@ -/* - * Copyright (c) 2011, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ -#ifndef TELEOP_PANEL_H -#define TELEOP_PANEL_H - -#ifndef Q_MOC_RUN -#include - -#include -#endif - -class QLineEdit; - -namespace autoware_rviz_debug -{ -class DecisionMakerPanel : public rviz::Panel -{ - Q_OBJECT -public: - DecisionMakerPanel(QWidget* parent = 0); - - virtual void load(const rviz::Config& config); - virtual void save(rviz::Config config) const; - -public Q_SLOTS: - void sendTopic(const QString &text); - void sendEmergency(); - - // Then we finish up with protected member variables. -protected: - ros::Publisher statecmd_publisher_; - ros::Publisher emergency_publisher_; - ros::NodeHandle nh_; -}; - -} // end namespace autoware_rviz_debug - -#endif // TELEOP_PANEL_H From 195d27b90272a95924f5e9912258558332513a16 Mon Sep 17 00:00:00 2001 From: Kenji Funaoka Date: Thu, 24 Jan 2019 17:59:47 +0900 Subject: [PATCH 099/139] Remove the target decision_maker_panel.cpp from state_panel --- .../packages/autoware_rviz_plugins/state_panel/CMakeLists.txt | 1 - 1 file changed, 1 deletion(-) diff --git a/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt b/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt index 09adb0008c3..e5c84e6a308 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt +++ b/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt @@ -55,7 +55,6 @@ set(CMAKE_AUTOMOC ON) set(SOURCE_FILES src/state_panel/state_panel.cpp src/sim_object/autoware_flag_tool.cpp - src/decision_maker_panel/decision_maker_panel.cpp ) add_library(autoware_rviz_plugins ${SOURCE_FILES} ${UIC_FILES}) From 5a046196c7c3400fa4d7a536bd872eab7e88e728 Mon Sep 17 00:00:00 2001 From: Kenji Funaoka Date: Thu, 24 Jan 2019 18:00:16 +0900 Subject: [PATCH 100/139] dd CMakeLists.txt and package.xml to decision_maker_panel --- .../src/decision_maker_panel.cpp~HEAD | 329 ++++++++++++++++++ .../src/decision_maker_panel.h~HEAD | 65 ++++ 2 files changed, 394 insertions(+) create mode 100644 ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp~HEAD create mode 100644 ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.h~HEAD diff --git a/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp~HEAD b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp~HEAD new file mode 100644 index 00000000000..e526342d89d --- /dev/null +++ b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp~HEAD @@ -0,0 +1,329 @@ +/* + * Copyright (c) 2018, TierIV Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include "autoware_msgs/RemoteCmd.h" +#include "decision_maker_panel.h" + +namespace autoware_rviz_debug +{ +// BEGIN_TUTORIAL +// Here is the implementation of the DecisionMakerPanel class. DecisionMakerPanel +// has these responsibilities: +// +// - Act as a container for GUI elements DriveWidget and QLineEdit. +// - Publish command velocities 10 times per second (whether 0 or not). +// - Saving and restoring internal state from a config file. +// +// We start with the constructor, doing the standard Qt thing of +// passing the optional *parent* argument on to the superclass +// constructor, and also zero-ing the velocities we will be +// publishing. + +class StateInfo +{ +private: +public: + uint64_t state_num_; + uint8_t state_category_; + std::string state_num_name_; + std::string state_category_name_; +}; + +DecisionMakerPanel::DecisionMakerPanel(QWidget* parent) : rviz::Panel(parent) +{ + statecmd_publisher_ = nh_.advertise("/state_cmd", 1); + emergency_publisher_ = nh_.advertise("/remote_cmd", 1); + + // Next we lay out the "output topic" text entry field using a + // QLabel and a QLineEdit in a QHBoxLayout. + QGridLayout* label_layout = new QGridLayout; + label_layout->addWidget(new QLabel("DecisionMaker QuickOrder"), 0, 0); + + QSignalMapper* signalMapper = new QSignalMapper(this); + connect(signalMapper, SIGNAL(mapped(QString)), this, SLOT(sendTopic(QString))); + + QMap buttons_def; + // main + buttons_def["engage"] = new QPushButton("\nEngage\n"); + signalMapper->setMapping(buttons_def["engage"], QString("engage")); + buttons_def["stop"] = new QPushButton("\nStop\n"); + signalMapper->setMapping(buttons_def["stop"], QString("found_obstacle_in_stopped_area")); + buttons_def["go"] = new QPushButton("\nGo\n"); + signalMapper->setMapping(buttons_def["go"], QString("clear")); + // execute + buttons_def["execute_lane_change"] = new QPushButton("Execute \nLaneChange"); + signalMapper->setMapping(buttons_def["execute_lane_change"], QString("execute_lane_change")); + // mission + buttons_def["request_mission_change"] = new QPushButton("Request \nmission change"); + signalMapper->setMapping(buttons_def["request_mission_change"], QString("request_mission_change")); + buttons_def["return_to_driving"] = new QPushButton("Return \nto driving"); + signalMapper->setMapping(buttons_def["return_to_driving"], QString("return_to_driving")); + buttons_def["mission_canceled"] = new QPushButton("Mission \ncancel"); + signalMapper->setMapping(buttons_def["mission_canceled"], QString("mission_canceled")); + // emergency + buttons_def["emergency"] = new QPushButton("Emergency"); + signalMapper->setMapping(buttons_def["emergency"], QString("emergency")); + buttons_def["return_from_emergency"] = new QPushButton("Return \nfrom emergency"); + signalMapper->setMapping(buttons_def["return_from_emergency"], QString("return_from_emergency")); + buttons_def["return_to_ready"] = new QPushButton("Return \nto ready"); + signalMapper->setMapping(buttons_def["return_to_ready"], QString("return_to_ready")); + // set options + QMap::const_iterator i = buttons_def.constBegin(); + QFont* q_font = new QFont("Arial", 11); + QSizePolicy* q_size_policy = new QSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); + while (i != buttons_def.constEnd()) + { + i.value()->setSizePolicy(*q_size_policy); + i.value()->setFont(*q_font); + connect(i.value(), SIGNAL(clicked()), signalMapper, SLOT(map())); + ++i; + } + + QGridLayout* button_layout_main = new QGridLayout; + button_layout_main->addWidget(new QLabel("Main"), 0, 0); + button_layout_main->addWidget(buttons_def["engage"], 1, 0); + button_layout_main->addWidget(buttons_def["stop"], 1, 1); + button_layout_main->addWidget(buttons_def["go"], 1, 2); + + QGridLayout* button_layout_execute = new QGridLayout; + button_layout_execute->addWidget(new QLabel("Execute"), 0, 0); button_layout_execute->addWidget(buttons_def["execute_lane_change"], 1, 0); + + QGridLayout* button_layout_mission = new QGridLayout; + button_layout_mission->addWidget(new QLabel("Mission"), 0, 0); + button_layout_mission->addWidget(buttons_def["request_mission_change"], 1, 0); + button_layout_mission->addWidget(buttons_def["return_to_driving"], 1, 1); + button_layout_mission->addWidget(buttons_def["mission_canceled"], 1, 2); + + QGridLayout* button_layout_emergency = new QGridLayout; + button_layout_emergency->addWidget(new QLabel("Emergency"), 0, 0); + button_layout_emergency->addWidget(buttons_def["emergency"], 1, 0); + button_layout_emergency->addWidget(buttons_def["return_from_emergency"], 1, 1); + button_layout_emergency->addWidget(buttons_def["return_to_ready"], 1, 2); + + + QMap buttons_ext; + // state vehicle + buttons_ext["sensor_is_ready"] = new QPushButton("Sensor is ready"); + signalMapper->setMapping(buttons_ext["sensor_is_ready"], QString("sensor_is_ready")); + buttons_ext["map_is_ready"] = new QPushButton("Map is ready"); + signalMapper->setMapping(buttons_ext["map_is_ready"], QString("map_is_ready")); + buttons_ext["localization_is_ready"] = new QPushButton("Localization \nis ready"); + signalMapper->setMapping(buttons_ext["localization_is_ready"], QString("localization_is_ready")); + buttons_ext["planning_is_ready"] = new QPushButton("Planning is ready"); + signalMapper->setMapping(buttons_ext["planning_is_ready"], QString("planning_is_ready")); + buttons_ext["vehicle_is_ready"] = new QPushButton("Vehicle is ready"); + signalMapper->setMapping(buttons_ext["vehicle_is_ready"], QString("vehicle_is_ready")); + // state mission + buttons_ext["received_mission_order"] = new QPushButton("Received mission order"); + signalMapper->setMapping(buttons_ext["received_mission_order"], QString("received_mission_order")); + buttons_ext["mission_is_compatible"] = new QPushButton("Mission is compatible"); + signalMapper->setMapping(buttons_ext["mission_is_compatible"], QString("mission_is_compatible")); + buttons_ext["mission_aborted"] = new QPushButton("Mission aborted"); + signalMapper->setMapping(buttons_ext["mission_aborted"], QString("mission_aborted")); + buttons_ext["arrived_goal"] = new QPushButton("Arrived goal"); + signalMapper->setMapping(buttons_ext["arrived_goal"], QString("arrived_goal")); + buttons_ext["request_mission_change"] = new QPushButton("Request mission change"); + signalMapper->setMapping(buttons_ext["request_mission_change"], QString("request_mission_change")); + buttons_ext["mission_is_conflicting"] = new QPushButton("Mission is conflicting"); + signalMapper->setMapping(buttons_ext["mission_is_conflicting"], QString("mission_is_conflicting")); + buttons_ext["return_to_driving"] = new QPushButton("Return to driving"); + signalMapper->setMapping(buttons_ext["return_to_driving"], QString("return_to_driving")); + buttons_ext["goto_wait_order"] = new QPushButton("Go to WaitOrder"); + signalMapper->setMapping(buttons_ext["goto_wait_order"], QString("goto_wait_order")); + // state drive + buttons_ext["operation_start"] = new QPushButton("Operation start"); + signalMapper->setMapping(buttons_ext["operation_start"], QString("operation_start")); + buttons_ext["operation_end"] = new QPushButton("Operation end"); + signalMapper->setMapping(buttons_ext["operation_end"], QString("operation_end")); + buttons_ext["on_lane_area"] = new QPushButton("Lane area"); + signalMapper->setMapping(buttons_ext["on_lane_area"], QString("on_lane_area")); + buttons_ext["on_free_area"] = new QPushButton("Free area"); + signalMapper->setMapping(buttons_ext["on_free_area"], QString("on_free_area")); + buttons_ext["on_cruise"] = new QPushButton("Cruise"); + signalMapper->setMapping(buttons_ext["on_cruise"], QString("on_cruise")); + buttons_ext["on_bus_stop"] = new QPushButton("Bus stop"); + signalMapper->setMapping(buttons_ext["on_bus_stop"], QString("on_bus_stop")); + buttons_ext["on_parking"] = new QPushButton("Parking"); + signalMapper->setMapping(buttons_ext["on_parking"], QString("on_parking")); + buttons_ext["on_straight"] = new QPushButton("Straight"); + signalMapper->setMapping(buttons_ext["on_straight"], QString("on_straight")); + buttons_ext["on_right_turn"] = new QPushButton("Right turn"); + signalMapper->setMapping(buttons_ext["on_right_turn"], QString("on_right_turn")); + buttons_ext["on_left_turn"] = new QPushButton("Left turn"); + signalMapper->setMapping(buttons_ext["on_left_turn"], QString("on_left_turn")); + buttons_ext["on_back"] = new QPushButton("Back"); + signalMapper->setMapping(buttons_ext["on_back"], QString("on_back")); + buttons_ext["lane_change_right"] = new QPushButton("Lanechange Right"); + signalMapper->setMapping(buttons_ext["lane_change_right"], QString("lane_change_right")); + buttons_ext["lane_change_left"] = new QPushButton("Lanechange Left"); + signalMapper->setMapping(buttons_ext["lane_change_left"], QString("lane_change_left")); + buttons_ext["on_pull_over"] = new QPushButton("Pull over"); + signalMapper->setMapping(buttons_ext["on_pull_over"], QString("on_pull_over")); + buttons_ext["on_pull_out"] = new QPushButton("Pull out"); + signalMapper->setMapping(buttons_ext["on_pull_out"], QString("on_pull_out")); + // set options + QMap::const_iterator j = buttons_ext.constBegin(); + while (j != buttons_ext.constEnd()) + { + j.value()->setSizePolicy(*q_size_policy); + j.value()->setFont(*q_font); + connect(j.value(), SIGNAL(clicked()), signalMapper, SLOT(map())); + ++j; + } + + // state vehicle + QGridLayout* extra_layout_vehicle = new QGridLayout; + extra_layout_vehicle->addWidget(new QLabel("state Vehicle"), 0, 0); + extra_layout_vehicle->addWidget(buttons_ext["sensor_is_ready"], 1, 0); + extra_layout_vehicle->addWidget(buttons_ext["map_is_ready"], 1, 1); + extra_layout_vehicle->addWidget(buttons_ext["localization_is_ready"], 1, 2); + extra_layout_vehicle->addWidget(buttons_ext["planning_is_ready"], 2, 0); + extra_layout_vehicle->addWidget(buttons_ext["vehicle_is_ready"], 2, 1); + // state mission + QGridLayout* extra_layout_mission = new QGridLayout; + extra_layout_mission->addWidget(new QLabel("state Mission"), 0, 0); + extra_layout_mission->addWidget(buttons_ext["received_mission_order"],1, 0); + extra_layout_mission->addWidget(buttons_ext["mission_is_compatible"], 1, 1); + extra_layout_mission->addWidget(buttons_ext["mission_aborted"], 1, 2); + extra_layout_mission->addWidget(buttons_ext["arrived_goal"], 2, 0); + extra_layout_mission->addWidget(buttons_ext["request_mission_change"], 2, 1); + extra_layout_mission->addWidget(buttons_ext["mission_is_conflicting"], 2, 2); + extra_layout_mission->addWidget(buttons_ext["return_to_driving"], 3, 0); + extra_layout_mission->addWidget(buttons_ext["goto_wait_order"], 3, 1); + // state drive + QGridLayout* extra_layout_drive = new QGridLayout; + extra_layout_drive->addWidget(new QLabel("state Drive"), 0, 0); + extra_layout_drive->addWidget(buttons_ext["operation_start"], 1, 0); + extra_layout_drive->addWidget(buttons_ext["operation_end"], 1, 1); + extra_layout_drive->addWidget(buttons_ext["on_lane_area"], 2, 0); + extra_layout_drive->addWidget(buttons_ext["on_free_area"], 2, 1); + extra_layout_drive->addWidget(buttons_ext["on_cruise"], 3, 0); + extra_layout_drive->addWidget(buttons_ext["on_bus_stop"], 3, 1); + extra_layout_drive->addWidget(buttons_ext["on_parking"], 3, 2); + extra_layout_drive->addWidget(buttons_ext["on_straight"], 4, 0); + extra_layout_drive->addWidget(buttons_ext["on_right_turn"],4, 1); + extra_layout_drive->addWidget(buttons_ext["on_left_turn"], 4, 2); + extra_layout_drive->addWidget(buttons_ext["on_back"], 4, 3); + extra_layout_drive->addWidget(buttons_ext["lane_change_right"], 5, 0); + extra_layout_drive->addWidget(buttons_ext["lane_change_left"], 5, 1); + extra_layout_drive->addWidget(buttons_ext["on_pull_over"], 6, 0); + extra_layout_drive->addWidget(buttons_ext["on_pull_out"], 6, 1); + // set layout to window + window_vehicle = new QWidget; + window_vehicle->setLayout(extra_layout_vehicle); + window_vehicle->hide(); + window_mission = new QWidget; + window_mission->setLayout(extra_layout_mission); + window_mission->hide(); + window_drive = new QWidget; + window_drive->setLayout(extra_layout_drive); + window_drive->hide(); + + + QPushButton* button_more = new QPushButton("&More..."); + button_more->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); + button_more->setFont(*q_font); + button_more->setCheckable(true); + connect(button_more, &QAbstractButton::toggled, window_vehicle, &QWidget::setVisible); + connect(button_more, &QAbstractButton::toggled, window_mission, &QWidget::setVisible); + connect(button_more, &QAbstractButton::toggled, window_drive, &QWidget::setVisible); + + QHBoxLayout* button_toggle_layout = new QHBoxLayout; + button_toggle_layout->addWidget(button_more); + button_toggle_layout->addWidget(new QLabel("(Normally unused commands)")); + + QVBoxLayout* layout = new QVBoxLayout; + layout->addLayout(label_layout); + layout->addLayout(button_layout_main); + layout->addLayout(button_layout_execute); + layout->addLayout(button_layout_mission); + layout->addLayout(button_layout_emergency); + layout->addLayout(button_toggle_layout); + layout->addWidget(window_vehicle); + layout->addWidget(window_mission); + layout->addWidget(window_drive); + setLayout(layout); +} + +void DecisionMakerPanel::sendTopic(const QString &text) +{ + if (text == "emergency") + { + sendEmergency(); + } + else if (statecmd_publisher_) + { + std_msgs::String msg; + msg.data = text.toStdString(); + statecmd_publisher_.publish(msg); + } +} + +void DecisionMakerPanel::sendEmergency() +{ + if (emergency_publisher_) + { + autoware_msgs::RemoteCmd remote_emergency; + remote_emergency.header.stamp = ros::Time::now(); + remote_emergency.vehicle_cmd.emergency = 1; + emergency_publisher_.publish(remote_emergency); + } +} + +void DecisionMakerPanel::save(rviz::Config config) const +{ + rviz::Panel::save(config); +} + +void DecisionMakerPanel::load(const rviz::Config& config) +{ + rviz::Panel::load(config); +} + +} // end namespace autoware_rviz_debug + +#include +PLUGINLIB_EXPORT_CLASS(autoware_rviz_debug::DecisionMakerPanel, rviz::Panel) +// END_TUTORIAL diff --git a/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.h~HEAD b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.h~HEAD new file mode 100644 index 00000000000..a6aacdd51db --- /dev/null +++ b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.h~HEAD @@ -0,0 +1,65 @@ +/* + * Copyright (c) 2011, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef TELEOP_PANEL_H +#define TELEOP_PANEL_H + +#ifndef Q_MOC_RUN +#include + +#include +#endif + +class QLineEdit; + +namespace autoware_rviz_debug +{ +class DecisionMakerPanel : public rviz::Panel +{ + Q_OBJECT +public: + DecisionMakerPanel(QWidget* parent = 0); + QWidget *window_vehicle, *window_mission, *window_drive; + + virtual void load(const rviz::Config& config); + virtual void save(rviz::Config config) const; + +public Q_SLOTS: + void sendTopic(const QString &text); + void sendEmergency(); + + // Then we finish up with protected member variables. +protected: + ros::Publisher statecmd_publisher_; + ros::Publisher emergency_publisher_; + ros::NodeHandle nh_; +}; + +} // end namespace autoware_rviz_debug + +#endif // TELEOP_PANEL_H From 48061fd26a82294e7afe92e2974f477067769cbc Mon Sep 17 00:00:00 2001 From: Kenji Funaoka Date: Thu, 24 Jan 2019 18:25:06 +0900 Subject: [PATCH 101/139] Remove decision_maker_panel in plugin_description from state_panel --- .../state_panel/plugin_description.xml | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/ros/src/util/packages/autoware_rviz_plugins/state_panel/plugin_description.xml b/ros/src/util/packages/autoware_rviz_plugins/state_panel/plugin_description.xml index bdd4ec3fdc8..d3aa1c2b04a 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/state_panel/plugin_description.xml +++ b/ros/src/util/packages/autoware_rviz_plugins/state_panel/plugin_description.xml @@ -4,8 +4,12 @@ State Panel on rviz - - Tool for sim_obj flags on the ground plane in rviz. - + + + Tool for sim_obj flags on the ground plane in rviz. + + From c51e7470618f3b8256d0104fd1f17df933bbe172 Mon Sep 17 00:00:00 2001 From: Kenji Funaoka Date: Thu, 24 Jan 2019 21:36:09 +0900 Subject: [PATCH 102/139] Add autoware_msgs to package.xml in decision_maker_panel and remove it from state_panel --- .../packages/autoware_rviz_plugins/state_panel/CMakeLists.txt | 1 - 1 file changed, 1 deletion(-) diff --git a/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt b/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt index e5c84e6a308..e7e6b0c11c2 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt +++ b/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt @@ -5,7 +5,6 @@ find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS rviz std_msgs - autoware_msgs ) if(rviz_QT_VERSION VERSION_LESS "5") From 9beac0feac079f2b75e05565182a4298050a7b7b Mon Sep 17 00:00:00 2001 From: Kenji Funaoka Date: Fri, 25 Jan 2019 12:41:37 +0900 Subject: [PATCH 103/139] [Fix] industrial_ci failure in feature/rebuild_decision_maker (#1921) --- .../decision/packages/decision_maker/CMakeLists.txt | 6 ------ 1 file changed, 6 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt index 6c56aa80be3..cf16517036c 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt +++ b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt @@ -81,9 +81,3 @@ install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} PATTERN ".svn" EXCLUDE ) - -# Install config files -foreach(dir config) - install(DIRECTORY ${dir}/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) -endforeach(dir) From 94eab0dbb075e41755185a1851cf940194327744 Mon Sep 17 00:00:00 2001 From: Kenji Funaoka Date: Fri, 25 Jan 2019 13:18:42 +0900 Subject: [PATCH 104/139] Revert removing enablePlannerDynamicSwitch in velocity_set.launch --- .../motion/packages/waypoint_planner/launch/velocity_set.launch | 2 ++ 1 file changed, 2 insertions(+) diff --git a/ros/src/computing/planning/motion/packages/waypoint_planner/launch/velocity_set.launch b/ros/src/computing/planning/motion/packages/waypoint_planner/launch/velocity_set.launch index afa3df973af..ee344be4fc7 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_planner/launch/velocity_set.launch +++ b/ros/src/computing/planning/motion/packages/waypoint_planner/launch/velocity_set.launch @@ -6,6 +6,7 @@ + @@ -14,6 +15,7 @@ + From 7d00bed069a126f6500dc7aab46a47a8e9e032ae Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Fri, 25 Jan 2019 14:41:53 +0900 Subject: [PATCH 105/139] change state name from PullOver to PullIn change topic name from state/overlay_text to decision_maker/state_overlay , from target_velocity_array to decision_maker/target_velocity_array --- .../planning/decision/packages/decision_maker/README.md | 6 +++--- .../packages/decision_maker/autoware_state_drive.yaml | 6 +++--- .../decision_maker/include/decision_maker_node.hpp | 2 +- .../nodes/decision_maker/decision_maker_node_init.cpp | 8 ++++---- .../decision_maker/decision_maker_node_state_drive.cpp | 2 +- 5 files changed, 12 insertions(+), 12 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/README.md b/ros/src/computing/planning/decision/packages/decision_maker/README.md index 5c5b828eebe..4f762b3a1a2 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/README.md +++ b/ros/src/computing/planning/decision/packages/decision_maker/README.md @@ -70,7 +70,7 @@ Topic|Type|Objective /state/cross_inside_marker|visualization_msgs/Marker|visualization of objectes inside cross roads. Not implemented yet. /state/cross_road_marker|visualization_msgs/MarkerArray|visualization of crossroads. Not implemented yet. /state/crossroad_bbox|jsk_recognition_msgs/BoundingBoxArray| visualization of crossroads by bounding box. Not implemented yet. -/state/overlay_text|jsk_rviz_plugins/OverlayText|Current state as overlay_txt. +/decision_maker/state_overlay|jsk_rviz_plugins/OverlayText|Current state as overlay_txt. /state/stopline_target|visualization_msgs/Marker| Visualization of referenced stop line. Not implemented yet. /state/stopline_wpidx|std_msgs/Int32|Index of waypoint for the vehicle to stop. /target_velocity_array|std_msgs/Float64MultiArray| Array of target velocity obtained from final_waypoints. @@ -143,7 +143,7 @@ RightLaneChange|-|Vehicle is switching to right lane|publish /lamp_cmd to change CheckRightLane|-|Check if it is safe to change lane to left|No implementation. ChangeToRight|-|Change to left lane|No implementation. BusStop|-|Vehicle is approaching to bus stop| No implementation. -PullOver|-|Vehicle is pulling over to bus stop| publish /lamp_cmd to change blinker to left. +PullIn|-|Vehicle is pulling in to bus stop| publish /lamp_cmd to change blinker to left. PullOut|-|Vehicle is pulling out from bus stop|publish /lamp_cmd to change blinker to right. FreeArea|-|Vehicle is driving in free space(e.g. parking area)|No implementation. Parking|-|Vehicle is parking|Publish /lamp_cmd to change blinker to hazard. @@ -176,6 +176,6 @@ Parking|-|Vehicle is parking|Publish /lamp_cmd to change blinker to hazard. ### Obstacle avoidance -### Pull over & Pull out +### Pull in & Pull out ### Emergency stop diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml index 21418bf9656..7c2f5caf96a 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml +++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml @@ -61,14 +61,14 @@ autoware_states_drive: StateName: BusStop Transition: - - Key: on_pull_over - Target: PullOver + Key: on_pull_in + Target: PullIn - Key: on_pull_out Target: PullOut Parent: LaneArea - - StateName: PullOver + StateName: PullIn Transition: [] Parent: BusStop - diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp index ac9aa9b126b..b26ea2b853c 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp @@ -276,7 +276,7 @@ class DecisionMakerNode void updateBackState(cstring_t& state_name, int status); void updateLeftLaneChangeState(cstring_t& state_name, int status); void updateRightLaneChangeState(cstring_t& state_name, int status); - void updatePullOverState(cstring_t& state_name, int status); + void updatePullInState(cstring_t& state_name, int status); void updatePullOutState(cstring_t& state_name, int status); void updateStoplineState(cstring_t& state_name, int status); void updateGoState(cstring_t& state_name, int status); diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp index b4120dc974c..0cb6ca087cf 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp @@ -137,8 +137,8 @@ void DecisionMakerNode::setupStateCallback(void) std::bind(&DecisionMakerNode::entryLaneChangeState, this, std::placeholders::_1, 0)); ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "RightLaneChange", std::bind(&DecisionMakerNode::updateRightLaneChangeState, this, std::placeholders::_1, 0)); - ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "PullOver", - std::bind(&DecisionMakerNode::updatePullOverState, this, std::placeholders::_1, 0)); + ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "PullIn", + std::bind(&DecisionMakerNode::updatePullInState, this, std::placeholders::_1, 0)); ctx_drive->setCallback(state_machine::CallbackType::UPDATE, "PullOut", std::bind(&DecisionMakerNode::updatePullOutState, this, std::placeholders::_1, 0)); @@ -262,11 +262,11 @@ void DecisionMakerNode::createPublisher(void) // for visualize status Pubs["state"] = private_nh_.advertise("state", 1, true); - Pubs["state_overlay"] = private_nh_.advertise("/state/overlay_text", 1); + Pubs["state_overlay"] = private_nh_.advertise("state_overlay", 1); Pubs["available_transition"] = private_nh_.advertise("available_transition", 1, true); // for debug - Pubs["target_velocity_array"] = nh_.advertise("/target_velocity_array", 1); + Pubs["target_velocity_array"] = nh_.advertise("target_velocity_array", 1); Pubs["operator_help_text"] = private_nh_.advertise("operator_help_text", 1, true); } diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp index 2db20057342..b91a6159090 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp @@ -218,7 +218,7 @@ void DecisionMakerNode::updateBusStopState(cstring_t& state_name, int status) { } -void DecisionMakerNode::updatePullOverState(cstring_t& state_name, int status) +void DecisionMakerNode::updatePullInState(cstring_t& state_name, int status) { publishLampCmd(E_Lamp::LAMP_LEFT); } From a33161b441297221fd86397f6014688da500b6ba Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Fri, 25 Jan 2019 14:56:21 +0900 Subject: [PATCH 106/139] refactor DecisionMakerPanel, and add buttons to the panel --- .../src/decision_maker_panel.cpp | 243 ++++++++++++++---- .../src/decision_maker_panel.h | 1 + 2 files changed, 191 insertions(+), 53 deletions(-) diff --git a/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp index 72293be37f0..6442af29f03 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp +++ b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp @@ -37,6 +37,7 @@ #include #include #include +#include #include @@ -77,76 +78,212 @@ DecisionMakerPanel::DecisionMakerPanel(QWidget* parent) : rviz::Panel(parent) // Next we lay out the "output topic" text entry field using a // QLabel and a QLineEdit in a QHBoxLayout. - QHBoxLayout* label_layout = new QHBoxLayout; - label_layout->addWidget(new QLabel("DecisionMaker QuickOrder")); + QGridLayout* label_layout = new QGridLayout; + label_layout->addWidget(new QLabel("DecisionMaker QuickOrder"), 0, 0); QSignalMapper* signalMapper = new QSignalMapper(this); connect(signalMapper, SIGNAL(mapped(QString)), this, SLOT(sendTopic(QString))); - QHBoxLayout* button_layout = new QHBoxLayout; - QPushButton* button_engage = new QPushButton("Engage"); - signalMapper->setMapping(button_engage, QString("engage")); - connect(button_engage, SIGNAL(clicked()), signalMapper, SLOT(map())); - - QPushButton* button_stop = new QPushButton("Stop"); - signalMapper->setMapping(button_stop, QString("found_obstacle_in_stopped_area")); - connect(button_stop, SIGNAL(clicked()), signalMapper, SLOT(map())); - - QPushButton* button_go = new QPushButton("Go"); - signalMapper->setMapping(button_go, QString("clear")); - connect(button_go, SIGNAL(clicked()), signalMapper, SLOT(map())); - - button_layout->addWidget(button_engage); - button_layout->addWidget(button_stop); - button_layout->addWidget(button_go); + QMap buttons_def; + // main + buttons_def["engage"] = new QPushButton("\nEngage\n"); + signalMapper->setMapping(buttons_def["engage"], QString("engage")); + buttons_def["stop"] = new QPushButton("\nStop\n"); + signalMapper->setMapping(buttons_def["stop"], QString("found_obstacle_in_stopped_area")); + buttons_def["go"] = new QPushButton("\nGo\n"); + signalMapper->setMapping(buttons_def["go"], QString("clear")); + // execute + buttons_def["execute_lane_change"] = new QPushButton("Execute \nLaneChange"); + signalMapper->setMapping(buttons_def["execute_lane_change"], QString("execute_lane_change")); + // mission + buttons_def["request_mission_change"] = new QPushButton("Request \nmission change"); + signalMapper->setMapping(buttons_def["request_mission_change"], QString("request_mission_change")); + buttons_def["return_to_driving"] = new QPushButton("Return \nto driving"); + signalMapper->setMapping(buttons_def["return_to_driving"], QString("return_to_driving")); + buttons_def["mission_canceled"] = new QPushButton("Mission \ncancel"); + signalMapper->setMapping(buttons_def["mission_canceled"], QString("mission_canceled")); + // emergency + buttons_def["emergency"] = new QPushButton("Emergency"); + signalMapper->setMapping(buttons_def["emergency"], QString("emergency")); + buttons_def["return_from_emergency"] = new QPushButton("Return \nfrom emergency"); + signalMapper->setMapping(buttons_def["return_from_emergency"], QString("return_from_emergency")); + buttons_def["return_to_ready"] = new QPushButton("Return \nto ready"); + signalMapper->setMapping(buttons_def["return_to_ready"], QString("return_to_ready")); + // set options + QMap::const_iterator i = buttons_def.constBegin(); + QFont* q_font = new QFont("Arial", 11); + QSizePolicy* q_size_policy = new QSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); + while (i != buttons_def.constEnd()) + { + i.value()->setSizePolicy(*q_size_policy); + i.value()->setFont(*q_font); + connect(i.value(), SIGNAL(clicked()), signalMapper, SLOT(map())); + ++i; + } - QHBoxLayout* button_second_layout = new QHBoxLayout; - QPushButton* button_execute_avoidance = new QPushButton("Execute Avoidance"); - signalMapper->setMapping(button_execute_avoidance, QString("execute_avoidance")); - connect(button_execute_avoidance, SIGNAL(clicked()), signalMapper, SLOT(map())); + QGridLayout* button_layout_main = new QGridLayout; + button_layout_main->addWidget(new QLabel("Main"), 0, 0); + button_layout_main->addWidget(buttons_def["engage"], 1, 0); + button_layout_main->addWidget(buttons_def["stop"], 1, 1); + button_layout_main->addWidget(buttons_def["go"], 1, 2); - QPushButton* button_execute_lane_change = new QPushButton("Execute LaneChange"); - signalMapper->setMapping(button_execute_lane_change, QString("execute_lane_change")); - connect(button_execute_lane_change, SIGNAL(clicked()), signalMapper, SLOT(map())); + QGridLayout* button_layout_execute = new QGridLayout; + button_layout_execute->addWidget(new QLabel("Execute"), 0, 0); button_layout_execute->addWidget(buttons_def["execute_lane_change"], 1, 0); - button_second_layout->addWidget(button_execute_avoidance); - button_second_layout->addWidget(button_execute_lane_change); + QGridLayout* button_layout_mission = new QGridLayout; + button_layout_mission->addWidget(new QLabel("Mission"), 0, 0); + button_layout_mission->addWidget(buttons_def["request_mission_change"], 1, 0); + button_layout_mission->addWidget(buttons_def["return_to_driving"], 1, 1); + button_layout_mission->addWidget(buttons_def["mission_canceled"], 1, 2); - QHBoxLayout* button_middle_layout = new QHBoxLayout; - QPushButton* button_request_mission_change = new QPushButton("Request mission change"); - signalMapper->setMapping(button_request_mission_change, QString("request_mission_change")); - connect(button_request_mission_change, SIGNAL(clicked()), signalMapper, SLOT(map())); + QGridLayout* button_layout_emergency = new QGridLayout; + button_layout_emergency->addWidget(new QLabel("Emergency"), 0, 0); + button_layout_emergency->addWidget(buttons_def["emergency"], 1, 0); + button_layout_emergency->addWidget(buttons_def["return_from_emergency"], 1, 1); + button_layout_emergency->addWidget(buttons_def["return_to_ready"], 1, 2); - QPushButton* button_return_to_driving = new QPushButton("Return to driving"); - signalMapper->setMapping(button_return_to_driving, QString("return_to_driving")); - connect(button_return_to_driving, SIGNAL(clicked()), signalMapper, SLOT(map())); - QPushButton* button_mission_canceled = new QPushButton("Mission cancel"); - signalMapper->setMapping(button_mission_canceled, QString("mission_canceled")); - connect(button_mission_canceled, SIGNAL(clicked()), signalMapper, SLOT(map())); + QMap buttons_ext; + // state vehicle + buttons_ext["sensor_is_ready"] = new QPushButton("Sensor is ready"); + signalMapper->setMapping(buttons_ext["sensor_is_ready"], QString("sensor_is_ready")); + buttons_ext["map_is_ready"] = new QPushButton("Map is ready"); + signalMapper->setMapping(buttons_ext["map_is_ready"], QString("map_is_ready")); + buttons_ext["localization_is_ready"] = new QPushButton("Localization \nis ready"); + signalMapper->setMapping(buttons_ext["localization_is_ready"], QString("localization_is_ready")); + buttons_ext["planning_is_ready"] = new QPushButton("Planning is ready"); + signalMapper->setMapping(buttons_ext["planning_is_ready"], QString("planning_is_ready")); + buttons_ext["vehicle_is_ready"] = new QPushButton("Vehicle is ready"); + signalMapper->setMapping(buttons_ext["vehicle_is_ready"], QString("vehicle_is_ready")); + // state mission + buttons_ext["received_mission_order"] = new QPushButton("Received mission order"); + signalMapper->setMapping(buttons_ext["received_mission_order"], QString("received_mission_order")); + buttons_ext["mission_is_compatible"] = new QPushButton("Mission is compatible"); + signalMapper->setMapping(buttons_ext["mission_is_compatible"], QString("mission_is_compatible")); + buttons_ext["mission_aborted"] = new QPushButton("Mission aborted"); + signalMapper->setMapping(buttons_ext["mission_aborted"], QString("mission_aborted")); + buttons_ext["arrived_goal"] = new QPushButton("Arrived goal"); + signalMapper->setMapping(buttons_ext["arrived_goal"], QString("arrived_goal")); + buttons_ext["request_mission_change"] = new QPushButton("Request mission change"); + signalMapper->setMapping(buttons_ext["request_mission_change"], QString("request_mission_change")); + buttons_ext["mission_is_conflicting"] = new QPushButton("Mission is conflicting"); + signalMapper->setMapping(buttons_ext["mission_is_conflicting"], QString("mission_is_conflicting")); + buttons_ext["return_to_driving"] = new QPushButton("Return to driving"); + signalMapper->setMapping(buttons_ext["return_to_driving"], QString("return_to_driving")); + buttons_ext["goto_wait_order"] = new QPushButton("Go to WaitOrder"); + signalMapper->setMapping(buttons_ext["goto_wait_order"], QString("goto_wait_order")); + // state drive + buttons_ext["opoeration_start"] = new QPushButton("Operation start"); + signalMapper->setMapping(buttons_ext["opoeration_start"], QString("opoeration_start")); + buttons_ext["operation_end"] = new QPushButton("Operation end"); + signalMapper->setMapping(buttons_ext["operation_end"], QString("operation_end")); + buttons_ext["on_lane_area"] = new QPushButton("Lane area"); + signalMapper->setMapping(buttons_ext["on_lane_area"], QString("on_lane_area")); + buttons_ext["on_free_area"] = new QPushButton("Free area"); + signalMapper->setMapping(buttons_ext["on_free_area"], QString("on_free_area")); + buttons_ext["on_cruise"] = new QPushButton("Cruise"); + signalMapper->setMapping(buttons_ext["on_cruise"], QString("on_cruise")); + buttons_ext["on_bus_stop"] = new QPushButton("Bus stop"); + signalMapper->setMapping(buttons_ext["on_bus_stop"], QString("on_bus_stop")); + buttons_ext["on_parking"] = new QPushButton("Parking"); + signalMapper->setMapping(buttons_ext["on_parking"], QString("on_parking")); + buttons_ext["on_straight"] = new QPushButton("Straight"); + signalMapper->setMapping(buttons_ext["on_straight"], QString("on_straight")); + buttons_ext["on_right_turn"] = new QPushButton("Right turn"); + signalMapper->setMapping(buttons_ext["on_right_turn"], QString("on_right_turn")); + buttons_ext["on_left_turn"] = new QPushButton("Left turn"); + signalMapper->setMapping(buttons_ext["on_left_turn"], QString("on_left_turn")); + buttons_ext["on_back"] = new QPushButton("Back"); + signalMapper->setMapping(buttons_ext["on_back"], QString("on_back")); + buttons_ext["lane_change_right"] = new QPushButton("Lanechange Right"); + signalMapper->setMapping(buttons_ext["lane_change_right"], QString("lane_change_right")); + buttons_ext["lane_change_left"] = new QPushButton("Lanechange Left"); + signalMapper->setMapping(buttons_ext["lane_change_left"], QString("lane_change_left")); + buttons_ext["on_pull_over"] = new QPushButton("Pull over"); + signalMapper->setMapping(buttons_ext["on_pull_over"], QString("on_pull_over")); + buttons_ext["on_pull_out"] = new QPushButton("Pull out"); + signalMapper->setMapping(buttons_ext["on_pull_out"], QString("on_pull_out")); + // set options + QMap::const_iterator j = buttons_ext.constBegin(); + while (j != buttons_ext.constEnd()) + { + j.value()->setSizePolicy(*q_size_policy); + j.value()->setFont(*q_font); + connect(j.value(), SIGNAL(clicked()), signalMapper, SLOT(map())); + ++j; + } - button_middle_layout->addWidget(button_request_mission_change); - button_middle_layout->addWidget(button_return_to_driving); - button_middle_layout->addWidget(button_mission_canceled); + // state vehicle + QGridLayout* extra_layout_vehicle = new QGridLayout; + extra_layout_vehicle->addWidget(new QLabel("state Vehicle"), 0, 0); + extra_layout_vehicle->addWidget(buttons_ext["sensor_is_ready"], 1, 0); + extra_layout_vehicle->addWidget(buttons_ext["map_is_ready"], 1, 1); + extra_layout_vehicle->addWidget(buttons_ext["localization_is_ready"], 1, 2); + extra_layout_vehicle->addWidget(buttons_ext["planning_is_ready"], 2, 0); + extra_layout_vehicle->addWidget(buttons_ext["vehicle_is_ready"], 2, 1); + // state mission + QGridLayout* extra_layout_mission = new QGridLayout; + extra_layout_mission->addWidget(new QLabel("state Mission"), 0, 0); + extra_layout_mission->addWidget(buttons_ext["received_mission_order"],1, 0); + extra_layout_mission->addWidget(buttons_ext["mission_is_compatible"], 1, 1); + extra_layout_mission->addWidget(buttons_ext["mission_aborted"], 1, 2); + extra_layout_mission->addWidget(buttons_ext["arrived_goal"], 2, 0); + extra_layout_mission->addWidget(buttons_ext["request_mission_change"], 2, 1); + extra_layout_mission->addWidget(buttons_ext["mission_is_conflicting"], 2, 2); + extra_layout_mission->addWidget(buttons_ext["return_to_driving"], 3, 0); + extra_layout_mission->addWidget(buttons_ext["goto_wait_order"], 3, 1); + // state drive + QGridLayout* extra_layout_drive = new QGridLayout; + extra_layout_drive->addWidget(new QLabel("state Drive"), 0, 0); + extra_layout_drive->addWidget(buttons_ext["opoeration_start"], 1, 0); + extra_layout_drive->addWidget(buttons_ext["operation_end"], 1, 1); + extra_layout_drive->addWidget(buttons_ext["on_lane_area"], 2, 0); + extra_layout_drive->addWidget(buttons_ext["on_free_area"], 2, 1); + extra_layout_drive->addWidget(buttons_ext["on_cruise"], 3, 0); + extra_layout_drive->addWidget(buttons_ext["on_bus_stop"], 3, 1); + extra_layout_drive->addWidget(buttons_ext["on_parking"], 3, 2); + extra_layout_drive->addWidget(buttons_ext["on_straight"], 4, 0); + extra_layout_drive->addWidget(buttons_ext["on_right_turn"],4, 1); + extra_layout_drive->addWidget(buttons_ext["on_left_turn"], 4, 2); + extra_layout_drive->addWidget(buttons_ext["on_back"], 4, 3); + extra_layout_drive->addWidget(buttons_ext["lane_change_right"], 5, 0); + extra_layout_drive->addWidget(buttons_ext["lane_change_left"], 5, 1); + extra_layout_drive->addWidget(buttons_ext["on_pull_over"], 6, 0); + extra_layout_drive->addWidget(buttons_ext["on_pull_out"], 6, 1); + // set layout to window + window_vehicle = new QWidget; + window_vehicle->setLayout(extra_layout_vehicle); + window_vehicle->hide(); + window_mission = new QWidget; + window_mission->setLayout(extra_layout_mission); + window_mission->hide(); + window_drive = new QWidget; + window_drive->setLayout(extra_layout_drive); + window_drive->hide(); - QHBoxLayout* button_low_layout = new QHBoxLayout; - QPushButton* button_emergency = new QPushButton("Emergency"); - signalMapper->setMapping(button_emergency, QString("emergency")); - connect(button_emergency, SIGNAL(clicked()), signalMapper, SLOT(map())); - QPushButton* button_return_from_emergency = new QPushButton("Return from emergency"); - signalMapper->setMapping(button_return_from_emergency, QString("return_from_emergency")); - connect(button_return_from_emergency, SIGNAL(clicked()), signalMapper, SLOT(map())); + QPushButton* button_more = new QPushButton("&More..."); + button_more->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); + button_more->setFont(*q_font); + button_more->setCheckable(true); + connect(button_more, &QAbstractButton::toggled, window_vehicle, &QWidget::setVisible); + connect(button_more, &QAbstractButton::toggled, window_mission, &QWidget::setVisible); + connect(button_more, &QAbstractButton::toggled, window_drive, &QWidget::setVisible); - button_low_layout->addWidget(button_emergency); - button_low_layout->addWidget(button_return_from_emergency); + QHBoxLayout* button_toggle_layout = new QHBoxLayout; + button_toggle_layout->addWidget(button_more); + button_toggle_layout->addWidget(new QLabel("(Normally unused commands)")); QVBoxLayout* layout = new QVBoxLayout; layout->addLayout(label_layout); - layout->addLayout(button_layout); - layout->addLayout(button_second_layout); - layout->addLayout(button_middle_layout); - layout->addLayout(button_low_layout); + layout->addLayout(button_layout_main); + layout->addLayout(button_layout_execute); + layout->addLayout(button_layout_mission); + layout->addLayout(button_layout_emergency); + layout->addLayout(button_toggle_layout); + layout->addWidget(window_vehicle); + layout->addWidget(window_mission); + layout->addWidget(window_drive); setLayout(layout); } diff --git a/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.h b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.h index fc02ea4e827..a6aacdd51db 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.h +++ b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.h @@ -44,6 +44,7 @@ class DecisionMakerPanel : public rviz::Panel Q_OBJECT public: DecisionMakerPanel(QWidget* parent = 0); + QWidget *window_vehicle, *window_mission, *window_drive; virtual void load(const rviz::Config& config); virtual void save(rviz::Config config) const; From 3756df77283e9784f81eb29e9ef9d6468f9d6342 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Fri, 25 Jan 2019 20:14:58 +0900 Subject: [PATCH 107/139] moded autoware_msgs/State for current decision_maker add publisher for state_msg --- .../decision_maker/decision_maker_node_init.cpp | 1 + .../decision_maker/decision_maker_node_publish.cpp | 14 +++++++++++++- 2 files changed, 14 insertions(+), 1 deletion(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp index 0cb6ca087cf..04816112811 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp @@ -262,6 +262,7 @@ void DecisionMakerNode::createPublisher(void) // for visualize status Pubs["state"] = private_nh_.advertise("state", 1, true); + Pubs["state_msg"] = private_nh_.advertise("state_msg", 1, true); Pubs["state_overlay"] = private_nh_.advertise("state_overlay", 1); Pubs["available_transition"] = private_nh_.advertise("available_transition", 1, true); diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp index 3f1113e831f..d90ed9a7686 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp @@ -81,11 +81,23 @@ void DecisionMakerNode::update_msgs(void) #if 1 if (ctx_vehicle && ctx_mission && ctx_drive) { + static std::string text_vehicle_state, text_mission_state, text_drive_state; + text_vehicle_state = ctx_vehicle->getStateText(); + text_mission_state = ctx_mission->getStateText(); + text_drive_state = ctx_drive->getStateText(); + static std_msgs::String state_msg; - state_msg.data = ctx_vehicle->getStateText() + ctx_mission->getStateText() + ctx_drive->getStateText(); + state_msg.data = text_vehicle_state + text_mission_state + text_drive_state; Pubs["state"].publish(state_msg); Pubs["state_overlay"].publish(createOverlayText(state_msg.data, 1)); + static autoware_msgs::State state_array_msg; + state_array_msg.header.stamp = ros::Time::now(); + state_array_msg.vehicle_state = text_vehicle_state; + state_array_msg.mission_state = text_mission_state; + state_array_msg.drive_state = text_drive_state; + Pubs["state_msg"].publish(state_array_msg); + static std_msgs::String transition_msg; transition_msg.data = ctx_vehicle->getAvailableTransition() + ctx_mission->getAvailableTransition() + ctx_drive->getAvailableTransition(); From 9ae49ed1509015dbca24d6ecf2e33f3e667c5e10 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Mon, 28 Jan 2019 17:48:57 +0900 Subject: [PATCH 108/139] fix transition bug of return command while emergency state --- .../packages/decision_maker/autoware_state_drive.yaml | 3 +++ .../packages/decision_maker/autoware_state_mission.yaml | 8 +++++++- .../waypoint_follower/nodes/twist_gate/twist_gate.cpp | 2 +- 3 files changed, 11 insertions(+), 2 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml index 7c2f5caf96a..472efcbceaf 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml +++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_drive.yaml @@ -30,6 +30,9 @@ autoware_states_drive: - Key: return_from_emergency Target: WaitEngage + - + Key: return_to_ready + Target: WaitEngage Parent: ~ - StateName: Drive diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml index 1753ff5da6a..91798d1e658 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml +++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml @@ -40,6 +40,9 @@ autoware_states_mission: - Key: mission_canceled Target: MissionAborted + - + Key: emergency + Target: MissionAborted Parent: ~ - StateName: Driving @@ -50,6 +53,9 @@ autoware_states_mission: - Key: mission_aborted Target: MissionAborted + - + Key: emergency + Target: MissionAborted - Key: request_mission_change Target: DrivingMissionChange @@ -99,5 +105,5 @@ autoware_states_mission: Target: WaitVehicleReady - Key: return_to_ready - Target: DriveReady + Target: MissionCheck Parent: ~ diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp index 842ef05cf0a..8e4df8b97c9 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp @@ -387,7 +387,7 @@ void TwistGate::state_callback(const std_msgs::StringConstPtr& input_msg) if (command_mode_ == CommandMode::AUTO) { // Set Parking Gear - if (input_msg->data.find("WaitOrder") != std::string::npos) + if (input_msg->data.find("WaitOrder") != std::string::npos || input_msg->data.find("MissionCheck") != std::string::npos) { twist_gate_msg_.gear = CMD_GEAR_P; emergency_stop_msg_.data = false; From d03ed2da06b9ff887fb1c17e81aae8b6e4751d80 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Tue, 29 Jan 2019 21:00:54 +0900 Subject: [PATCH 109/139] fix emergency bug of twist_gate --- .../decision_maker/autoware_state_mission.yaml | 2 +- .../waypoint_follower/nodes/twist_gate/twist_gate.cpp | 11 ++++++++--- 2 files changed, 9 insertions(+), 4 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml index 91798d1e658..e73ff04f714 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml +++ b/ros/src/computing/planning/decision/packages/decision_maker/autoware_state_mission.yaml @@ -105,5 +105,5 @@ autoware_states_mission: Target: WaitVehicleReady - Key: return_to_ready - Target: MissionCheck + Target: DriveReady Parent: ~ diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp index 8e4df8b97c9..3dc7d415629 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp @@ -387,11 +387,9 @@ void TwistGate::state_callback(const std_msgs::StringConstPtr& input_msg) if (command_mode_ == CommandMode::AUTO) { // Set Parking Gear - if (input_msg->data.find("WaitOrder") != std::string::npos || input_msg->data.find("MissionCheck") != std::string::npos) + if (input_msg->data.find("WaitOrder") != std::string::npos) { twist_gate_msg_.gear = CMD_GEAR_P; - emergency_stop_msg_.data = false; - send_emergency_cmd = false; } // Set Drive Gear else @@ -409,6 +407,13 @@ void TwistGate::state_callback(const std_msgs::StringConstPtr& input_msg) is_state_drive_ = false; } vehicle_cmd_pub_.publish(twist_gate_msg_); + + // reset emergency flags + if (input_msg->data.find("VehicleReady") != std::string::npos) + { + emergency_stop_msg_.data = false; + send_emergency_cmd = false; + } } } From c3248e15f8757639027ca673f39b43c52ce62fc9 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Thu, 31 Jan 2019 14:21:53 +0900 Subject: [PATCH 110/139] fix typo in decision_maker_panel.cpp --- .../decision_maker_panel/src/decision_maker_panel.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp index 6442af29f03..e526342d89d 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp +++ b/ros/src/util/packages/autoware_rviz_plugins/decision_maker_panel/src/decision_maker_panel.cpp @@ -173,8 +173,8 @@ DecisionMakerPanel::DecisionMakerPanel(QWidget* parent) : rviz::Panel(parent) buttons_ext["goto_wait_order"] = new QPushButton("Go to WaitOrder"); signalMapper->setMapping(buttons_ext["goto_wait_order"], QString("goto_wait_order")); // state drive - buttons_ext["opoeration_start"] = new QPushButton("Operation start"); - signalMapper->setMapping(buttons_ext["opoeration_start"], QString("opoeration_start")); + buttons_ext["operation_start"] = new QPushButton("Operation start"); + signalMapper->setMapping(buttons_ext["operation_start"], QString("operation_start")); buttons_ext["operation_end"] = new QPushButton("Operation end"); signalMapper->setMapping(buttons_ext["operation_end"], QString("operation_end")); buttons_ext["on_lane_area"] = new QPushButton("Lane area"); @@ -235,7 +235,7 @@ DecisionMakerPanel::DecisionMakerPanel(QWidget* parent) : rviz::Panel(parent) // state drive QGridLayout* extra_layout_drive = new QGridLayout; extra_layout_drive->addWidget(new QLabel("state Drive"), 0, 0); - extra_layout_drive->addWidget(buttons_ext["opoeration_start"], 1, 0); + extra_layout_drive->addWidget(buttons_ext["operation_start"], 1, 0); extra_layout_drive->addWidget(buttons_ext["operation_end"], 1, 1); extra_layout_drive->addWidget(buttons_ext["on_lane_area"], 2, 0); extra_layout_drive->addWidget(buttons_ext["on_free_area"], 2, 1); From 8dc8c5107d71c0c2c3f35019bf88e116191c08d7 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Thu, 31 Jan 2019 15:48:05 +0900 Subject: [PATCH 111/139] remove unused parameter --- .../decision_maker/include/decision_maker_node.hpp | 4 +--- .../decision_maker/decision_maker_node_callback.cpp | 1 - .../autoware_config_msgs/msg/ConfigDecisionMaker.msg | 1 - .../packages/runtime_manager/scripts/computing.yaml | 10 ---------- 4 files changed, 1 insertion(+), 15 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp index b26ea2b853c..14d358e6b86 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp @@ -103,7 +103,7 @@ struct AutowareStatus int found_stopsign_idx; int prev_stopped_wpidx; - AutowareStatus(void) : closest_waypoint(-1), velocity(0), found_stopsign_idx(-1), obstacle_waypoint(-1) + AutowareStatus(void) : closest_waypoint(-1), obstacle_waypoint(-1), velocity(0), found_stopsign_idx(-1), prev_stopped_wpidx(-1) { } @@ -142,7 +142,6 @@ class DecisionMakerNode bool isManualLight; // Param - bool enableDisplayMarker; bool auto_mission_reload_; bool auto_engage_; bool auto_mission_change_; @@ -326,7 +325,6 @@ class DecisionMakerNode DecisionMakerNode(int argc, char** argv) : private_nh_("~") - , enableDisplayMarker(false) , auto_mission_reload_(false) , auto_engage_(false) , auto_mission_change_(false) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp index 95346d6bb08..63243f50e9d 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp @@ -44,7 +44,6 @@ void DecisionMakerNode::callbackFromLaneChangeFlag(const std_msgs::Int32& msg) void DecisionMakerNode::callbackFromConfig(const autoware_config_msgs::ConfigDecisionMaker& msg) { ROS_INFO("Param setted by Runtime Manager"); - enableDisplayMarker = msg.enable_display_marker; auto_mission_reload_ = msg.auto_mission_reload; auto_engage_ = msg.auto_engage; auto_mission_change_ = msg.auto_mission_change; diff --git a/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg b/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg index 02aa18adb61..7093b069a80 100644 --- a/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg +++ b/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg @@ -1,5 +1,4 @@ Header header -bool enable_display_marker bool auto_mission_reload bool auto_engage bool auto_mission_change diff --git a/ros/src/util/packages/runtime_manager/scripts/computing.yaml b/ros/src/util/packages/runtime_manager/scripts/computing.yaml index 1c9e5a0a3b4..5782a5b5e65 100755 --- a/ros/src/util/packages/runtime_manager/scripts/computing.yaml +++ b/ros/src/util/packages/runtime_manager/scripts/computing.yaml @@ -726,8 +726,6 @@ subs : gui : dialog_width : 400 dialog_height : 600 - enable_display_marker: - flags : [ nl ] use_management_system: flags : [ nl ] auto_mission_reload: @@ -1970,14 +1968,6 @@ params : topic : /config/decision_maker msg : ConfigDecisionMaker vars : - - name : enable_display_marker - desc : enable display marker flag - label : enable_display_marker - kind : checkbox - v : False - cmd_param : - dash : '' - delim : ':=' - name : disuse_vector_map desc : If this is enabled, the state passes through the MapInit state without vectormap. label : disuse_vector_map From bdf36f6b637be94185b5b29ac584f1cd9832d57d Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Thu, 31 Jan 2019 17:37:24 +0900 Subject: [PATCH 112/139] update README.md and jpg files in docs folder --- .../packages/decision_maker/README.md | 30 ++++-------------- .../decision_maker/docs/DriveStates.jpg | Bin 1241916 -> 1048593 bytes .../decision_maker/docs/MissionStates.jpg | Bin 239848 -> 259175 bytes .../decision_maker/docs/VehicleStates.jpg | Bin 115745 -> 119869 bytes 4 files changed, 7 insertions(+), 23 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/README.md b/ros/src/computing/planning/decision/packages/decision_maker/README.md index 4f762b3a1a2..ca37316ce0d 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/README.md +++ b/ros/src/computing/planning/decision/packages/decision_maker/README.md @@ -16,8 +16,9 @@ Each status is managed by state machine. ## Runtime Manager Parameters Parameter|Type|Description --|---|-- -enable_display_marker|Bool|(default: *false*)
not used auto_mission_reload|Bool|(default: *false*)
If this is set true, decision maker automatically reloads mission as new mission after previous mission is completed. +auto_engage|Bool|(default: *false*)
If this is set true, decision maker automatically engage immediately after ready to drive. +auto_mission_change|Bool|(default: *false*)
If this is set true, decision maker automatically change the mission(waypoint) without state_cmd when new mission is loaded while driving. use_management_system|Bool|(default: *false*)
This must be true in order to incoorporate with [Autoware Management System](https://github.com/CPFL/AMS) disuse_vector_map|Bool|(default: *false*)
If set *true*, decision_maker will exit "MapInitState" even if vector map is not successfully loaded. num_of_steer_behind|Int|(default: *20*)
lookup distance along waypoints to determine steering state(straight, turning right, or turning left) @@ -64,16 +65,13 @@ Topic|Type|Objective /decision_maker/available_transition|std_msgs/String|available transition from current state /decision_maker/operator_help_text|jsk_rviz_plugins/OverlayText|Help message during operation /decision_maker/state|std_msgs/String|current state for "Vehicle", "Mission", and "Drive" state machine. +/decision_maker/state_msg|autoware_msgs/State|current state for "Vehicle", "Mission", and "Drive" state machine with header. /lamp_cmd|autoware_msgs/LampCmd|blinker command to vehicle (0=straight, 1=right, 2=left) /lane_waypoints_array|autoware_msgs/LaneArray|waypoints passed down to following planners. (e.g. lane_rule) /light_color_managed|autoware_msgs/TrafficLight|meant to publish light_color status. Not implemented yet. -/state/cross_inside_marker|visualization_msgs/Marker|visualization of objectes inside cross roads. Not implemented yet. -/state/cross_road_marker|visualization_msgs/MarkerArray|visualization of crossroads. Not implemented yet. -/state/crossroad_bbox|jsk_recognition_msgs/BoundingBoxArray| visualization of crossroads by bounding box. Not implemented yet. /decision_maker/state_overlay|jsk_rviz_plugins/OverlayText|Current state as overlay_txt. -/state/stopline_target|visualization_msgs/Marker| Visualization of referenced stop line. Not implemented yet. /state/stopline_wpidx|std_msgs/Int32|Index of waypoint for the vehicle to stop. -/target_velocity_array|std_msgs/Float64MultiArray| Array of target velocity obtained from final_waypoints. +/decision_maker/target_velocity_array|std_msgs/Float64MultiArray| Array of target velocity obtained from final_waypoints. ## State Description @@ -87,7 +85,7 @@ LocalizationInit|/current_pose|Waits until localizer is ready | Waits until curr PlanningInit|/closest_waypoint|Waits unil planners are ready | Subscriber is set for /closest_waypoint. VehicleInit|-|Waits until vehicle is ready for departure.|No implementation goes directly to vehilce ready state. VehicleReady|-|Vehicle is ready to move.|Exits to VehicleEmergency when `emergency` key is given by state_cmd from other states, or if `emergency_flag` is set true by other states. -VehicleEmergency|-|Emergency is detected somewhere in the system. |Waits until `return_from_emergency` key is by /state_cmd (e.g. by DecisionMakerPanel) +VehicleEmergency|-|Emergency is detected somewhere in the system. |Waits until `return_from_emergency` or `return_to_ready` key is by /state_cmd (e.g. by DecisionMakerPanel) ### Mission States State name|Required topic|Description|Implementation @@ -117,10 +115,6 @@ Stop|-|vehicle is stopping since stop signal is sent from other nodes (e.g. by s Wait|-|Vehilce is waiting (e.g. due to safety reason)|Publishes /state/stopline_wpidx with the index = closest_waypoint + 1. Go|-|Vehicle is moving|Throws found_stopline if stopline is nearby. Throws completely_stopped if vehicle stops due to obstacle. StopLine|/vector_map_info/stop_line|Vehicle is stopping due to stop line|Throws clear key after vehicle stops for 0.5 seconds. -TryAvoidance|-|Vehicle trys to avoid obstacle. Not implemented yet|No implementation. -CheckAvoidance|-|Checks if obstalce avoidance is safe or not. Not implemented yet|No implementation. -Avoidance|-|Vehicle is avoiding obstacle. Not implemented.|No implementation. -ReturnToLane|-|Goes back to lane after avoiding obstacle. Not implemented.|- LeftTurn|-|Vehicle is turning left at intersection. Change blinker to left. | Publish /lamp_cmd to change blinker. L_Stop|-|Same as Stop State|Same as Stop State L_Wait|-|Same as Wait State|Same as Wait State @@ -142,10 +136,10 @@ ChangeToLeft|-|Change to left lane|No implementation. RightLaneChange|-|Vehicle is switching to right lane|publish /lamp_cmd to change blinker to right. CheckRightLane|-|Check if it is safe to change lane to left|No implementation. ChangeToRight|-|Change to left lane|No implementation. -BusStop|-|Vehicle is approaching to bus stop| No implementation. +BusStop|-|Vehicle is approaching to bus stop(not supported yet)| No implementation. PullIn|-|Vehicle is pulling in to bus stop| publish /lamp_cmd to change blinker to left. PullOut|-|Vehicle is pulling out from bus stop|publish /lamp_cmd to change blinker to right. -FreeArea|-|Vehicle is driving in free space(e.g. parking area)|No implementation. +FreeArea|-|Vehicle is driving in free space(e.g. parking area, not supported yet)|No implementation. Parking|-|Vehicle is parking|Publish /lamp_cmd to change blinker to hazard. @@ -159,23 +153,13 @@ Parking|-|Vehicle is parking|Publish /lamp_cmd to change blinker to hazard. 5. When the vehicle reaches the end of waypoint and stops, state Mission state transits to `WaitOrder` via the `MissionComplete` 6. You can repeat from 3. with other waypoint -### Move backward - ### Lane change 1. Start Normal driving with waypoint files necessary for lane change 2. On `CheckLeft` or `RightLane` state, push `Execute LaneChange` button on DecisionMakerPannel 3. The vehicle start lane change -### Stop at stop line - ### Driving mission change 1. Prepare waypoint files to change, and start Normal driving 2. On `Driving` state, push `Request mission change` button on DecisionMakerPannel 3. When the state becomes `DrivingMissionChange`, please load another waypoint for change 4. 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zU46xi?$!~skf_|hP(t+qS@Q>PFYEK_Hc$C7nA+eXQ7ZnJie+Bwv9(2uu9kF^-$NHO|QCmsdpzz-V=X&QHoTJswBcMDCwE-(H2H0z)A&&GVUcYus9}mx&x2J;cq2*9Y`?<*@iPxj z1o9OI_i1O{o&x1HpwH@F9r&3#t@_|Z-|o*>(OaVs5E;CW$(&%ZZ;fh2xPsVN(Ai;Z zd;s~b+5zB2#^3zXM-d|%vR)M^G#fJ<_@Gq1JM%EDMz^Jmj{ fw>pow$H^xKvubc0pu^C&{}6tH|BUeaJ@!8UrToD} From e56bbeca44756c401396ffb96016e5db86e61818 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Thu, 31 Jan 2019 17:42:23 +0900 Subject: [PATCH 113/139] chenge parameter name from use_management_system to use_fms add parameters to initializer lists of DecisionMakerNode class enabled parameter initialization from launch file --- .../packages/decision_maker/README.md | 16 ++++++------- .../include/decision_maker_node.hpp | 23 +++++++++++++++---- .../launch/decision_maker.launch | 20 ++++++++++++++++ .../decision_maker_node_callback.cpp | 2 +- .../decision_maker_node_state_mission.cpp | 12 +++++----- .../msg/ConfigDecisionMaker.msg | 2 +- .../runtime_manager/scripts/computing.yaml | 12 +++++----- 7 files changed, 61 insertions(+), 26 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/README.md b/ros/src/computing/planning/decision/packages/decision_maker/README.md index ca37316ce0d..b90a3141ff2 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/README.md +++ b/ros/src/computing/planning/decision/packages/decision_maker/README.md @@ -19,11 +19,11 @@ Parameter|Type|Description auto_mission_reload|Bool|(default: *false*)
If this is set true, decision maker automatically reloads mission as new mission after previous mission is completed. auto_engage|Bool|(default: *false*)
If this is set true, decision maker automatically engage immediately after ready to drive. auto_mission_change|Bool|(default: *false*)
If this is set true, decision maker automatically change the mission(waypoint) without state_cmd when new mission is loaded while driving. -use_management_system|Bool|(default: *false*)
This must be true in order to incoorporate with [Autoware Management System](https://github.com/CPFL/AMS) +use_fms|Bool|(default: *false*)
This must be true in order to incoorporate with [Autoware Management System](https://github.com/CPFL/AMS) disuse_vector_map|Bool|(default: *false*)
If set *true*, decision_maker will exit "MapInitState" even if vector map is not successfully loaded. num_of_steer_behind|Int|(default: *20*)
lookup distance along waypoints to determine steering state(straight, turning right, or turning left) -change_threshold_dist|Double|(default: *1*)
This is relevent only if *use_management_system* is *true*.
If the distance from vehicle to closest waypoint in the new mission is further than *change_threshold_dist* [m], mission change fails. -change_threshold_angle|Double|(default:*15*)
This is relevent only if *use_management_system* is *true*.
If the angle from vehicle to closest waypoint in the new mission is further than this *change_threshold_dist* [deg], mission change fails. +change_threshold_dist|Double|(default: *1*)
This is relevent only if *use_fms* is *true*.
If the distance from vehicle to closest waypoint in the new mission is further than *change_threshold_dist* [m], mission change fails. +change_threshold_angle|Double|(default:*15*)
This is relevent only if *use_fms* is *true*.
If the angle from vehicle to closest waypoint in the new mission is further than this *change_threshold_dist* [deg], mission change fails. time_to_avoidance|Double|(default: *3*)
If the vehicle is stuck for *time_to_avoidance* seconds (e.g. due to obstacles), the state transits to from "Go" to "Avoidance". goal_threshold_dist|Double|(default: *3*)
Threshold used to check if vehicle has reached to the goal (i.e. end of waypoints). The vehicle must be less than *goal_threshold_dist* [m] to the goal. goal_threshold_vel|Double|(default: *0.1*)
Threshold used to check if vehicle has reached to the goal (i.e. end of waypoints). The vehicle must be less than *goal_threshold_vel* [m/s] to be treated as goal arrival. @@ -96,10 +96,10 @@ MissionCheck|/final_waypoints
/current_waypoint|Waits until all the planners DriveReady|-|Given Mission is approved and vehicle is ready to move. |Waits until engage or mission_canceled key is given. Driving|-|The vehicle is driving. According to the planner nodes|Sets operation_start key. Goes to MissionAborted in case of emergency. DrivingMissionChange|/based/lane_waypoints_array|Waits for new mission while the vehicle keeps driving. | Waits until new /based/lane_waypoints_array is sent from management system. Then, checks if the waypoint is compatible or not depending on change_threshold_dist and change_threshold_angle parameters. Publish the new mission as /lane_waypoints_array if compatible. -MissionChangeSucceeded|-|New waypoints are compatible and vehicle will start following the new mission. | Throws return_to_driving key after 1 second if use_management_system is set false. -MissionChangeFailed|-|New waypoints are NOT compatible and vehicle will continue following the old mission. | Throws return_to_driving key after 1 second if use_management_system is set false. -MissionComplete|-|Vehicle has reached the goal.|If use_management_system is false and auto_mission_reload is true, go to MissionCheck state. Otherwise, got to WaitOrder state after 1 second. -MissionAborted|-|Mission is aborted by other nodes(e.g. by AMS). | Throws operation_end to Drving State Machine. Then, go to wait order automatically if use_management_system is false, otherwise waits until goto_wait_order key is given by management system. +MissionChangeSucceeded|-|New waypoints are compatible and vehicle will start following the new mission. | Throws return_to_driving key after 1 second if use_fms is set false. +MissionChangeFailed|-|New waypoints are NOT compatible and vehicle will continue following the old mission. | Throws return_to_driving key after 1 second if use_fms is set false. +MissionComplete|-|Vehicle has reached the goal.|If use_fms is false and auto_mission_reload is true, go to MissionCheck state. Otherwise, got to WaitOrder state after 1 second. +MissionAborted|-|Mission is aborted by other nodes(e.g. by AMS). | Throws operation_end to Drving State Machine. Then, go to wait order automatically if use_fms is false, otherwise waits until goto_wait_order key is given by management system. ### Driving States State name|Required topic|Description|Implementation @@ -139,7 +139,7 @@ ChangeToRight|-|Change to left lane|No implementation. BusStop|-|Vehicle is approaching to bus stop(not supported yet)| No implementation. PullIn|-|Vehicle is pulling in to bus stop| publish /lamp_cmd to change blinker to left. PullOut|-|Vehicle is pulling out from bus stop|publish /lamp_cmd to change blinker to right. -FreeArea|-|Vehicle is driving in free space(e.g. parking area, not supported yet)|No implementation. +FreeArea|-|Vehicle is driving in free space(e.g. parking area)(not supported yet)|No implementation. Parking|-|Vehicle is parking|Publish /lamp_cmd to change blinker to hazard. diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp index 14d358e6b86..92aa312be93 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp @@ -145,9 +145,9 @@ class DecisionMakerNode bool auto_mission_reload_; bool auto_engage_; bool auto_mission_change_; - bool use_management_system_; + bool use_fms_; bool disuse_vector_map_; - uint32_t param_num_of_steer_behind_; + int param_num_of_steer_behind_; double change_threshold_dist_; double change_threshold_angle_; double goal_threshold_dist_; @@ -328,8 +328,14 @@ class DecisionMakerNode , auto_mission_reload_(false) , auto_engage_(false) , auto_mission_change_(false) - , use_management_system_(false) + , use_fms_(false) + , disuse_vector_map_(false) , param_num_of_steer_behind_(30) + , change_threshold_dist_(1.0) + , change_threshold_angle_(15) + , goal_threshold_dist_(3.0) + , goal_threshold_vel_(0.1) + , stopline_reset_count_(20) { std::string file_name_mission; std::string file_name_drive; @@ -344,7 +350,16 @@ class DecisionMakerNode init(); setupStateCallback(); - stopline_reset_count_ = 20; + private_nh_.getParam("auto_mission_reload", auto_mission_reload_); + private_nh_.getParam("auto_engage", auto_engage_); + private_nh_.getParam("auto_mission_change", auto_mission_change_); + private_nh_.getParam("use_fms", use_fms_); + private_nh_.getParam("disuse_vector_map", disuse_vector_map_); + private_nh_.getParam("param_num_of_steer_behind", param_num_of_steer_behind_); + private_nh_.getParam("change_threshold_dist", change_threshold_dist_); + private_nh_.getParam("change_threshold_angle", change_threshold_angle_); + private_nh_.getParam("goal_threshold_dist", goal_threshold_dist_); + private_nh_.getParam("goal_threshold_vel", goal_threshold_vel_); private_nh_.getParam("stopline_reset_count", stopline_reset_count_); current_status_.prev_stopped_wpidx = -1; } diff --git a/ros/src/computing/planning/decision/packages/decision_maker/launch/decision_maker.launch b/ros/src/computing/planning/decision/packages/decision_maker/launch/decision_maker.launch index bf508b0c906..eb6ec8d28c8 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/launch/decision_maker.launch +++ b/ros/src/computing/planning/decision/packages/decision_maker/launch/decision_maker.launch @@ -3,12 +3,32 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp index 63243f50e9d..252373e4bfb 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp @@ -47,7 +47,7 @@ void DecisionMakerNode::callbackFromConfig(const autoware_config_msgs::ConfigDec auto_mission_reload_ = msg.auto_mission_reload; auto_engage_ = msg.auto_engage; auto_mission_change_ = msg.auto_mission_change; - use_management_system_ = msg.use_management_system; + use_fms_ = msg.use_fms; param_num_of_steer_behind_ = msg.num_of_steer_behind; change_threshold_dist_ = msg.change_threshold_dist; change_threshold_angle_ = msg.change_threshold_angle; diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp index 7563881fd5f..4f8445a3680 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp @@ -96,7 +96,7 @@ void DecisionMakerNode::entryMissionAbortedState(cstring_t& state_name, int stat } void DecisionMakerNode::updateMissionAbortedState(cstring_t& state_name, int status) { - if (!use_management_system_) + if (!use_fms_) { sleep(1); tryNextState("goto_wait_order"); @@ -111,7 +111,7 @@ void DecisionMakerNode::entryDriveReadyState(cstring_t& state_name, int status) void DecisionMakerNode::updateDriveReadyState(cstring_t& state_name, int status) { - if (!use_management_system_ && auto_engage_) + if (!use_fms_ && auto_engage_) { tryNextState("engage"); } @@ -136,7 +136,7 @@ void DecisionMakerNode::updateDrivingState(cstring_t& state_name, int status) tryNextState("mission_aborted"); } - if (!use_management_system_ && auto_mission_change_ && isEventFlagTrue("received_based_lane_waypoint")) + if (!use_fms_ && auto_mission_change_ && isEventFlagTrue("received_based_lane_waypoint")) { tryNextState("request_mission_change"); } @@ -173,7 +173,7 @@ void DecisionMakerNode::updateDrivingMissionChangeState(cstring_t& state_name, i void DecisionMakerNode::updateMissionChangeSucceededState(cstring_t& state_name, int status) { - if (!use_management_system_) + if (!use_fms_) { sleep(1); tryNextState("return_to_driving"); @@ -181,7 +181,7 @@ void DecisionMakerNode::updateMissionChangeSucceededState(cstring_t& state_name, } void DecisionMakerNode::updateMissionChangeFailedState(cstring_t& state_name, int status) { - if (!use_management_system_) + if (!use_fms_) { sleep(1); tryNextState("return_to_driving"); @@ -194,7 +194,7 @@ void DecisionMakerNode::entryMissionCompleteState(cstring_t& state_name, int sta } void DecisionMakerNode::updateMissionCompleteState(cstring_t& state_name, int status) { - if (!use_management_system_) + if (!use_fms_) { if (auto_mission_reload_) { diff --git a/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg b/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg index 7093b069a80..96a933e35c9 100644 --- a/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg +++ b/ros/src/msgs/autoware_config_msgs/msg/ConfigDecisionMaker.msg @@ -2,7 +2,7 @@ Header header bool auto_mission_reload bool auto_engage bool auto_mission_change -bool use_management_system +bool use_fms bool disuse_vector_map uint32 num_of_steer_behind float64 change_threshold_dist diff --git a/ros/src/util/packages/runtime_manager/scripts/computing.yaml b/ros/src/util/packages/runtime_manager/scripts/computing.yaml index 5782a5b5e65..fccc925bb7a 100755 --- a/ros/src/util/packages/runtime_manager/scripts/computing.yaml +++ b/ros/src/util/packages/runtime_manager/scripts/computing.yaml @@ -726,16 +726,16 @@ subs : gui : dialog_width : 400 dialog_height : 600 - use_management_system: + use_fms: flags : [ nl ] auto_mission_reload: - depend : use_management_system + depend : use_fms depend_bool : 'lambda v : v == 0' auto_engage: - depend : use_management_system + depend : use_fms depend_bool : 'lambda v : v == 0' auto_mission_change: - depend : use_management_system + depend : use_fms depend_bool : 'lambda v : v == 0' @@ -2020,9 +2020,9 @@ params : cmd_param : dash : '' delim: ':=' - - name : use_management_system + - name : use_fms desc : If this is disbled, part of state transitions are automatically executed. - label : use_management_system + label : use_fms kind : checkbox v : False cmd_param : From 891116ccccb1983c76a006f3ac6c722466960f29 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Tue, 5 Feb 2019 11:12:59 +0900 Subject: [PATCH 114/139] add test of decision_maker --- .../packages/decision_maker/CMakeLists.txt | 20 ++ .../include/decision_maker_node.hpp | 1 + .../decision_maker/test/src/test_main.cpp | 18 +- .../test/src/test_node_decision.cpp | 109 ++++---- .../test/src/test_node_state_drive.cpp | 259 +++++++++++------- 5 files changed, 259 insertions(+), 148 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt index cf16517036c..56c9807cd19 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt +++ b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt @@ -81,3 +81,23 @@ install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} PATTERN ".svn" EXCLUDE ) + +if(CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + add_rostest_gtest(test-decision_maker + test/test_decision_maker.test + test/src/test_main.cpp + test/src/test_node_decision.cpp + test/src/test_node_state_drive.cpp + nodes/decision_maker/decision_maker_node_core.cpp + nodes/decision_maker/decision_maker_node_decision.cpp + nodes/decision_maker/decision_maker_node_init.cpp + nodes/decision_maker/decision_maker_node_callback.cpp + nodes/decision_maker/decision_maker_node_state_vehicle.cpp + nodes/decision_maker/decision_maker_node_state_drive.cpp + nodes/decision_maker/decision_maker_node_state_mission.cpp + nodes/decision_maker/decision_maker_node_publish.cpp + nodes/decision_maker/cross_road_area.cpp) + add_dependencies(test-decision_maker ${catkin_EXPORTED_TARGETS}) + target_link_libraries(test-decision_maker ${catkin_LIBRARIES} ${vector_map_LIBRARIES}) +endif() diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp index 92aa312be93..ad30b150029 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp @@ -112,6 +112,7 @@ struct AutowareStatus class DecisionMakerNode { + friend class TestSuite; private: ros::NodeHandle nh_; ros::NodeHandle private_nh_; diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_main.cpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_main.cpp index 0b712f60400..984c288ffcf 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_main.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_main.cpp @@ -14,17 +14,19 @@ * limitations under the License. */ -#include #include +#include -class TestSuite : public ::testing::Test { +class TestSuite: public ::testing::Test { public: - TestSuite() {} - ~TestSuite() {} + TestSuite(){} + ~TestSuite(){} }; -int main(int argc, char **argv) { - testing::InitGoogleTest(&argc, argv); - ros::init(argc, argv, "DecisionMakerTestNode"); - return RUN_ALL_TESTS(); +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "DecisionMakerTestNode"); + // ros::NodeHandle nh_; + return RUN_ALL_TESTS(); } diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp index c432a849b9a..95c27d8272a 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp @@ -14,80 +14,97 @@ * limitations under the License. */ -#include #include +#include -#include "amathutils_lib/amathutils.hpp" #include "decision_maker_node.hpp" +#include "amathutils_lib/amathutils.hpp" -#include "test_class.hpp" - -namespace decision_maker { +namespace decision_maker +{ class TestSuite : public ::testing::Test { public: - TestSuite() {} - ~TestSuite() {} - - TestClass test_obj_; + TestSuite(){} + ~TestSuite(){} protected: - virtual void SetUp() { + virtual void SetUp() + { int argc; - char **argv; - test_obj_.dmn = new DecisionMakerNode(argc, argv); + char** argv; + dmn = new DecisionMakerNode(argc, argv); + }; + virtual void TearDown() + { + delete dmn; }; - virtual void TearDown() { delete test_obj_.dmn; }; -}; -TEST_F(TestSuite, isLocalizationConvergence) { - geometry_msgs::Point pointA, pointB; - pointA.x = 10.0; - pointA.y = 10.0; - pointA.z = 0.0; - pointB.x = 10.0; - pointB.y = 12.0; - pointB.z = 0.0; + DecisionMakerNode* dmn; - for (int i=0; i<10; i++) + void createFinalWaypoints() { - ASSERT_FALSE(test_obj_.isLocalizationConvergence(pointA)) << "It should be false"; + autoware_msgs::Lane final_lane; + for (int idx = 0; idx < 100; idx++) + { + static autoware_msgs::Waypoint wp; + wp.gid = idx; + wp.lid = idx; + wp.pose.pose.position.x = 0.0 + (double)idx; + wp.pose.pose.position.y = 0.0; + wp.pose.pose.position.z = 0.0; + wp.twist.twist.linear.x = 5.0; + wp.twist.twist.angular.z = 0.0; + + final_lane.waypoints.push_back(wp); + } + + dmn->current_status_.finalwaypoints = final_lane; } - ASSERT_TRUE(test_obj_.isLocalizationConvergence(pointA)) << "It should be true"; - for (int i=0; i<5; i++) + void setCurrentPose(double x, double y, double yaw) { - ASSERT_TRUE(test_obj_.isLocalizationConvergence(pointA)) << "It should be true"; - ASSERT_TRUE(test_obj_.isLocalizationConvergence(pointB)) << "It should be true"; + geometry_msgs::Pose current_pose; + current_pose.position.x = x; + current_pose.position.y = y; + tf::Quaternion quaternion = tf::createQuaternionFromRPY(0, 0, yaw); + quaternionTFToMsg(quaternion, current_pose.orientation); + + dmn->current_status_.pose = current_pose; } - ASSERT_TRUE(test_obj_.isLocalizationConvergence(pointA)) << "It should be true"; - pointB.y = 12.1; - ASSERT_FALSE(test_obj_.isLocalizationConvergence(pointB)) << "It should be true"; -} + void setCurrentVelocity(double vel) + { + dmn->current_status_.velocity = vel; + } + + bool isArrivedGoal() { return dmn->isArrivedGoal(); } +}; -TEST_F(TestSuite, isArrivedGoal) { - test_obj_.createFinalWaypoints(); +TEST_F(TestSuite, isArrivedGoal) +{ + createFinalWaypoints(); - test_obj_.setCurrentPose(100, 0, 0); - test_obj_.setCurrentVelocity(0.0); - ASSERT_TRUE(test_obj_.isArrivedGoal()) << "Current pose is outside the target range." + setCurrentPose(100, 0, 0); + setCurrentVelocity(0.0); + ASSERT_TRUE(isArrivedGoal()) << "Current pose is outside the target range." << "It should be true"; - test_obj_.setCurrentPose(100, 0, 0); - test_obj_.setCurrentVelocity(3.0); - ASSERT_FALSE(test_obj_.isArrivedGoal()) << "Current pose is inside the target range." + setCurrentPose(100, 0, 0); + setCurrentVelocity(3.0); + ASSERT_FALSE(isArrivedGoal()) << "Current pose is inside the target range." << "It should be false"; - test_obj_.setCurrentPose(90, 0, 0); - test_obj_.setCurrentVelocity(0.0); - ASSERT_FALSE(test_obj_.isArrivedGoal()) << "Current pose is inside the target range." + setCurrentPose(90, 0, 0); + setCurrentVelocity(0.0); + ASSERT_FALSE(isArrivedGoal()) << "Current pose is inside the target range." << "It should be false"; - test_obj_.setCurrentPose(90, 0, 0); - test_obj_.setCurrentVelocity(3.0); - ASSERT_FALSE(test_obj_.isArrivedGoal()) << "Current pose is inside the target range." + setCurrentPose(90, 0, 0); + setCurrentVelocity(3.0); + ASSERT_FALSE(isArrivedGoal()) << "Current pose is inside the target range." << "It should be false"; + } } // namespace decision_maker diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp index 82c6f962b51..21467ec4e49 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp @@ -14,121 +14,192 @@ * limitations under the License. */ -#include #include +#include -#include "amathutils_lib/amathutils.hpp" #include "decision_maker_node.hpp" +#include "amathutils_lib/amathutils.hpp" -#include "test_class.hpp" - -namespace decision_maker { +namespace decision_maker +{ class TestSuite : public ::testing::Test { public: - TestSuite() {} - ~TestSuite() {} - - TestClass test_obj_; + TestSuite(){} + ~TestSuite(){} protected: - virtual void SetUp() { + virtual void SetUp() + { int argc; - char **argv; - test_obj_.dmn = new DecisionMakerNode(argc, argv); + char** argv; + dmn = new DecisionMakerNode(argc, argv); + }; + virtual void TearDown() + { + delete dmn; }; - virtual void TearDown() { delete test_obj_.dmn; }; + + void createFinalWaypoints() + { + autoware_msgs::Lane final_lane; + for (int idx = 0; idx < 100; idx++) + { + static autoware_msgs::Waypoint wp; + wp.gid = idx; + wp.lid = idx; + wp.pose.pose.position.x = 0.0 + (double)idx; + wp.pose.pose.position.y = 0.0; + wp.pose.pose.position.z = 0.0; + wp.twist.twist.linear.x = 5.0; + wp.twist.twist.angular.z = 0.0; + + wp.wpstate.steering_state = autoware_msgs::WaypointState::STR_STRAIGHT; + wp.wpstate.stop_state = autoware_msgs::WaypointState::NULLSTATE; + wp.wpstate.event_state = autoware_msgs::WaypointState::TYPE_EVENT_NULL; + + final_lane.waypoints.push_back(wp); + } + + dmn->current_status_.finalwaypoints = final_lane; + } + + void setSteeringState(int index, uint8_t state) + { + dmn->current_status_.finalwaypoints.waypoints.at(index).wpstate.steering_state = state; + } + + void setEventState(int index, uint8_t state) + { + dmn->current_status_.finalwaypoints.waypoints.at(index).wpstate.event_state = state; + } + + void setStopState(int index, uint8_t state) + { + dmn->current_status_.finalwaypoints.waypoints.at(index).wpstate.stop_state = state; + } + + void setCurrentPose(double x, double y, double yaw) + { + geometry_msgs::Pose current_pose; + current_pose.position.x = x; + current_pose.position.y = y; + tf::Quaternion quaternion = tf::createQuaternionFromRPY(0, 0, yaw); + quaternionTFToMsg(quaternion, current_pose.orientation); + + dmn->current_status_.pose = current_pose; + } + + void setCurrentVelocity(double vel) + { + dmn->current_status_.velocity = vel; + } + + DecisionMakerNode* dmn; + uint8_t getSteeringStateFromWaypoint() { return dmn->getSteeringStateFromWaypoint(); } + uint8_t getEventStateFromWaypoint() { return dmn->getEventStateFromWaypoint(); } + std::pair getStopSignStateFromWaypoint() { return dmn->getStopSignStateFromWaypoint(); } }; -TEST_F(TestSuite, getSteeringStateFromWaypoint) { - test_obj_.createFinalWaypoints(); - ASSERT_EQ(test_obj_.getSteeringStateFromWaypoint(), - autoware_msgs::WaypointState::STR_STRAIGHT) - << "Could not get the expected state" - << "It should be " << autoware_msgs::WaypointState::STR_STRAIGHT; - - test_obj_.setSteeringState(20, autoware_msgs::WaypointState::STR_LEFT); - ASSERT_EQ(test_obj_.getSteeringStateFromWaypoint(), - autoware_msgs::WaypointState::STR_LEFT) - << "Could not get the expected state" - << "It should be " << autoware_msgs::WaypointState::STR_LEFT; - - test_obj_.setSteeringState(20, autoware_msgs::WaypointState::STR_RIGHT); - ASSERT_EQ(test_obj_.getSteeringStateFromWaypoint(), - autoware_msgs::WaypointState::STR_RIGHT) - << "Could not get the expected state" - << "It should be " << autoware_msgs::WaypointState::STR_RIGHT; +TEST_F(TestSuite, getSteeringStateFromWaypoint) +{ + createFinalWaypoints(); + ASSERT_EQ(getSteeringStateFromWaypoint(), autoware_msgs::WaypointState::STR_STRAIGHT) + << "Could not get the expected state" + << "It should be " + << autoware_msgs::WaypointState::STR_STRAIGHT; + + setSteeringState(20, autoware_msgs::WaypointState::STR_LEFT); + ASSERT_EQ(getSteeringStateFromWaypoint(), autoware_msgs::WaypointState::STR_LEFT) + << "Could not get the expected state" + << "It should be " + << autoware_msgs::WaypointState::STR_LEFT; + + setSteeringState(20, autoware_msgs::WaypointState::STR_RIGHT); + ASSERT_EQ(getSteeringStateFromWaypoint(), autoware_msgs::WaypointState::STR_RIGHT) + << "Could not get the expected state" + << "It should be " + << autoware_msgs::WaypointState::STR_RIGHT; } -TEST_F(TestSuite, getEventStateFromWaypoint) { - test_obj_.setCurrentPose(0, 0, 0); - - test_obj_.createFinalWaypoints(); - ASSERT_EQ(test_obj_.getEventStateFromWaypoint(), - autoware_msgs::WaypointState::TYPE_EVENT_NULL) - << "Could not get the expected state" - << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_NULL; - - test_obj_.setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_GOAL); - ASSERT_EQ(test_obj_.getEventStateFromWaypoint(), - autoware_msgs::WaypointState::TYPE_EVENT_GOAL) - << "Could not get the expected state" - << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_GOAL; - - test_obj_.setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL); - ASSERT_EQ(test_obj_.getEventStateFromWaypoint(), - autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL) - << "Could not get the expected state" - << "It should be " - << autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL; - - test_obj_.setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP); - ASSERT_EQ(test_obj_.getEventStateFromWaypoint(), - autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP) - << "Could not get the expected state" - << "It should be " - << autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP; - - test_obj_.setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP); - ASSERT_EQ(test_obj_.getEventStateFromWaypoint(), - autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP) - << "Could not get the expected state" - << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP; - - test_obj_.setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_PARKING); - ASSERT_EQ(test_obj_.getEventStateFromWaypoint(), - autoware_msgs::WaypointState::TYPE_EVENT_PARKING) - << "Could not get the expected state" - << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_PARKING; +TEST_F(TestSuite, getEventStateFromWaypoint) +{ + setCurrentPose(0, 0, 0); + + createFinalWaypoints(); + ASSERT_EQ(getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_NULL) + << "Could not get the expected state" + << "It should be " + << autoware_msgs::WaypointState::TYPE_EVENT_NULL; + + setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_GOAL); + ASSERT_EQ(getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_GOAL) + << "Could not get the expected state" + << "It should be " + << autoware_msgs::WaypointState::TYPE_EVENT_GOAL; + + setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL); + ASSERT_EQ(getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL) + << "Could not get the expected state" + << "It should be " + << autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL; + + setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP); + ASSERT_EQ(getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP) + << "Could not get the expected state" + << "It should be " + << autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP; + + setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP); + ASSERT_EQ(getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP) + << "Could not get the expected state" + << "It should be " + << autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP; + + setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_PARKING); + ASSERT_EQ(getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_PARKING) + << "Could not get the expected state" + << "It should be " + << autoware_msgs::WaypointState::TYPE_EVENT_PARKING; } -TEST_F(TestSuite, getStopSignStateFromWaypoint) { - test_obj_.setCurrentPose(0, 0, 0); - test_obj_.setCurrentVelocity(10.0); +TEST_F(TestSuite, getStopSignStateFromWaypoint) +{ + setCurrentPose(0, 0, 0); + setCurrentVelocity(10.0); - test_obj_.createFinalWaypoints(); - std::pair ret1 = test_obj_.getStopSignStateFromWaypoint(); + createFinalWaypoints(); + std::pair ret1 = getStopSignStateFromWaypoint(); ASSERT_EQ(ret1.first, autoware_msgs::WaypointState::NULLSTATE) - << "Could not get the expected state" - << "It should be " << autoware_msgs::WaypointState::NULLSTATE; - ASSERT_EQ(ret1.second, -1) << "Could not get the expected state" - << "It should be " << -1; - - test_obj_.setStopState(20, autoware_msgs::WaypointState::TYPE_STOPLINE); - std::pair ret2 = test_obj_.getStopSignStateFromWaypoint(); + << "Could not get the expected state" + << "It should be " + << autoware_msgs::WaypointState::NULLSTATE; + ASSERT_EQ(ret1.second, -1) + << "Could not get the expected state" + << "It should be " + << -1; + + setStopState(20, autoware_msgs::WaypointState::TYPE_STOPLINE); + std::pair ret2 = getStopSignStateFromWaypoint(); ASSERT_EQ(ret2.first, autoware_msgs::WaypointState::TYPE_STOPLINE) - << "Could not get the expected state" - << "It should be " << autoware_msgs::WaypointState::TYPE_STOPLINE; - ASSERT_EQ(ret2.second, 20) << "Could not get the expected state" - << "It should be " << 20; - - test_obj_.setStopState(20, autoware_msgs::WaypointState::TYPE_STOP); - std::pair ret3 = test_obj_.getStopSignStateFromWaypoint(); + << "Could not get the expected state" + << "It should be " + << autoware_msgs::WaypointState::TYPE_STOPLINE; + ASSERT_EQ(ret2.second, 20) + << "Could not get the expected state" + << "It should be " + << 20; + + setStopState(20, autoware_msgs::WaypointState::TYPE_STOP); + std::pair ret3 = getStopSignStateFromWaypoint(); ASSERT_EQ(ret3.first, autoware_msgs::WaypointState::TYPE_STOP) - << "Could not get the expected state" - << "It should be " << autoware_msgs::WaypointState::TYPE_STOP; - ASSERT_EQ(ret3.second, 20) << "Could not get the expected state" - << "It should be " << 20; + << "Could not get the expected state" + << "It should be " + << autoware_msgs::WaypointState::TYPE_STOP; + ASSERT_EQ(ret3.second, 20) + << "Could not get the expected state" + << "It should be " + << 20; } } // namespace decision_maker From 72f464487dbd714a1b62614f0c9664c38fe2c315 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Tue, 5 Feb 2019 11:14:46 +0900 Subject: [PATCH 115/139] fix bug in getEventStateFromWaypoint function --- .../nodes/decision_maker/decision_maker_node_state_drive.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp index b91a6159090..0bd4668547d 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp @@ -87,7 +87,7 @@ uint8_t DecisionMakerNode::getEventStateFromWaypoint(void) state = current_status_.finalwaypoints.waypoints.at(idx).wpstate.event_state; - if (state && distance >= distance_to_target) + if (state && (state != autoware_msgs::WaypointState::TYPE_EVENT_NULL || distance >= distance_to_target)) { break; } From 43af4fc24e100be533466bc8319117100739c103 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Tue, 5 Feb 2019 13:53:38 +0900 Subject: [PATCH 116/139] apply clang-format --- .../decision_maker/test/src/test_main.cpp | 16 +- .../test/src/test_node_decision.cpp | 39 ++-- .../test/src/test_node_state_drive.cpp | 181 ++++++++---------- 3 files changed, 103 insertions(+), 133 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_main.cpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_main.cpp index 984c288ffcf..a42b677d712 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_main.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_main.cpp @@ -17,16 +17,14 @@ #include #include -class TestSuite: public ::testing::Test { +class TestSuite : public ::testing::Test { public: - TestSuite(){} - ~TestSuite(){} + TestSuite() {} + ~TestSuite() {} }; -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - ros::init(argc, argv, "DecisionMakerTestNode"); - // ros::NodeHandle nh_; - return RUN_ALL_TESTS(); +int main(int argc, char **argv) { + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "DecisionMakerTestNode"); + return RUN_ALL_TESTS(); } diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp index 95c27d8272a..a802883f321 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp @@ -17,36 +17,29 @@ #include #include -#include "decision_maker_node.hpp" #include "amathutils_lib/amathutils.hpp" +#include "decision_maker_node.hpp" -namespace decision_maker -{ +namespace decision_maker { class TestSuite : public ::testing::Test { public: - TestSuite(){} - ~TestSuite(){} + TestSuite() {} + ~TestSuite() {} protected: - virtual void SetUp() - { + virtual void SetUp() { int argc; - char** argv; + char **argv; dmn = new DecisionMakerNode(argc, argv); }; - virtual void TearDown() - { - delete dmn; - }; + virtual void TearDown() { delete dmn; }; - DecisionMakerNode* dmn; + DecisionMakerNode *dmn; - void createFinalWaypoints() - { + void createFinalWaypoints() { autoware_msgs::Lane final_lane; - for (int idx = 0; idx < 100; idx++) - { + for (int idx = 0; idx < 100; idx++) { static autoware_msgs::Waypoint wp; wp.gid = idx; wp.lid = idx; @@ -62,8 +55,7 @@ class TestSuite : public ::testing::Test { dmn->current_status_.finalwaypoints = final_lane; } - void setCurrentPose(double x, double y, double yaw) - { + void setCurrentPose(double x, double y, double yaw) { geometry_msgs::Pose current_pose; current_pose.position.x = x; current_pose.position.y = y; @@ -73,16 +65,12 @@ class TestSuite : public ::testing::Test { dmn->current_status_.pose = current_pose; } - void setCurrentVelocity(double vel) - { - dmn->current_status_.velocity = vel; - } + void setCurrentVelocity(double vel) { dmn->current_status_.velocity = vel; } bool isArrivedGoal() { return dmn->isArrivedGoal(); } }; -TEST_F(TestSuite, isArrivedGoal) -{ +TEST_F(TestSuite, isArrivedGoal) { createFinalWaypoints(); setCurrentPose(100, 0, 0); @@ -104,7 +92,6 @@ TEST_F(TestSuite, isArrivedGoal) setCurrentVelocity(3.0); ASSERT_FALSE(isArrivedGoal()) << "Current pose is inside the target range." << "It should be false"; - } } // namespace decision_maker diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp index 21467ec4e49..57ea59c6e74 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp @@ -17,34 +17,27 @@ #include #include -#include "decision_maker_node.hpp" #include "amathutils_lib/amathutils.hpp" +#include "decision_maker_node.hpp" -namespace decision_maker -{ +namespace decision_maker { class TestSuite : public ::testing::Test { public: - TestSuite(){} - ~TestSuite(){} + TestSuite() {} + ~TestSuite() {} protected: - virtual void SetUp() - { + virtual void SetUp() { int argc; - char** argv; + char **argv; dmn = new DecisionMakerNode(argc, argv); }; - virtual void TearDown() - { - delete dmn; - }; + virtual void TearDown() { delete dmn; }; - void createFinalWaypoints() - { + void createFinalWaypoints() { autoware_msgs::Lane final_lane; - for (int idx = 0; idx < 100; idx++) - { + for (int idx = 0; idx < 100; idx++) { static autoware_msgs::Waypoint wp; wp.gid = idx; wp.lid = idx; @@ -64,23 +57,22 @@ class TestSuite : public ::testing::Test { dmn->current_status_.finalwaypoints = final_lane; } - void setSteeringState(int index, uint8_t state) - { - dmn->current_status_.finalwaypoints.waypoints.at(index).wpstate.steering_state = state; + void setSteeringState(int index, uint8_t state) { + dmn->current_status_.finalwaypoints.waypoints.at(index) + .wpstate.steering_state = state; } - void setEventState(int index, uint8_t state) - { - dmn->current_status_.finalwaypoints.waypoints.at(index).wpstate.event_state = state; + void setEventState(int index, uint8_t state) { + dmn->current_status_.finalwaypoints.waypoints.at(index) + .wpstate.event_state = state; } - void setStopState(int index, uint8_t state) - { - dmn->current_status_.finalwaypoints.waypoints.at(index).wpstate.stop_state = state; + void setStopState(int index, uint8_t state) { + dmn->current_status_.finalwaypoints.waypoints.at(index).wpstate.stop_state = + state; } - void setCurrentPose(double x, double y, double yaw) - { + void setCurrentPose(double x, double y, double yaw) { geometry_msgs::Pose current_pose; current_pose.position.x = x; current_pose.position.y = y; @@ -90,116 +82,109 @@ class TestSuite : public ::testing::Test { dmn->current_status_.pose = current_pose; } - void setCurrentVelocity(double vel) - { - dmn->current_status_.velocity = vel; - } + void setCurrentVelocity(double vel) { dmn->current_status_.velocity = vel; } - DecisionMakerNode* dmn; - uint8_t getSteeringStateFromWaypoint() { return dmn->getSteeringStateFromWaypoint(); } - uint8_t getEventStateFromWaypoint() { return dmn->getEventStateFromWaypoint(); } - std::pair getStopSignStateFromWaypoint() { return dmn->getStopSignStateFromWaypoint(); } + DecisionMakerNode *dmn; + uint8_t getSteeringStateFromWaypoint() { + return dmn->getSteeringStateFromWaypoint(); + } + uint8_t getEventStateFromWaypoint() { + return dmn->getEventStateFromWaypoint(); + } + std::pair getStopSignStateFromWaypoint() { + return dmn->getStopSignStateFromWaypoint(); + } }; -TEST_F(TestSuite, getSteeringStateFromWaypoint) -{ +TEST_F(TestSuite, getSteeringStateFromWaypoint) { createFinalWaypoints(); - ASSERT_EQ(getSteeringStateFromWaypoint(), autoware_msgs::WaypointState::STR_STRAIGHT) - << "Could not get the expected state" - << "It should be " - << autoware_msgs::WaypointState::STR_STRAIGHT; + ASSERT_EQ(getSteeringStateFromWaypoint(), + autoware_msgs::WaypointState::STR_STRAIGHT) + << "Could not get the expected state" + << "It should be " << autoware_msgs::WaypointState::STR_STRAIGHT; setSteeringState(20, autoware_msgs::WaypointState::STR_LEFT); - ASSERT_EQ(getSteeringStateFromWaypoint(), autoware_msgs::WaypointState::STR_LEFT) - << "Could not get the expected state" - << "It should be " - << autoware_msgs::WaypointState::STR_LEFT; + ASSERT_EQ(getSteeringStateFromWaypoint(), + autoware_msgs::WaypointState::STR_LEFT) + << "Could not get the expected state" + << "It should be " << autoware_msgs::WaypointState::STR_LEFT; setSteeringState(20, autoware_msgs::WaypointState::STR_RIGHT); - ASSERT_EQ(getSteeringStateFromWaypoint(), autoware_msgs::WaypointState::STR_RIGHT) - << "Could not get the expected state" - << "It should be " - << autoware_msgs::WaypointState::STR_RIGHT; + ASSERT_EQ(getSteeringStateFromWaypoint(), + autoware_msgs::WaypointState::STR_RIGHT) + << "Could not get the expected state" + << "It should be " << autoware_msgs::WaypointState::STR_RIGHT; } -TEST_F(TestSuite, getEventStateFromWaypoint) -{ +TEST_F(TestSuite, getEventStateFromWaypoint) { setCurrentPose(0, 0, 0); createFinalWaypoints(); - ASSERT_EQ(getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_NULL) - << "Could not get the expected state" - << "It should be " - << autoware_msgs::WaypointState::TYPE_EVENT_NULL; + ASSERT_EQ(getEventStateFromWaypoint(), + autoware_msgs::WaypointState::TYPE_EVENT_NULL) + << "Could not get the expected state" + << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_NULL; setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_GOAL); - ASSERT_EQ(getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_GOAL) - << "Could not get the expected state" - << "It should be " - << autoware_msgs::WaypointState::TYPE_EVENT_GOAL; + ASSERT_EQ(getEventStateFromWaypoint(), + autoware_msgs::WaypointState::TYPE_EVENT_GOAL) + << "Could not get the expected state" + << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_GOAL; setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL); - ASSERT_EQ(getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL) - << "Could not get the expected state" - << "It should be " - << autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL; + ASSERT_EQ(getEventStateFromWaypoint(), + autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL) + << "Could not get the expected state" + << "It should be " + << autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL; setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP); - ASSERT_EQ(getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP) - << "Could not get the expected state" - << "It should be " - << autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP; + ASSERT_EQ(getEventStateFromWaypoint(), + autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP) + << "Could not get the expected state" + << "It should be " + << autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP; setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP); - ASSERT_EQ(getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP) - << "Could not get the expected state" - << "It should be " - << autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP; + ASSERT_EQ(getEventStateFromWaypoint(), + autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP) + << "Could not get the expected state" + << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP; setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_PARKING); - ASSERT_EQ(getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_PARKING) - << "Could not get the expected state" - << "It should be " - << autoware_msgs::WaypointState::TYPE_EVENT_PARKING; + ASSERT_EQ(getEventStateFromWaypoint(), + autoware_msgs::WaypointState::TYPE_EVENT_PARKING) + << "Could not get the expected state" + << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_PARKING; } -TEST_F(TestSuite, getStopSignStateFromWaypoint) -{ +TEST_F(TestSuite, getStopSignStateFromWaypoint) { setCurrentPose(0, 0, 0); setCurrentVelocity(10.0); createFinalWaypoints(); std::pair ret1 = getStopSignStateFromWaypoint(); ASSERT_EQ(ret1.first, autoware_msgs::WaypointState::NULLSTATE) - << "Could not get the expected state" - << "It should be " - << autoware_msgs::WaypointState::NULLSTATE; - ASSERT_EQ(ret1.second, -1) - << "Could not get the expected state" - << "It should be " - << -1; + << "Could not get the expected state" + << "It should be " << autoware_msgs::WaypointState::NULLSTATE; + ASSERT_EQ(ret1.second, -1) << "Could not get the expected state" + << "It should be " << -1; setStopState(20, autoware_msgs::WaypointState::TYPE_STOPLINE); std::pair ret2 = getStopSignStateFromWaypoint(); ASSERT_EQ(ret2.first, autoware_msgs::WaypointState::TYPE_STOPLINE) - << "Could not get the expected state" - << "It should be " - << autoware_msgs::WaypointState::TYPE_STOPLINE; - ASSERT_EQ(ret2.second, 20) - << "Could not get the expected state" - << "It should be " - << 20; + << "Could not get the expected state" + << "It should be " << autoware_msgs::WaypointState::TYPE_STOPLINE; + ASSERT_EQ(ret2.second, 20) << "Could not get the expected state" + << "It should be " << 20; setStopState(20, autoware_msgs::WaypointState::TYPE_STOP); std::pair ret3 = getStopSignStateFromWaypoint(); ASSERT_EQ(ret3.first, autoware_msgs::WaypointState::TYPE_STOP) - << "Could not get the expected state" - << "It should be " - << autoware_msgs::WaypointState::TYPE_STOP; - ASSERT_EQ(ret3.second, 20) - << "Could not get the expected state" - << "It should be " - << 20; + << "Could not get the expected state" + << "It should be " << autoware_msgs::WaypointState::TYPE_STOP; + ASSERT_EQ(ret3.second, 20) << "Could not get the expected state" + << "It should be " << 20; } } // namespace decision_maker From 8531fc860500f0f43d259940e30e8688feb9689f Mon Sep 17 00:00:00 2001 From: sgermanserrano Date: Wed, 6 Feb 2019 12:21:53 +0000 Subject: [PATCH 117/139] Added dependencies --- .../decision/packages/decision_maker/CMakeLists.txt | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt index 56c9807cd19..b9aa8aeb085 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt +++ b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt @@ -67,8 +67,11 @@ add_executable(decision_maker_node nodes/decision_maker/decision_maker_node_publish.cpp nodes/decision_maker/cross_road_area.cpp ) -target_link_libraries(decision_maker_node ${catkin_LIBRARIES}) -add_dependencies(decision_maker_node ${catkin_EXPORTED_TARGETS}) +target_link_libraries(decision_maker_node + ${catkin_LIBRARIES} + ${vector_map_LIBRARIES} + ) +add_dependencies(decision_maker_node autoware_msgs_generate_msgs_cpp ${catkin_EXPORTED_TARGETS}) install(TARGETS decision_maker_node ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} From d518a32a592d7110338a326982f050f3123df28f Mon Sep 17 00:00:00 2001 From: sgermanserrano Date: Wed, 6 Feb 2019 12:22:29 +0000 Subject: [PATCH 118/139] Added TestClass --- .../include/decision_maker_node.hpp | 2 +- .../decision_maker/test/src/test_class.hpp | 2 - .../test/src/test_node_decision.cpp | 68 +++------- .../test/src/test_node_state_drive.cpp | 122 +++++------------- 4 files changed, 53 insertions(+), 141 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp index ad30b150029..2d1a2f51e39 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp @@ -112,7 +112,7 @@ struct AutowareStatus class DecisionMakerNode { - friend class TestSuite; + friend class TestClass; private: ros::NodeHandle nh_; ros::NodeHandle private_nh_; diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_class.hpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_class.hpp index 1059409522d..699f695edc1 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_class.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_class.hpp @@ -73,8 +73,6 @@ class TestClass { void setCurrentVelocity(double vel) { dmn->current_status_.velocity = vel; } - bool isLocalizationConvergence(geometry_msgs::Point _current_point) { return dmn->isLocalizationConvergence(_current_point); } - bool isArrivedGoal() { return dmn->isArrivedGoal(); } uint8_t getSteeringStateFromWaypoint() { diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp index a802883f321..ba7ccdf8d16 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp @@ -20,6 +20,8 @@ #include "amathutils_lib/amathutils.hpp" #include "decision_maker_node.hpp" +#include "test_class.hpp" + namespace decision_maker { class TestSuite : public ::testing::Test { @@ -27,70 +29,38 @@ class TestSuite : public ::testing::Test { TestSuite() {} ~TestSuite() {} + TestClass test_obj_; + protected: virtual void SetUp() { int argc; char **argv; - dmn = new DecisionMakerNode(argc, argv); + test_obj_.dmn = new DecisionMakerNode(argc, argv); }; - virtual void TearDown() { delete dmn; }; - - DecisionMakerNode *dmn; - - void createFinalWaypoints() { - autoware_msgs::Lane final_lane; - for (int idx = 0; idx < 100; idx++) { - static autoware_msgs::Waypoint wp; - wp.gid = idx; - wp.lid = idx; - wp.pose.pose.position.x = 0.0 + (double)idx; - wp.pose.pose.position.y = 0.0; - wp.pose.pose.position.z = 0.0; - wp.twist.twist.linear.x = 5.0; - wp.twist.twist.angular.z = 0.0; - - final_lane.waypoints.push_back(wp); - } - - dmn->current_status_.finalwaypoints = final_lane; - } - - void setCurrentPose(double x, double y, double yaw) { - geometry_msgs::Pose current_pose; - current_pose.position.x = x; - current_pose.position.y = y; - tf::Quaternion quaternion = tf::createQuaternionFromRPY(0, 0, yaw); - quaternionTFToMsg(quaternion, current_pose.orientation); - - dmn->current_status_.pose = current_pose; - } - - void setCurrentVelocity(double vel) { dmn->current_status_.velocity = vel; } - - bool isArrivedGoal() { return dmn->isArrivedGoal(); } + virtual void TearDown() { delete test_obj_.dmn; }; }; TEST_F(TestSuite, isArrivedGoal) { - createFinalWaypoints(); + test_obj_.createFinalWaypoints(); - setCurrentPose(100, 0, 0); - setCurrentVelocity(0.0); - ASSERT_TRUE(isArrivedGoal()) << "Current pose is outside the target range." + test_obj_.setCurrentPose(100, 0, 0); + test_obj_.setCurrentVelocity(0.0); + ASSERT_TRUE(test_obj_.isArrivedGoal()) << "Current pose is outside the target range." << "It should be true"; - setCurrentPose(100, 0, 0); - setCurrentVelocity(3.0); - ASSERT_FALSE(isArrivedGoal()) << "Current pose is inside the target range." + test_obj_.setCurrentPose(100, 0, 0); + test_obj_.setCurrentVelocity(3.0); + ASSERT_FALSE(test_obj_.isArrivedGoal()) << "Current pose is inside the target range." << "It should be false"; - setCurrentPose(90, 0, 0); - setCurrentVelocity(0.0); - ASSERT_FALSE(isArrivedGoal()) << "Current pose is inside the target range." + test_obj_.setCurrentPose(90, 0, 0); + test_obj_.setCurrentVelocity(0.0); + ASSERT_FALSE(test_obj_.isArrivedGoal()) << "Current pose is inside the target range." << "It should be false"; - setCurrentPose(90, 0, 0); - setCurrentVelocity(3.0); - ASSERT_FALSE(isArrivedGoal()) << "Current pose is inside the target range." + test_obj_.setCurrentPose(90, 0, 0); + test_obj_.setCurrentVelocity(3.0); + ASSERT_FALSE(test_obj_.isArrivedGoal()) << "Current pose is inside the target range." << "It should be false"; } diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp index 57ea59c6e74..d13606169c1 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp @@ -20,6 +20,8 @@ #include "amathutils_lib/amathutils.hpp" #include "decision_maker_node.hpp" +#include "test_class.hpp" + namespace decision_maker { class TestSuite : public ::testing::Test { @@ -27,159 +29,101 @@ class TestSuite : public ::testing::Test { TestSuite() {} ~TestSuite() {} + TestClass test_obj_; + protected: virtual void SetUp() { int argc; char **argv; - dmn = new DecisionMakerNode(argc, argv); + test_obj_.dmn = new DecisionMakerNode(argc, argv); }; - virtual void TearDown() { delete dmn; }; - - void createFinalWaypoints() { - autoware_msgs::Lane final_lane; - for (int idx = 0; idx < 100; idx++) { - static autoware_msgs::Waypoint wp; - wp.gid = idx; - wp.lid = idx; - wp.pose.pose.position.x = 0.0 + (double)idx; - wp.pose.pose.position.y = 0.0; - wp.pose.pose.position.z = 0.0; - wp.twist.twist.linear.x = 5.0; - wp.twist.twist.angular.z = 0.0; - - wp.wpstate.steering_state = autoware_msgs::WaypointState::STR_STRAIGHT; - wp.wpstate.stop_state = autoware_msgs::WaypointState::NULLSTATE; - wp.wpstate.event_state = autoware_msgs::WaypointState::TYPE_EVENT_NULL; - - final_lane.waypoints.push_back(wp); - } - - dmn->current_status_.finalwaypoints = final_lane; - } - - void setSteeringState(int index, uint8_t state) { - dmn->current_status_.finalwaypoints.waypoints.at(index) - .wpstate.steering_state = state; - } - - void setEventState(int index, uint8_t state) { - dmn->current_status_.finalwaypoints.waypoints.at(index) - .wpstate.event_state = state; - } - - void setStopState(int index, uint8_t state) { - dmn->current_status_.finalwaypoints.waypoints.at(index).wpstate.stop_state = - state; - } - - void setCurrentPose(double x, double y, double yaw) { - geometry_msgs::Pose current_pose; - current_pose.position.x = x; - current_pose.position.y = y; - tf::Quaternion quaternion = tf::createQuaternionFromRPY(0, 0, yaw); - quaternionTFToMsg(quaternion, current_pose.orientation); - - dmn->current_status_.pose = current_pose; - } - - void setCurrentVelocity(double vel) { dmn->current_status_.velocity = vel; } - - DecisionMakerNode *dmn; - uint8_t getSteeringStateFromWaypoint() { - return dmn->getSteeringStateFromWaypoint(); - } - uint8_t getEventStateFromWaypoint() { - return dmn->getEventStateFromWaypoint(); - } - std::pair getStopSignStateFromWaypoint() { - return dmn->getStopSignStateFromWaypoint(); - } + virtual void TearDown() { delete test_obj_.dmn; }; }; TEST_F(TestSuite, getSteeringStateFromWaypoint) { - createFinalWaypoints(); - ASSERT_EQ(getSteeringStateFromWaypoint(), + test_obj_.createFinalWaypoints(); + ASSERT_EQ(test_obj_.getSteeringStateFromWaypoint(), autoware_msgs::WaypointState::STR_STRAIGHT) << "Could not get the expected state" << "It should be " << autoware_msgs::WaypointState::STR_STRAIGHT; - setSteeringState(20, autoware_msgs::WaypointState::STR_LEFT); - ASSERT_EQ(getSteeringStateFromWaypoint(), + test_obj_.setSteeringState(20, autoware_msgs::WaypointState::STR_LEFT); + ASSERT_EQ(test_obj_.getSteeringStateFromWaypoint(), autoware_msgs::WaypointState::STR_LEFT) << "Could not get the expected state" << "It should be " << autoware_msgs::WaypointState::STR_LEFT; - setSteeringState(20, autoware_msgs::WaypointState::STR_RIGHT); - ASSERT_EQ(getSteeringStateFromWaypoint(), + test_obj_.setSteeringState(20, autoware_msgs::WaypointState::STR_RIGHT); + ASSERT_EQ(test_obj_.getSteeringStateFromWaypoint(), autoware_msgs::WaypointState::STR_RIGHT) << "Could not get the expected state" << "It should be " << autoware_msgs::WaypointState::STR_RIGHT; } TEST_F(TestSuite, getEventStateFromWaypoint) { - setCurrentPose(0, 0, 0); + test_obj_.setCurrentPose(0, 0, 0); - createFinalWaypoints(); - ASSERT_EQ(getEventStateFromWaypoint(), + test_obj_.createFinalWaypoints(); + ASSERT_EQ(test_obj_.getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_NULL) << "Could not get the expected state" << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_NULL; - setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_GOAL); - ASSERT_EQ(getEventStateFromWaypoint(), + test_obj_.setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_GOAL); + ASSERT_EQ(test_obj_.getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_GOAL) << "Could not get the expected state" << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_GOAL; - setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL); - ASSERT_EQ(getEventStateFromWaypoint(), + test_obj_.setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL); + ASSERT_EQ(test_obj_.getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL) << "Could not get the expected state" << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_MIDDLE_GOAL; - setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP); - ASSERT_EQ(getEventStateFromWaypoint(), + test_obj_.setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP); + ASSERT_EQ(test_obj_.getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP) << "Could not get the expected state" << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_POSITION_STOP; - setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP); - ASSERT_EQ(getEventStateFromWaypoint(), + test_obj_.setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP); + ASSERT_EQ(test_obj_.getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP) << "Could not get the expected state" << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_BUS_STOP; - setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_PARKING); - ASSERT_EQ(getEventStateFromWaypoint(), + test_obj_.setEventState(20, autoware_msgs::WaypointState::TYPE_EVENT_PARKING); + ASSERT_EQ(test_obj_.getEventStateFromWaypoint(), autoware_msgs::WaypointState::TYPE_EVENT_PARKING) << "Could not get the expected state" << "It should be " << autoware_msgs::WaypointState::TYPE_EVENT_PARKING; } TEST_F(TestSuite, getStopSignStateFromWaypoint) { - setCurrentPose(0, 0, 0); - setCurrentVelocity(10.0); + test_obj_.setCurrentPose(0, 0, 0); + test_obj_.setCurrentVelocity(10.0); - createFinalWaypoints(); - std::pair ret1 = getStopSignStateFromWaypoint(); + test_obj_.createFinalWaypoints(); + std::pair ret1 = test_obj_.getStopSignStateFromWaypoint(); ASSERT_EQ(ret1.first, autoware_msgs::WaypointState::NULLSTATE) << "Could not get the expected state" << "It should be " << autoware_msgs::WaypointState::NULLSTATE; ASSERT_EQ(ret1.second, -1) << "Could not get the expected state" << "It should be " << -1; - setStopState(20, autoware_msgs::WaypointState::TYPE_STOPLINE); - std::pair ret2 = getStopSignStateFromWaypoint(); + test_obj_.setStopState(20, autoware_msgs::WaypointState::TYPE_STOPLINE); + std::pair ret2 = test_obj_.getStopSignStateFromWaypoint(); ASSERT_EQ(ret2.first, autoware_msgs::WaypointState::TYPE_STOPLINE) << "Could not get the expected state" << "It should be " << autoware_msgs::WaypointState::TYPE_STOPLINE; ASSERT_EQ(ret2.second, 20) << "Could not get the expected state" << "It should be " << 20; - setStopState(20, autoware_msgs::WaypointState::TYPE_STOP); - std::pair ret3 = getStopSignStateFromWaypoint(); + test_obj_.setStopState(20, autoware_msgs::WaypointState::TYPE_STOP); + std::pair ret3 = test_obj_.getStopSignStateFromWaypoint(); ASSERT_EQ(ret3.first, autoware_msgs::WaypointState::TYPE_STOP) << "Could not get the expected state" << "It should be " << autoware_msgs::WaypointState::TYPE_STOP; From ce9587b3a16737d96bcd988503b5a058199c2d11 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Fri, 15 Feb 2019 14:40:35 +0900 Subject: [PATCH 119/139] add License notices --- .../decision/packages/decision_maker/test/src/test_main.cpp | 2 +- .../packages/decision_maker/test/src/test_node_decision.cpp | 2 +- .../packages/decision_maker/test/src/test_node_state_drive.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_main.cpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_main.cpp index a42b677d712..0b712f60400 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_main.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_main.cpp @@ -14,8 +14,8 @@ * limitations under the License. */ -#include #include +#include class TestSuite : public ::testing::Test { public: diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp index ba7ccdf8d16..283f31bca36 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp @@ -14,8 +14,8 @@ * limitations under the License. */ -#include #include +#include #include "amathutils_lib/amathutils.hpp" #include "decision_maker_node.hpp" diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp index d13606169c1..82c6f962b51 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_state_drive.cpp @@ -14,8 +14,8 @@ * limitations under the License. */ -#include #include +#include #include "amathutils_lib/amathutils.hpp" #include "decision_maker_node.hpp" From 0b182aff248f657c32d009559fee2762c2c36f9a Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Fri, 15 Feb 2019 17:38:26 +0900 Subject: [PATCH 120/139] add test of inLocalizationConvergence and fix bug of the function --- .../decision_maker_node_decision.cpp | 2 +- .../decision_maker/test/src/test_class.hpp | 2 ++ .../test/src/test_node_decision.cpp | 26 +++++++++++++++++++ 3 files changed, 29 insertions(+), 1 deletion(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp index 5d5b7c1e360..aebef11ff05 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp @@ -95,7 +95,7 @@ bool DecisionMakerNode::isLocalizationConvergence(const geometry_msgs::Point& _c { distances.erase(distances.begin()); distances_count--; - double avg_distances = std::accumulate(distances.begin(), distances.end(), 0) / distances.size(); + double avg_distances = std::accumulate(distances.begin(), distances.end(), 0.0) / (double)distances.size(); if (avg_distances <= 2) /*meter*/ { ret = true; diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_class.hpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_class.hpp index 699f695edc1..1059409522d 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_class.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_class.hpp @@ -73,6 +73,8 @@ class TestClass { void setCurrentVelocity(double vel) { dmn->current_status_.velocity = vel; } + bool isLocalizationConvergence(geometry_msgs::Point _current_point) { return dmn->isLocalizationConvergence(_current_point); } + bool isArrivedGoal() { return dmn->isArrivedGoal(); } uint8_t getSteeringStateFromWaypoint() { diff --git a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp index 283f31bca36..c432a849b9a 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/test/src/test_node_decision.cpp @@ -40,6 +40,32 @@ class TestSuite : public ::testing::Test { virtual void TearDown() { delete test_obj_.dmn; }; }; +TEST_F(TestSuite, isLocalizationConvergence) { + geometry_msgs::Point pointA, pointB; + pointA.x = 10.0; + pointA.y = 10.0; + pointA.z = 0.0; + pointB.x = 10.0; + pointB.y = 12.0; + pointB.z = 0.0; + + for (int i=0; i<10; i++) + { + ASSERT_FALSE(test_obj_.isLocalizationConvergence(pointA)) << "It should be false"; + } + ASSERT_TRUE(test_obj_.isLocalizationConvergence(pointA)) << "It should be true"; + + for (int i=0; i<5; i++) + { + ASSERT_TRUE(test_obj_.isLocalizationConvergence(pointA)) << "It should be true"; + ASSERT_TRUE(test_obj_.isLocalizationConvergence(pointB)) << "It should be true"; + } + ASSERT_TRUE(test_obj_.isLocalizationConvergence(pointA)) << "It should be true"; + + pointB.y = 12.1; + ASSERT_FALSE(test_obj_.isLocalizationConvergence(pointB)) << "It should be true"; +} + TEST_F(TestSuite, isArrivedGoal) { test_obj_.createFinalWaypoints(); From 46dc15302e4dc6f413f4c91fe1fda17f2ed8f847 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Mon, 18 Feb 2019 19:42:25 +0900 Subject: [PATCH 121/139] change the directory of files for testing --- .../packages/lane_planner/include/lane_select_core.h | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/ros/src/computing/planning/mission/packages/lane_planner/include/lane_select_core.h b/ros/src/computing/planning/mission/packages/lane_planner/include/lane_select_core.h index 0db8b3ce109..b155388ad38 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/include/lane_select_core.h +++ b/ros/src/computing/planning/mission/packages/lane_planner/include/lane_select_core.h @@ -134,6 +134,12 @@ friend class LaneSelectTestClass; void updateChangeFlag(); void createLaneForChange(); int32_t getClosestLaneChangeWaypointNumber(const std::vector& wps, int32_t cl_wp); + + // spinOnce for test + void spinOnce() + { + ros::spinOnce(); + } }; int32_t getClosestWaypointNumber(const autoware_msgs::Lane& current_lane, const geometry_msgs::Pose& current_pose, From 21bccc978ac9f7bc0960c7a2b11c764392082a84 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Mon, 18 Feb 2019 19:48:20 +0900 Subject: [PATCH 122/139] add test of lane_select for the new function --- .../test/src/test_lane_select.cpp | 40 ++++----- .../test/src/test_lane_select.hpp | 83 +++++++++---------- 2 files changed, 62 insertions(+), 61 deletions(-) diff --git a/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.cpp b/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.cpp index 1a436889160..e188b7ba0ef 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.cpp +++ b/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.cpp @@ -14,14 +14,16 @@ * limitations under the License. */ -#include #include +#include #include "test_lane_select.hpp" -namespace lane_planner { +namespace lane_planner +{ -class LaneSelectTestSuite : public ::testing::Test { +class LaneSelectTestSuite : public ::testing::Test +{ public: LaneSelectTestSuite() {} ~LaneSelectTestSuite() {} @@ -29,13 +31,19 @@ class LaneSelectTestSuite : public ::testing::Test { LaneSelectTestClass test_obj_; protected: - virtual void SetUp() { test_obj_.lsn = new LaneSelectNode(); }; - virtual void TearDown() { delete test_obj_.lsn; }; + virtual void SetUp() + { + test_obj_.lsn = new LaneSelectNode(); + }; + virtual void TearDown() + { + delete test_obj_.lsn; + }; }; -TEST_F(LaneSelectTestSuite, publishVehicleLocation) { - ASSERT_EQ(test_obj_.vehicle_location_sub.getNumPublishers(), 1U) - << "No publisher exist!"; +TEST_F(LaneSelectTestSuite, publishVehicleLocation) +{ + ASSERT_EQ(test_obj_.vehicle_location_sub.getNumPublishers(), 1U) << "No publisher exist!"; test_obj_.publishTrafficWaypointsArray(); test_obj_.publishCurrentPose(-0.5, 0.0, 0.0); @@ -46,13 +54,8 @@ TEST_F(LaneSelectTestSuite, publishVehicleLocation) { ros::WallDuration(0.1).sleep(); ros::spinOnce(); - ASSERT_EQ(0, test_obj_.cb_vehicle_location.waypoint_index) - << "Waypoint index does not match." - << "It should be -1"; - ASSERT_EQ(test_obj_.lane_array_id_, - test_obj_.cb_vehicle_location.lane_array_id) - << "LaneArray id does not match." - << "It should be " << test_obj_.lane_array_id_; + ASSERT_EQ(0, test_obj_.cb_vehicle_location.waypoint_index) << "Waypoint index does not match." << "It should be -1"; + ASSERT_EQ(test_obj_.lane_array_id_, test_obj_.cb_vehicle_location.lane_array_id) << "LaneArray id does not match." << "It should be " << test_obj_.lane_array_id_; test_obj_.publishCurrentPose(0.5, 0.0, 0.0); test_obj_.publishCurrentVelocity(0); @@ -62,14 +65,13 @@ TEST_F(LaneSelectTestSuite, publishVehicleLocation) { ros::WallDuration(0.1).sleep(); ros::spinOnce(); - ASSERT_EQ(1, test_obj_.cb_vehicle_location.waypoint_index) - << "Waypoint index does not match." - << "It should be 1"; + ASSERT_EQ(1, test_obj_.cb_vehicle_location.waypoint_index) << "Waypoint index does not match." << "It should be 1"; } } // namespace lane_planner -int main(int argc, char **argv) { +int main(int argc, char** argv) +{ testing::InitGoogleTest(&argc, argv); ros::init(argc, argv, "LaneSelectTestNode"); ros::NodeHandle nh; diff --git a/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.hpp b/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.hpp index e9329d953da..068110e8f02 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.hpp +++ b/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.hpp @@ -14,86 +14,85 @@ * limitations under the License. */ -#include -#include -#include + #include + #include + #include -#include "lane_select_core.h" + #include "lane_select_core.h" -namespace lane_planner { +namespace lane_planner +{ class LaneSelectTestClass { public: - LaneSelectTestClass() {} + LaneSelectTestClass(){} - LaneSelectNode *lsn; + LaneSelectNode* lsn; autoware_msgs::VehicleLocation cb_vehicle_location; ros::NodeHandle nh; - ros::Publisher traffic_waypoints_array_pub = - nh.advertise("/traffic_waypoints_array", 0); - ros::Publisher current_pose_pub = - nh.advertise("/current_pose", 0); - ros::Publisher current_velocity_pub = - nh.advertise("/current_velocity", 0); - ros::Subscriber vehicle_location_sub = - nh.subscribe("/vehicle_location", 1, - &LaneSelectTestClass::vehicleLocationCallback, this); + ros::Publisher traffic_waypoints_array_pub = nh.advertise("/traffic_waypoints_array", 0); + ros::Publisher current_pose_pub = nh.advertise("/current_pose", 0); + ros::Publisher current_velocity_pub = nh.advertise("/current_velocity", 0); + ros::Subscriber vehicle_location_sub = nh.subscribe("/vehicle_location", 1, &LaneSelectTestClass::vehicleLocationCallback, this); int32_t lane_array_id_ = 6587651; - void accessPublishVehicleLocation(int32_t clst_wp, int32_t larray_id) { + void accessPublishVehicleLocation(int32_t clst_wp, int32_t larray_id) + { lsn->publishVehicleLocation(clst_wp, larray_id); } - void publishTrafficWaypointsArray() { + void publishTrafficWaypointsArray() + { autoware_msgs::LaneArray pub_msg; autoware_msgs::Lane pub_lane; for (int idx = 0; idx < 100; idx++) { - static autoware_msgs::Waypoint wp; - wp.gid = idx; - wp.lid = idx; - wp.pose.pose.position.x = 0.0 + (double)idx; - wp.pose.pose.position.y = 0.0; - wp.pose.pose.position.z = 0.0; - wp.twist.twist.linear.x = 5.0; - wp.twist.twist.angular.z = 0.0; - - tf::Quaternion quaternion = tf::createQuaternionFromRPY(0, 0, 0); - quaternionTFToMsg(quaternion, wp.pose.pose.orientation); - - pub_lane.waypoints.push_back(wp); - } + static autoware_msgs::Waypoint wp; + wp.gid = idx; + wp.lid = idx; + wp.pose.pose.position.x = 0.0 + (double)idx; + wp.pose.pose.position.y = 0.0; + wp.pose.pose.position.z = 0.0; + wp.twist.twist.linear.x = 5.0; + wp.twist.twist.angular.z = 0.0; + + tf::Quaternion quaternion = tf::createQuaternionFromRPY(0, 0, 0); + quaternionTFToMsg(quaternion, wp.pose.pose.orientation); + + pub_lane.waypoints.push_back(wp); + } pub_msg.lanes.push_back(pub_lane); pub_msg.id = lane_array_id_; traffic_waypoints_array_pub.publish(pub_msg); } - void publishCurrentPose(double x, double y, double yaw) { + void publishCurrentPose(double x, double y, double yaw) + { geometry_msgs::PoseStamped pose; pose.pose.position.x = x; pose.pose.position.y = y; - tf::Quaternion quaternion = tf::createQuaternionFromRPY(0, 0, yaw); - quaternionTFToMsg(quaternion, pose.pose.orientation); + tf::Quaternion quaternion = tf::createQuaternionFromRPY(0, 0, yaw); + quaternionTFToMsg(quaternion, pose.pose.orientation); current_pose_pub.publish(pose); } - void publishCurrentVelocity(double vel) { + void publishCurrentVelocity(double vel) + { geometry_msgs::TwistStamped twist; twist.twist.linear.x = vel; current_velocity_pub.publish(twist); } - void - vehicleLocationCallback(const autoware_msgs::VehicleLocationConstPtr &msg) { + void vehicleLocationCallback(const autoware_msgs::VehicleLocationConstPtr& msg) + { cb_vehicle_location = *msg; - std::cout << "vehicleLocationCallback: " - << cb_vehicle_location.waypoint_index << ", " - << cb_vehicle_location.lane_array_id << std::endl; + std::cout << "vehicleLocationCallback: " << cb_vehicle_location.waypoint_index << ", " << cb_vehicle_location.lane_array_id << std::endl; } - void lsnSpinOnce() { lsn->spinOnce(); } + void lsnSpinOnce(){ lsn->spinOnce(); } + }; } // namespace lane_planner From 04b5951297e9bf3d9c74d32737d2af3f63654d55 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Thu, 21 Feb 2019 19:16:58 +0900 Subject: [PATCH 123/139] apply clang-format --- .../test/src/test_lane_select.cpp | 40 +++++---- .../test/src/test_lane_select.hpp | 83 ++++++++++--------- 2 files changed, 61 insertions(+), 62 deletions(-) diff --git a/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.cpp b/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.cpp index e188b7ba0ef..1a436889160 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.cpp +++ b/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.cpp @@ -14,16 +14,14 @@ * limitations under the License. */ -#include #include +#include #include "test_lane_select.hpp" -namespace lane_planner -{ +namespace lane_planner { -class LaneSelectTestSuite : public ::testing::Test -{ +class LaneSelectTestSuite : public ::testing::Test { public: LaneSelectTestSuite() {} ~LaneSelectTestSuite() {} @@ -31,19 +29,13 @@ class LaneSelectTestSuite : public ::testing::Test LaneSelectTestClass test_obj_; protected: - virtual void SetUp() - { - test_obj_.lsn = new LaneSelectNode(); - }; - virtual void TearDown() - { - delete test_obj_.lsn; - }; + virtual void SetUp() { test_obj_.lsn = new LaneSelectNode(); }; + virtual void TearDown() { delete test_obj_.lsn; }; }; -TEST_F(LaneSelectTestSuite, publishVehicleLocation) -{ - ASSERT_EQ(test_obj_.vehicle_location_sub.getNumPublishers(), 1U) << "No publisher exist!"; +TEST_F(LaneSelectTestSuite, publishVehicleLocation) { + ASSERT_EQ(test_obj_.vehicle_location_sub.getNumPublishers(), 1U) + << "No publisher exist!"; test_obj_.publishTrafficWaypointsArray(); test_obj_.publishCurrentPose(-0.5, 0.0, 0.0); @@ -54,8 +46,13 @@ TEST_F(LaneSelectTestSuite, publishVehicleLocation) ros::WallDuration(0.1).sleep(); ros::spinOnce(); - ASSERT_EQ(0, test_obj_.cb_vehicle_location.waypoint_index) << "Waypoint index does not match." << "It should be -1"; - ASSERT_EQ(test_obj_.lane_array_id_, test_obj_.cb_vehicle_location.lane_array_id) << "LaneArray id does not match." << "It should be " << test_obj_.lane_array_id_; + ASSERT_EQ(0, test_obj_.cb_vehicle_location.waypoint_index) + << "Waypoint index does not match." + << "It should be -1"; + ASSERT_EQ(test_obj_.lane_array_id_, + test_obj_.cb_vehicle_location.lane_array_id) + << "LaneArray id does not match." + << "It should be " << test_obj_.lane_array_id_; test_obj_.publishCurrentPose(0.5, 0.0, 0.0); test_obj_.publishCurrentVelocity(0); @@ -65,13 +62,14 @@ TEST_F(LaneSelectTestSuite, publishVehicleLocation) ros::WallDuration(0.1).sleep(); ros::spinOnce(); - ASSERT_EQ(1, test_obj_.cb_vehicle_location.waypoint_index) << "Waypoint index does not match." << "It should be 1"; + ASSERT_EQ(1, test_obj_.cb_vehicle_location.waypoint_index) + << "Waypoint index does not match." + << "It should be 1"; } } // namespace lane_planner -int main(int argc, char** argv) -{ +int main(int argc, char **argv) { testing::InitGoogleTest(&argc, argv); ros::init(argc, argv, "LaneSelectTestNode"); ros::NodeHandle nh; diff --git a/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.hpp b/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.hpp index 068110e8f02..e9329d953da 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.hpp +++ b/ros/src/computing/planning/mission/packages/lane_planner/test/src/test_lane_select.hpp @@ -14,85 +14,86 @@ * limitations under the License. */ - #include - #include - #include +#include +#include +#include - #include "lane_select_core.h" +#include "lane_select_core.h" -namespace lane_planner -{ +namespace lane_planner { class LaneSelectTestClass { public: - LaneSelectTestClass(){} + LaneSelectTestClass() {} - LaneSelectNode* lsn; + LaneSelectNode *lsn; autoware_msgs::VehicleLocation cb_vehicle_location; ros::NodeHandle nh; - ros::Publisher traffic_waypoints_array_pub = nh.advertise("/traffic_waypoints_array", 0); - ros::Publisher current_pose_pub = nh.advertise("/current_pose", 0); - ros::Publisher current_velocity_pub = nh.advertise("/current_velocity", 0); - ros::Subscriber vehicle_location_sub = nh.subscribe("/vehicle_location", 1, &LaneSelectTestClass::vehicleLocationCallback, this); + ros::Publisher traffic_waypoints_array_pub = + nh.advertise("/traffic_waypoints_array", 0); + ros::Publisher current_pose_pub = + nh.advertise("/current_pose", 0); + ros::Publisher current_velocity_pub = + nh.advertise("/current_velocity", 0); + ros::Subscriber vehicle_location_sub = + nh.subscribe("/vehicle_location", 1, + &LaneSelectTestClass::vehicleLocationCallback, this); int32_t lane_array_id_ = 6587651; - void accessPublishVehicleLocation(int32_t clst_wp, int32_t larray_id) - { + void accessPublishVehicleLocation(int32_t clst_wp, int32_t larray_id) { lsn->publishVehicleLocation(clst_wp, larray_id); } - void publishTrafficWaypointsArray() - { + void publishTrafficWaypointsArray() { autoware_msgs::LaneArray pub_msg; autoware_msgs::Lane pub_lane; for (int idx = 0; idx < 100; idx++) { - static autoware_msgs::Waypoint wp; - wp.gid = idx; - wp.lid = idx; - wp.pose.pose.position.x = 0.0 + (double)idx; - wp.pose.pose.position.y = 0.0; - wp.pose.pose.position.z = 0.0; - wp.twist.twist.linear.x = 5.0; - wp.twist.twist.angular.z = 0.0; - - tf::Quaternion quaternion = tf::createQuaternionFromRPY(0, 0, 0); - quaternionTFToMsg(quaternion, wp.pose.pose.orientation); - - pub_lane.waypoints.push_back(wp); - } + static autoware_msgs::Waypoint wp; + wp.gid = idx; + wp.lid = idx; + wp.pose.pose.position.x = 0.0 + (double)idx; + wp.pose.pose.position.y = 0.0; + wp.pose.pose.position.z = 0.0; + wp.twist.twist.linear.x = 5.0; + wp.twist.twist.angular.z = 0.0; + + tf::Quaternion quaternion = tf::createQuaternionFromRPY(0, 0, 0); + quaternionTFToMsg(quaternion, wp.pose.pose.orientation); + + pub_lane.waypoints.push_back(wp); + } pub_msg.lanes.push_back(pub_lane); pub_msg.id = lane_array_id_; traffic_waypoints_array_pub.publish(pub_msg); } - void publishCurrentPose(double x, double y, double yaw) - { + void publishCurrentPose(double x, double y, double yaw) { geometry_msgs::PoseStamped pose; pose.pose.position.x = x; pose.pose.position.y = y; - tf::Quaternion quaternion = tf::createQuaternionFromRPY(0, 0, yaw); - quaternionTFToMsg(quaternion, pose.pose.orientation); + tf::Quaternion quaternion = tf::createQuaternionFromRPY(0, 0, yaw); + quaternionTFToMsg(quaternion, pose.pose.orientation); current_pose_pub.publish(pose); } - void publishCurrentVelocity(double vel) - { + void publishCurrentVelocity(double vel) { geometry_msgs::TwistStamped twist; twist.twist.linear.x = vel; current_velocity_pub.publish(twist); } - void vehicleLocationCallback(const autoware_msgs::VehicleLocationConstPtr& msg) - { + void + vehicleLocationCallback(const autoware_msgs::VehicleLocationConstPtr &msg) { cb_vehicle_location = *msg; - std::cout << "vehicleLocationCallback: " << cb_vehicle_location.waypoint_index << ", " << cb_vehicle_location.lane_array_id << std::endl; + std::cout << "vehicleLocationCallback: " + << cb_vehicle_location.waypoint_index << ", " + << cb_vehicle_location.lane_array_id << std::endl; } - void lsnSpinOnce(){ lsn->spinOnce(); } - + void lsnSpinOnce() { lsn->spinOnce(); } }; } // namespace lane_planner From 8af4913ef4943c187fa169c5f38898a6c270d6d9 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Thu, 21 Feb 2019 23:18:29 +0900 Subject: [PATCH 124/139] Add prototype of plugin file editor --- .../autoware_launcher/src/autoware_launcher/tool/editor.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py index 99f03a6551a..9e445dfaf2f 100644 --- a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/tool/editor.py @@ -154,4 +154,4 @@ def export_view(self): data = collections.OrderedDict() data["target"] = "args." + str(self.name.text()) data["widget"] = "basic." + PluginEditField.viewtypes[self.type.currentText()] - return data \ No newline at end of file + return data From 1fd980cab80558e172dd9de4aaf64014cb889d43 Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Fri, 22 Feb 2019 16:53:02 +0900 Subject: [PATCH 125/139] add help text message --- .../decision_maker_node_state_mission.cpp | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp index 4f8445a3680..e40fe418fee 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_mission.cpp @@ -84,10 +84,20 @@ void DecisionMakerNode::entryMissionCheckState(cstring_t& state_name, int status } void DecisionMakerNode::updateMissionCheckState(cstring_t& state_name, int status) { + static bool publish_help_text = true; + if (isEventFlagTrue("received_finalwaypoints") && current_status_.closest_waypoint != -1) { tryNextState("mission_is_compatible"); } + else if(publish_help_text) + { + if (current_status_.closest_waypoint == -1) + publishOperatorHelpMessage("[ERROR]Couldn't received \"closest_waypoint\" or its value is -1."); + if (!isEventFlagTrue("received_finalwaypoints")) + publishOperatorHelpMessage("[ERROR]Couldn't received \"final_waypoints\"."); + publish_help_text = false; + } } void DecisionMakerNode::entryMissionAbortedState(cstring_t& state_name, int status) From fcc9880dd4f102f20bd0136d09d100202e97e6da Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Tue, 26 Feb 2019 16:14:35 +0900 Subject: [PATCH 126/139] Support command line options --- ros/src/util/packages/autoware_launcher/scripts/main | 1 + 1 file changed, 1 insertion(+) diff --git a/ros/src/util/packages/autoware_launcher/scripts/main b/ros/src/util/packages/autoware_launcher/scripts/main index 7efb1b5ed47..d00692af767 100755 --- a/ros/src/util/packages/autoware_launcher/scripts/main +++ b/ros/src/util/packages/autoware_launcher/scripts/main @@ -16,6 +16,7 @@ args = parser.parse_args() loglevel = logging.INFO if not args.verbose else logging.DEBUG logging.basicConfig(level=loglevel, format="%(levelname)-5s: %(name)s: %(message)s") + server = AwLaunchServer(sys.argv) client = AwQtGuiClient(sys.argv, server) sys.exit(client.start(profile=args.profile, skin=args.skin)) From c527f76e71f3e02ce518ce1e7f707952b25671aa Mon Sep 17 00:00:00 2001 From: Azumi SUZUKI Date: Tue, 26 Feb 2019 18:17:24 +0900 Subject: [PATCH 127/139] update README.md --- .../planning/decision/packages/decision_maker/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/README.md b/ros/src/computing/planning/decision/packages/decision_maker/README.md index b90a3141ff2..b27fee2755d 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/README.md +++ b/ros/src/computing/planning/decision/packages/decision_maker/README.md @@ -34,7 +34,7 @@ Parameter|Type|Description state_vehicle_file_name|string|file that defines vehicle state transition state_mission_file_name|string|file that defines mission state transition state_drive_file_name|string|file that defines drive state transition -stopline_reset_count|int| +stopline_reset_count|int|This parameter is used if the vehicle stops at the stop line and moves backward without crossing the stop line. When the vehicle moves backward by this count of the waypoints, the stop line is recognized again. ## Subscribed topics From 129fcdcf8cd7ddf4560febaed82145038a923723 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Tue, 26 Feb 2019 19:03:33 +0900 Subject: [PATCH 128/139] Update gazebo simulator panel --- ros/src/util/packages/autoware_launcher/scripts/main | 1 - 1 file changed, 1 deletion(-) diff --git a/ros/src/util/packages/autoware_launcher/scripts/main b/ros/src/util/packages/autoware_launcher/scripts/main index d00692af767..7efb1b5ed47 100755 --- a/ros/src/util/packages/autoware_launcher/scripts/main +++ b/ros/src/util/packages/autoware_launcher/scripts/main @@ -16,7 +16,6 @@ args = parser.parse_args() loglevel = logging.INFO if not args.verbose else logging.DEBUG logging.basicConfig(level=loglevel, format="%(levelname)-5s: %(name)s: %(message)s") - server = AwLaunchServer(sys.argv) client = AwQtGuiClient(sys.argv, server) sys.exit(client.start(profile=args.profile, skin=args.skin)) From a9ffb12e239c7558a10dfe4cef811814539b8123 Mon Sep 17 00:00:00 2001 From: Isamu Takagi Date: Sun, 3 Mar 2019 16:52:21 +0900 Subject: [PATCH 129/139] Update the code for compatibility with python3 --- .../autoware_launcher/tests/test_plugins.py | 25 ++++++++----------- 1 file changed, 11 insertions(+), 14 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/tests/test_plugins.py b/ros/src/util/packages/autoware_launcher/tests/test_plugins.py index c441fa58872..871811ddb54 100644 --- a/ros/src/util/packages/autoware_launcher/tests/test_plugins.py +++ b/ros/src/util/packages/autoware_launcher/tests/test_plugins.py @@ -14,7 +14,7 @@ def test_plugin_type(): for frame in plugin.panel().frames: print(plugin.path() + " " + str(frame.target)) yield ok_, guimgr.widget(frame).validate_argtypes(fields, frame) - print("") + print() def test_plugin_field(): rospack = rospkg.RosPack() @@ -24,16 +24,13 @@ def test_plugin_field(): plugin = plugins.find(plugin_path) if plugin.isleaf(): result = regexp.match(plugin.rosxml()) - try: - path = rospack.get_path(result.group(1)) + result.group(2) - root = xtree.parse(path).getroot() - xmlargs = {child.attrib["name"] for child in root if child.tag == "arg"} - ymlargs = {arg.name for arg in plugin.args()} - print(plugin.path()) - yield ok_, (xmlargs == ymlargs) - print("") - if xmlargs != ymlargs: - print(ymlargs) - print(xmlargs) - except: - print(result.group(1) + " is not built") + path = rospack.get_path(result.group(1)) + result.group(2) + root = xtree.parse(path).getroot() + xmlargs = {child.attrib["name"] for child in root if child.tag == "arg"} + ymlargs = {arg.name for arg in plugin.args()} + print(plugin.path()) + yield ok_, (xmlargs == ymlargs) + print() + if xmlargs != ymlargs: + print(ymlargs) + print(xmlargs) From bc2884eb124cd9f218f241e22e829a74f1f0b171 Mon Sep 17 00:00:00 2001 From: dimethylether Date: Mon, 4 Mar 2019 12:32:28 +0900 Subject: [PATCH 130/139] updated plugin for lane_rule, lane_stop, and voxel_grid_filter --- .../plugins/leaf/lane_stop.xml | 30 ++++++++----------- 1 file changed, 12 insertions(+), 18 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml index 070517f7453..d19954f3ddb 100644 --- a/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml @@ -1,29 +1,23 @@ - + - + - + - + + From 44954e50be007857ce6ccb2b5045cd20cde603dc Mon Sep 17 00:00:00 2001 From: dimethylether Date: Tue, 5 Mar 2019 04:40:05 -0600 Subject: [PATCH 131/139] added rebuild_decision_maker plugin for autoware_launcher --- .../plugins/node/decision.yaml | 3 +- .../plugins/refs/decision_maker.yaml | 28 +++++++++++++++++++ 2 files changed, 30 insertions(+), 1 deletion(-) create mode 100644 ros/src/util/packages/autoware_launcher/plugins/refs/decision_maker.yaml diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/decision.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/decision.yaml index 1e14ed8a1e6..2888f9af24b 100644 --- a/ros/src/util/packages/autoware_launcher/plugins/node/decision.yaml +++ b/ros/src/util/packages/autoware_launcher/plugins/node/decision.yaml @@ -1,2 +1,3 @@ format: Autoware Launcher Plugin Version 0.1 -rules: [] \ No newline at end of file +rules: + - { name: decision_maker, plugin: refs/decision_maker } diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/decision_maker.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/decision_maker.yaml new file mode 100644 index 00000000000..35f89daf805 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/decision_maker.yaml @@ -0,0 +1,28 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find decision_maker)/launch/decision_maker.launch +args: +- {name: auto_mission_reload, type: bool, default: false} +- {name: auto_engage, type: bool, default: false} +- {name: auto_mission_change, type: bool, default: false} +- {name: use_fms, type: bool, default: false} +- {name: disuse_vector_map, type: bool, default: false} +- {name: param_num_of_steer_behind, type: int, default: 30} +- {name: change_threshold_dist, type: real, default: 1.0} +- {name: change_threshold_angle, type: int, default: 15} +- {name: goal_threshold_dist, type: real, default: 3.0} +- {name: goal_threshold_vel, type: real, default: 0.1} +- {name: stopline_reset_count, type: int, default: 20} +panel: + widget: node.panel + frames: + - {target: args.auto_mission_reload, widget: basic.bool} + - {target: args.auto_engage, widget: basic.bool} + - {target: args.auto_mission_change, widget: basic.bool} + - {target: args.use_fms, widget: basic.bool} + - {target: args.disuse_vector_map, widget: basic.bool} + - {target: args.param_num_of_steer_behind, widget: basic.int} + - {target: args.change_threshold_dist, widget: basic.real} + - {target: args.change_threshold_angle, widget: basic.int} + - {target: args.goal_threshold_dist, widget: basic.real} + - {target: args.goal_threshold_vel, widget: basic.real} + - {target: args.stopline_reset_count, widget: basic.int} From e5086caa81dd1ab9482a981abed9e0126f88f1be Mon Sep 17 00:00:00 2001 From: Joshua Whitley Date: Wed, 8 May 2019 10:28:21 -0500 Subject: [PATCH 132/139] Applying peoria_internal_test patch. --- ros/run | 4 +- ros/src/.config/rviz/default.rviz | 76 +++++++++++-------- .../nodes/feat_proj/feat_proj.cpp | 2 +- .../region_tlr_mxnet/region_tlr_mxnet.cpp | 12 ++- .../decision_maker_node_callback.cpp | 5 +- .../decision_maker_node_state_drive.cpp | 31 ++++---- .../runtime_manager/scripts/computing.yaml | 2 +- 7 files changed, 80 insertions(+), 52 deletions(-) diff --git a/ros/run b/ros/run index 34c950eda52..5dd3adc6950 100755 --- a/ros/run +++ b/ros/run @@ -43,7 +43,7 @@ if [ "$?" == "0" ]; then fi # boot ros-master & health_checker -${TERMINAL} ${MASTER_DISPLAY_OPTION} ${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./install/setup.bash; roscore'"& +${TERMINAL} ${MASTER_DISPLAY_OPTION} ${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; roscore'"& # boot runtime_manager -${TERMINAL} ${RUNMGR_DISPLAY_OPTION} ${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./install/setup.bash; rosrun runtime_manager runtime_manager_dialog.py'" \ No newline at end of file +${TERMINAL} ${RUNMGR_DISPLAY_OPTION} ${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; rosrun runtime_manager runtime_manager_dialog.py'" diff --git a/ros/src/.config/rviz/default.rviz b/ros/src/.config/rviz/default.rviz index 078c92fd436..6f4dcded0b2 100644 --- a/ros/src/.config/rviz/default.rviz +++ b/ros/src/.config/rviz/default.rviz @@ -19,7 +19,7 @@ Panels: - /ERROR1 - /FATAL1 Splitter Ratio: 0.695804 - Tree Height: 1903 + Tree Height: 369 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -39,6 +39,15 @@ Panels: Name: Time SyncMode: 0 SyncSource: Points Map + - Class: integrated_viewer/ImageViewerPlugin + Image topic: ----- + Lane topic: ----- + Name: ImageViewerPlugin + Point size: 3 + Point topic: ----- + Rect topic: ----- + - Class: autoware_rviz_debug/DecisionMakerPanel + Name: DecisionMakerPanel Visualization Manager: Class: "" Displays: @@ -65,13 +74,13 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: true - base_link: + map: Value: true - gps: + sim_base_link: Value: true - map: + sim_lidar: Value: true - velodyne: + world: Value: true Marker Scale: 5 Name: TF @@ -79,12 +88,11 @@ Visualization Manager: Show Axes: true Show Names: true Tree: - map: - base_link: - velodyne: - {} - gps: - {} + world: + map: + sim_base_link: + sim_lidar: + {} Update Interval: 0 Value: true - Alpha: 0.0500000007 @@ -122,6 +130,9 @@ Visualization Manager: Marker Topic: /vector_map Name: Vector Map Namespaces: + cross_road: true + cross_walk: true + road_sign: true signal: true stop_line: true white_line: true @@ -274,7 +285,6 @@ Visualization Manager: Crosswalk Detection: true Decelerate Detection: true Stop Detection: true - Stop Line: true Queue Size: 100 Value: true - Class: rviz/Marker @@ -311,11 +321,6 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true Name: Vehicle Model Robot Description: robot_description TF Prefix: "" @@ -491,7 +496,8 @@ Visualization Manager: top: 30 update interval: 0.0399999991 width: 80 - - Background Alpha: 0.800000012 + - Align Bottom: false + Background Alpha: 0.800000012 Background Color: 0; 0; 0 Class: jsk_rviz_plugin/OverlayText Enabled: true @@ -532,7 +538,8 @@ Visualization Manager: left: 128 top: 128 width: 640 - - Background Alpha: 0.800000012 + - Align Bottom: false + Background Alpha: 0.800000012 Background Color: 0; 0; 0 Class: jsk_rviz_plugin/OverlayText Enabled: true @@ -550,7 +557,8 @@ Visualization Manager: text size: 12 top: 0 width: 128 - - Background Alpha: 0.800000012 + - Align Bottom: false + Background Alpha: 0.800000012 Background Color: 0; 0; 0 Class: jsk_rviz_plugin/OverlayText Enabled: true @@ -568,7 +576,8 @@ Visualization Manager: text size: 12 top: 0 width: 128 - - Background Alpha: 0.800000012 + - Align Bottom: false + Background Alpha: 0.800000012 Background Color: 0; 0; 0 Class: jsk_rviz_plugin/OverlayText Enabled: true @@ -586,7 +595,8 @@ Visualization Manager: text size: 12 top: 0 width: 128 - - Background Alpha: 0.800000012 + - Align Bottom: false + Background Alpha: 0.800000012 Background Color: 0; 0; 0 Class: jsk_rviz_plugin/OverlayText Enabled: true @@ -636,7 +646,7 @@ Visualization Manager: Value: true Views: Current: - Angle: 0 + Angle: 0.0299999975 Class: rviz/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.0599999987 @@ -646,7 +656,7 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.00999999978 - Scale: 19.7382278 + Scale: 13.4510489 Target Frame: base_link Value: TopDownOrtho (rviz) X: 0 @@ -655,14 +665,18 @@ Visualization Manager: Window Geometry: Camera: collapsed: false + DecisionMakerPanel: + collapsed: false Displays: - collapsed: true - Height: 2136 - Hide Left Dock: true - Hide Right Dock: false + collapsed: false + Height: 896 + Hide Left Dock: false + Hide Right Dock: true Image: collapsed: false - QMainWindow State: 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 + ImageViewerPlugin: + collapsed: false + QMainWindow State: 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 Selection: collapsed: false Time: @@ -670,7 +684,7 @@ Window Geometry: Tool Properties: collapsed: false Views: - collapsed: false - Width: 3775 + collapsed: true + Width: 1215 X: 65 Y: 24 diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/feat_proj/feat_proj.cpp b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/feat_proj/feat_proj.cpp index a07654eaf5b..112ae9a06da 100644 --- a/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/feat_proj/feat_proj.cpp +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/feat_proj/feat_proj.cpp @@ -217,7 +217,7 @@ Point3 transform(const Point3 &psrc, tf::StampedTransform &tfsource) bool project2(const Point3 &pt, int &u, int &v, bool useOpenGLCoord = false) { float nearPlane = 1.0; - float farPlane = 200.0; + float farPlane = 85.0; Point3 _pt = transform(pt, trf); float _u = _pt.x() * fx / _pt.z() + cx; float _v = _pt.y() * fy / _pt.z() + cy; diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_mxnet/region_tlr_mxnet.cpp b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_mxnet/region_tlr_mxnet.cpp index f56bec3bdfb..8f38f3b2a0a 100644 --- a/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_mxnet/region_tlr_mxnet.cpp +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_mxnet/region_tlr_mxnet.cpp @@ -105,7 +105,12 @@ void RegionTLRMxNetROSNode::ROISignalCallback(const autoware_msgs::Signals::Cons } // Publish recognition result as some topic format - PublishTrafficLight(contexts_); + if ( extracted_pos->Signals.size() == 0 ) + { + std::cout << "no signals in the image" << std::endl; + }else{ + PublishTrafficLight(contexts_); + } PublishString(contexts_); PublishMarkerArray(contexts_); PublishImage(contexts_); @@ -242,8 +247,11 @@ void RegionTLRMxNetROSNode::PublishTrafficLight(std::vector contexts) } // If state changes from previous one, publish it - if (topic.traffic_light != previous_state) + static ros::Time prev_time = ros::Time::now(); + double timeout = 10.0; //seconds + if (topic.traffic_light != previous_state || ros::Time::now() - prev_time > ros::Duration(timeout)) { + prev_time = ros::Time::now(); signal_state_publisher.publish(topic); previous_state = topic.traffic_light; } diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp index 252373e4bfb..d9901d8439b 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp @@ -166,8 +166,9 @@ void DecisionMakerNode::setWaypointState(autoware_msgs::LaneArray& lane_array) center_point.x = (bp.x * 2 + fp.x) / 3; center_point.y = (bp.y * 2 + fp.y) / 3; center_point.z = (bp.z + fp.z) / 2; - if (amathutils::isPointLeftFromLine(center_point, lane.waypoints.at(wp_idx).pose.pose.position, - lane.waypoints.at(wp_idx + 1).pose.pose.position) >= 0) +// if (amathutils::isPointLeftFromLine(center_point, lane.waypoints.at(wp_idx).pose.pose.position, +// lane.waypoints.at(wp_idx + 1).pose.pose.position) >= 0) + if(true) { center_point.x = (bp.x + fp.x) / 2; center_point.y = (bp.y + fp.y) / 2; diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp index 0bd4668547d..468fd7485c7 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_drive.cpp @@ -340,21 +340,26 @@ void DecisionMakerNode::updateStoplineState(cstring_t& state_name, int status) publishStoplineWaypointIdx(current_status_.found_stopsign_idx); /* wait for clearing risk*/ - static bool timerflag = false; - static ros::Timer stopping_timer; +// static bool timerflag = false; +// static ros::Timer stopping_timer; - if (current_status_.velocity == 0.0 && !timerflag && (current_status_.obstacle_waypoint + current_status_.closest_waypoint) == current_status_.found_stopsign_idx) +// if (current_status_.velocity == 0.0 && !timerflag && (current_status_.obstacle_waypoint + current_status_.closest_waypoint) == current_status_.found_stopsign_idx) +// { + if (current_status_.velocity == 0.0 && (current_status_.obstacle_waypoint + current_status_.closest_waypoint) == current_status_.found_stopsign_idx) { - stopping_timer = nh_.createTimer(ros::Duration(0.5), - [&](const ros::TimerEvent&) { - timerflag = false; - current_status_.prev_stopped_wpidx = current_status_.found_stopsign_idx; - tryNextState("clear"); - /*if found risk, - * tryNextState("found_risk");*/ - }, - this, true); - timerflag = true; + + current_status_.prev_stopped_wpidx = current_status_.found_stopsign_idx; + +// stopping_timer = nh_.createTimer(ros::Duration(0.5), +// [&](const ros::TimerEvent&) { +// timerflag = false; +// current_status_.prev_stopped_wpidx = current_status_.found_stopsign_idx; +// tryNextState("clear"); +// /*if found risk, +// * tryNextState("found_risk");*/ +// }, +// this, true); +// timerflag = true; } } void DecisionMakerNode::exitStopState(cstring_t& state_name, int status) diff --git a/ros/src/util/packages/runtime_manager/scripts/computing.yaml b/ros/src/util/packages/runtime_manager/scripts/computing.yaml index fccc925bb7a..b0af4acf3ce 100755 --- a/ros/src/util/packages/runtime_manager/scripts/computing.yaml +++ b/ros/src/util/packages/runtime_manager/scripts/computing.yaml @@ -1765,7 +1765,7 @@ params : - name : velocity_change_limit desc : velocity_change_limit desc sample label : Velocity Change Limit (km/h) - min : 5 + min : 1 max : 40 v : 7.0 - name : temporal_waypoints_size From c9488463f528f07fa7bbf5cf7462dcf27f2b43a6 Mon Sep 17 00:00:00 2001 From: Joshua Whitley Date: Thu, 9 May 2019 15:02:24 -0500 Subject: [PATCH 133/139] Fixing waypoint_follower after rebasing and merging. --- .../nodes/twist_gate/twist_gate.cpp | 118 +----------------- .../nodes/wf_simulator/wf_simulator.cpp | 111 ++++++++-------- 2 files changed, 55 insertions(+), 174 deletions(-) diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp index 3dc7d415629..e423a17db85 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp @@ -28,82 +28,9 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include "autoware_msgs/ControlCommandStamped.h" -#include "autoware_msgs/RemoteCmd.h" -#include "autoware_msgs/VehicleCmd.h" - -#define CMD_GEAR_D 1 -#define CMD_GEAR_R 2 -#define CMD_GEAR_B 3 -#define CMD_GEAR_N 4 -#define CMD_GEAR_P 5 -#include "autoware_msgs/ControlCommandStamped.h" -#include "tablet_socket_msgs/gear_cmd.h" -#include "tablet_socket_msgs/mode_cmd.h" -class TwistGate -{ - using remote_msgs_t = autoware_msgs::RemoteCmd; - using vehicle_cmd_msg_t = autoware_msgs::VehicleCmd; - -public: - TwistGate(const ros::NodeHandle& nh, const ros::NodeHandle& private_nh); - ~TwistGate(); - -private: - void check_state(); - void watchdog_timer(); - void remote_cmd_callback(const remote_msgs_t::ConstPtr& input_msg); - void auto_cmd_twist_cmd_callback(const geometry_msgs::TwistStamped::ConstPtr& input_msg); - void mode_cmd_callback(const tablet_socket_msgs::mode_cmd::ConstPtr& input_msg); - void gear_cmd_callback(const tablet_socket_msgs::gear_cmd::ConstPtr& input_msg); - void accel_cmd_callback(const autoware_msgs::AccelCmd::ConstPtr& input_msg); - void steer_cmd_callback(const autoware_msgs::SteerCmd::ConstPtr& input_msg); - void brake_cmd_callback(const autoware_msgs::BrakeCmd::ConstPtr& input_msg); - void lamp_cmd_callback(const autoware_msgs::LampCmd::ConstPtr& input_msg); - void ctrl_cmd_callback(const autoware_msgs::ControlCommandStamped::ConstPtr& input_msg); - void state_callback(const std_msgs::StringConstPtr& input_msg); - - bool is_using_decisionmaker(); - void reset_vehicle_cmd_msg(); - - ros::NodeHandle nh_; - ros::NodeHandle private_nh_; - ros::Publisher emergency_stop_pub_; - ros::Publisher control_command_pub_; - ros::Publisher vehicle_cmd_pub_; - ros::Publisher state_cmd_pub_; - ros::Subscriber remote_cmd_sub_; - std::map auto_cmd_sub_stdmap_; - - vehicle_cmd_msg_t twist_gate_msg_; - std_msgs::Bool emergency_stop_msg_; - ros::Time remote_cmd_time_; - ros::Duration timeout_period_; - - std::thread watchdog_timer_thread_; - enum class CommandMode - { - AUTO = 1, - REMOTE = 2 - } command_mode_, - previous_command_mode_; - std_msgs::String command_mode_topic_; +#include "twist_gate.h" - bool is_state_drive_ = true; - // still send is true - bool send_emergency_cmd = false; -}; +#include TwistGate::TwistGate(const ros::NodeHandle& nh, const ros::NodeHandle& private_nh) : nh_(nh) @@ -189,7 +116,7 @@ void TwistGate::check_state() void TwistGate::watchdog_timer() { - while (1) + while (is_alive) { ros::Time now_time = ros::Time::now(); bool emergency_flag = false; @@ -281,7 +208,9 @@ void TwistGate::remote_cmd_callback(const remote_msgs_t::ConstPtr& input_msg) void TwistGate::auto_cmd_twist_cmd_callback(const geometry_msgs::TwistStamped::ConstPtr& input_msg) { - if (command_mode_ == CommandMode::AUTO) + node_status_pub_ptr_->NODE_ACTIVATE(); + node_status_pub_ptr_->CHECK_RATE("/topic/rate/twist_cmd/slow",8,5,1,"topic twist_cmd subscribe rate low."); + if(command_mode_ == CommandMode::AUTO) { twist_gate_msg_.header.frame_id = input_msg->header.frame_id; twist_gate_msg_.header.stamp = input_msg->header.stamp; @@ -416,38 +345,3 @@ void TwistGate::state_callback(const std_msgs::StringConstPtr& input_msg) } } } - -int main(int argc, char** argv) -{ - if (command_mode_ == CommandMode::AUTO) - { - // Set Parking Gear - if (input_msg->data.find("WaitOrder") != std::string::npos) - { - twist_gate_msg_.gear = CMD_GEAR_P; - } - // Set Drive Gear - else - { - twist_gate_msg_.gear = CMD_GEAR_D; - } - - // get drive state - if (input_msg->data.find("Drive\n") != std::string::npos && input_msg->data.find("VehicleReady\n") != std::string::npos) - { - is_state_drive_ = true; - } - else - { - is_state_drive_ = false; - } - vehicle_cmd_pub_.publish(twist_gate_msg_); - - // reset emergency flags - if (input_msg->data.find("VehicleReady") != std::string::npos) - { - emergency_stop_msg_.data = false; - send_emergency_cmd = false; - } - } -} diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/wf_simulator/wf_simulator.cpp b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/wf_simulator/wf_simulator.cpp index 69a6a17612a..7ced485d649 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/wf_simulator/wf_simulator.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/wf_simulator/wf_simulator.cpp @@ -34,61 +34,67 @@ const std::string SIMULATION_FRAME = "sim_base_link"; const std::string LIDAR_FRAME = "sim_lidar"; const std::string MAP_FRAME = "map"; -geometry_msgs::Pose _initial_pose; -bool _initial_set = false; -bool _pose_set = false; -bool _waypoint_set = false; -bool _use_ctrl_cmd = false; -bool g_is_closest_waypoint_subscribed = false; -WayPoints _current_waypoints; -ros::Publisher g_odometry_publisher; -ros::Publisher g_velocity_publisher; -int32_t g_closest_waypoint = -1; -double g_position_error; -double g_angle_error; -double g_linear_acceleration = 0; -double g_steering_angle = 0; -double g_wheel_base_m = 2.7; +bool initial_set_ = false; +bool pose_set_ = false; +bool waypoint_set_ = false; +bool use_ctrl_cmd = false; +bool is_closest_waypoint_subscribed_ = false; + +geometry_msgs::Pose initial_pose_; +WayPoints current_waypoints_; +geometry_msgs::Twist current_velocity_; + +ros::Publisher odometry_publisher_; +ros::Publisher velocity_publisher_; + +int32_t closest_waypoint_ = -1; +double position_error_; +double angle_error_; +double linear_acceleration_ = 0; +double steering_angle_ = 0; +double lidar_height_ = 1.0; +double wheel_base_ = 2.7; constexpr int LOOP_RATE = 50; // 50Hz void CmdCallBack(const autoware_msgs::VehicleCmdConstPtr& msg, double accel_rate) { - if (_use_ctrl_cmd == true) + if (use_ctrl_cmd == true) { - g_linear_acceleration = msg->ctrl_cmd.linear_acceleration; - g_steering_angle = msg->ctrl_cmd.steering_angle; + linear_acceleration_ = msg->ctrl_cmd.linear_acceleration; + steering_angle_ = msg->ctrl_cmd.steering_angle; } else { static double previous_linear_velocity = 0; - if (_current_velocity.linear.x < msg->twist_cmd.twist.linear.x) + if (current_velocity_.linear.x < msg->twist_cmd.twist.linear.x) { - _current_velocity.linear.x = previous_linear_velocity + accel_rate / (double)LOOP_RATE; + current_velocity_.linear.x = previous_linear_velocity + accel_rate / (double)LOOP_RATE; - if (_current_velocity.linear.x > msg->twist_cmd.twist.linear.x) + if (current_velocity_.linear.x > msg->twist_cmd.twist.linear.x) { - _current_velocity.linear.x = msg->twist_cmd.twist.linear.x; + current_velocity_.linear.x = msg->twist_cmd.twist.linear.x; } } else { - _current_velocity.linear.x = previous_linear_velocity - accel_rate / (double)LOOP_RATE; + current_velocity_.linear.x = previous_linear_velocity - accel_rate / (double)LOOP_RATE; - if (_current_velocity.linear.x < msg->twist_cmd.twist.linear.x) + if (current_velocity_.linear.x < msg->twist_cmd.twist.linear.x) { - _current_velocity.linear.x = msg->twist_cmd.twist.linear.x; + current_velocity_.linear.x = msg->twist_cmd.twist.linear.x; } } - previous_linear_velocity = _current_velocity.linear.x; + previous_linear_velocity = current_velocity_.linear.x; - _current_velocity.angular.z = msg->twist_cmd.twist.angular.z; + current_velocity_.angular.z = msg->twist_cmd.twist.angular.z; - //_current_velocity = msg->twist; + //current_velocity_ = msg->twist; } } + void getTransformFromTF(const std::string parent_frame, const std::string child_frame, tf::StampedTransform& transform) { static tf::TransformListener listener; @@ -130,10 +136,8 @@ void callbackFromPoseStamped(const geometry_msgs::PoseStampedConstPtr& msg) void waypointCallback(const autoware_msgs::LaneConstPtr& msg) { - // _path_og.setPath(msg); - _current_waypoints.setPath(*msg); - _waypoint_set = true; - // ROS_INFO_STREAM("waypoint subscribed"); + current_waypoints_.setPath(*msg); + waypoint_set_ = true; } void callbackFromClosestWaypoint(const std_msgs::Int32ConstPtr& msg) @@ -144,11 +148,11 @@ void callbackFromClosestWaypoint(const std_msgs::Int32ConstPtr& msg) void updateVelocity() { - if (_use_ctrl_cmd == false) + if (use_ctrl_cmd == false) return; - _current_velocity.linear.x += g_linear_acceleration / (double)LOOP_RATE; - _current_velocity.angular.z = _current_velocity.linear.x * std::sin(g_steering_angle) / g_wheel_base_m; + current_velocity_.linear.x += linear_acceleration_ / (double)LOOP_RATE; + current_velocity_.angular.z = current_velocity_.linear.x * std::sin(steering_angle_) / wheel_base_; } void publishOdometry() @@ -169,21 +173,10 @@ void publishOdometry() pose_set_ = true; } - /*int closest_waypoint = getClosestWaypoint(_current_waypoints.getCurrentWaypoints(), pose); - if (closest_waypoint == -1) - { - ROS_INFO("cannot publish odometry because closest waypoint is -1."); - return; - } - else - { - pose.position.z = _current_waypoints.getWaypointPosition(closest_waypoint).z; - } -*/ if ( - _waypoint_set && g_is_closest_waypoint_subscribed) - pose.position.z = _current_waypoints.getWaypointPosition(g_closest_waypoint).z; - double vx = _current_velocity.linear.x; - double vth = _current_velocity.angular.z; + if (waypoint_set_ && is_closest_waypoint_subscribed_) + pose.position.z = current_waypoints_.getWaypointPosition(closest_waypoint_).z; + double vx = current_velocity_.linear.x; + double vth = current_velocity_.angular.z; current_time = ros::Time::now(); // compute odometry in a typical way given the velocities of the robot @@ -204,15 +197,6 @@ void publishOdometry() th += delta_th; pose.orientation = tf::createQuaternionMsgFromYaw(th); - // std::cout << "delta (x y th) : (" << delta_x << " " << delta_y << " " << - // delta_th << ")" << std::endl; - // std::cout << "current_velocity(linear.x angular.z) : (" << - // _current_velocity.linear.x << " " << - // _current_velocity.angular.z << ")"<< std::endl; - // std::cout << "current_pose : (" << pose.position.x << " " << - // pose.position.y<< " " << pose.position.z << " " << - // th << ")" << std::endl << std::endl; - // first, we'll publish the transform over tf geometry_msgs::TransformStamped odom_trans; odom_trans.header.stamp = current_time; @@ -273,9 +257,12 @@ int main(int argc, char** argv) private_nh.param("accel_rate", accel_rate, double(1.0)); ROS_INFO_STREAM("accel_rate : " << accel_rate); - private_nh.param("position_error", g_position_error, double(0.0)); - private_nh.param("angle_error", g_angle_error, double(0.0)); - nh.param("vehicle_info/wheel_base", g_wheel_base_m, double(2.7)); + private_nh.param("position_error", position_error_, double(0.0)); + private_nh.param("angle_error", angle_error_, double(0.0)); + private_nh.param("lidar_height", lidar_height_, double(1.0)); + private_nh.param("use_ctrl_cmd", use_ctrl_cmd, false); + + nh.param("vehicle_info/wheel_base", wheel_base_, double(2.7)); // publish topic odometry_publisher_ = nh.advertise("sim_pose", 10); From 9dc91d6ab458d14069b28c7214a2bb68025b1095 Mon Sep 17 00:00:00 2001 From: Joshua Whitley Date: Thu, 9 May 2019 16:01:36 -0500 Subject: [PATCH 134/139] Fixing merge/rebase bug in waypoint_loader. --- .../waypoint_loader/waypoint_loader_core.cpp | 26 +------------------ 1 file changed, 1 insertion(+), 25 deletions(-) diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.cpp b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.cpp index 8cad4ea57f6..1358c8c0e71 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.cpp @@ -53,31 +53,7 @@ void WaypointLoaderNode::createLaneArray(const std::vector& paths, { autoware_msgs::Lane lane; createLaneWaypoint(el, &lane); - if (replanning_mode_) - { - replanner_.replanLaneWaypointVel(&lane); - } - lane_array->lanes.push_back(lane); - } -} - -void WaypointLoaderNode::saveLaneArray(const std::vector& paths, - const autoware_msgs::LaneArray& lane_array) -{ - unsigned long idx = 0; - for (const auto& file_path : paths) - { - std::ofstream ofs(file_path.c_str()); - ofs << "x,y,z,yaw,velocity,change_flag,steering_flag,accel_flag,stop_flag,event_flag" << std::endl; - for (const auto& el : lane_array.lanes[idx].waypoints) - { - ofs << std::fixed << std::setprecision(4) << el.pose.pose.position.x << "," << el.pose.pose.position.y << "," - << el.pose.pose.position.z << "," << tf::getYaw(el.pose.pose.orientation) << "," - << mps2kmph(el.twist.twist.linear.x) << "," << (int)el.change_flag << "," << (int)el.wpstate.steering_state - << "," << (int)el.wpstate.accel_state << "," << (int)el.wpstate.stop_state << "," - << (int)el.wpstate.event_state << std::endl; - } - idx++; + lane_array->lanes.emplace_back(lane); } } From fede3e82754cb4c6dbb1c335abfc8d2f368bc3a6 Mon Sep 17 00:00:00 2001 From: Joshua Whitley Date: Mon, 20 May 2019 13:31:41 -0500 Subject: [PATCH 135/139] Making tests/test_plugins.py match as/master. --- .../autoware_launcher/tests/test_plugins.py | 25 +++++++++++-------- 1 file changed, 14 insertions(+), 11 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/tests/test_plugins.py b/ros/src/util/packages/autoware_launcher/tests/test_plugins.py index 871811ddb54..4663aa7b131 100644 --- a/ros/src/util/packages/autoware_launcher/tests/test_plugins.py +++ b/ros/src/util/packages/autoware_launcher/tests/test_plugins.py @@ -14,7 +14,7 @@ def test_plugin_type(): for frame in plugin.panel().frames: print(plugin.path() + " " + str(frame.target)) yield ok_, guimgr.widget(frame).validate_argtypes(fields, frame) - print() + print("") def test_plugin_field(): rospack = rospkg.RosPack() @@ -24,13 +24,16 @@ def test_plugin_field(): plugin = plugins.find(plugin_path) if plugin.isleaf(): result = regexp.match(plugin.rosxml()) - path = rospack.get_path(result.group(1)) + result.group(2) - root = xtree.parse(path).getroot() - xmlargs = {child.attrib["name"] for child in root if child.tag == "arg"} - ymlargs = {arg.name for arg in plugin.args()} - print(plugin.path()) - yield ok_, (xmlargs == ymlargs) - print() - if xmlargs != ymlargs: - print(ymlargs) - print(xmlargs) + try: + path = rospack.get_path(result.group(1)) + result.group(2) + root = xtree.parse(path).getroot() + xmlargs = {child.attrib["name"] for child in root if child.tag == "arg"} + ymlargs = {arg.name for arg in plugin.args()} + print(plugin.path()) + yield ok_, (xmlargs == ymlargs) + print("") + if xmlargs != ymlargs: + print(ymlargs) + print(xmlargs) + except: + print(result.group(1) + " is not built") \ No newline at end of file From a0f3d61b030b5560b897a7ca50a310e14d6b5fee Mon Sep 17 00:00:00 2001 From: Joshua Whitley Date: Mon, 20 May 2019 14:03:52 -0500 Subject: [PATCH 136/139] Fixing launch file which caused autoware_launcher to fail tests. --- .../autoware_launcher/plugins/leaf/lane_stop.xml | 10 +--------- 1 file changed, 1 insertion(+), 9 deletions(-) diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml index d19954f3ddb..eae7132f7d0 100644 --- a/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml @@ -1,13 +1,5 @@ - - - - - - - - @@ -17,7 +9,7 @@ seq: 0, stamp: {secs: 0, nsecs: 0}, frame_id: '' }, - manual_detection: $(arg manual_detection) + manual_detection: $(arg use_traffic_light_result) }'"/> From 764e123be125bef80999380ada6500a68622d8d3 Mon Sep 17 00:00:00 2001 From: Joshua Whitley Date: Wed, 22 May 2019 12:43:22 -0500 Subject: [PATCH 137/139] As/111 live traffic detector (#13) * Add plugin edit tool and update plugins * Update the code for compatibility with python3 * Skip test of unbuilt packages * Two other minor rebase fixes. * First pass at adding region_tlr_tensorflow and roi_pub. * Adding 1.13 to FindTensorFlow.cmake. * Removing FindCuDNN.cmake. Changing FindTensorFlow variables. * Adding proper Python folder structure. * Adding new nodes to interface.yaml. * Minor formatting fix. * Making encoding in roi_pub type-specific. * Fixing roi_pub for images with rggb8 format. * Launch file for region_tlr_tensorflow * Renaming launch file for consistency. * Removing unused portion of launch file. --- .../trafficlight_recognizer/CMakeLists.txt | 222 +++++++----- .../cmake/FindTensorFlow.cmake | 298 ++++++++++++++++ .../trafficlight_recognizer/interface.yaml | 6 + ...raffic_light_recognition_tensorflow.launch | 21 ++ .../trafficlight_recognizer/__init__.py | 1 + .../region_tlr_tensorflow.py | 128 +++++++ .../nodes/roi_pub/roi_pub.cpp | 332 ++++++++++++++++++ .../trafficlight_recognizer/package.xml | 8 + .../trafficlight_recognizer/setup.py | 12 + .../autoware_launcher/tests/test_plugins.py | 2 +- 10 files changed, 936 insertions(+), 94 deletions(-) create mode 100644 ros/src/computing/perception/detection/trafficlight_recognizer/cmake/FindTensorFlow.cmake create mode 100644 ros/src/computing/perception/detection/trafficlight_recognizer/launch/traffic_light_recognition_tensorflow.launch create mode 100644 ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/__init__.py create mode 100755 ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/region_tlr_tensorflow.py create mode 100644 ros/src/computing/perception/detection/trafficlight_recognizer/nodes/roi_pub/roi_pub.cpp create mode 100644 ros/src/computing/perception/detection/trafficlight_recognizer/setup.py diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt b/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt index 314cac92fa9..d94e516e1e3 100644 --- a/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt @@ -6,6 +6,8 @@ execute_process( OUTPUT_STRIP_TRAILING_WHITESPACE ) +set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake") + set(ROS_VERSION $ENV{ROS_DISTRO}) @@ -20,6 +22,7 @@ find_package(catkin REQUIRED COMPONENTS geometry_msgs libvectormap roscpp + rospy sensor_msgs std_msgs tf @@ -28,6 +31,8 @@ find_package(catkin REQUIRED COMPONENTS waypoint_follower autoware_msgs vector_map + camera_info_manager + image_transport ) find_package(OpenCV REQUIRED) @@ -74,6 +79,7 @@ catkin_package( geometry_msgs libvectormap roscpp + rospy sensor_msgs std_msgs tf @@ -207,6 +213,21 @@ target_link_libraries(roi_extractor add_dependencies(region_tlr ${catkin_EXPORTED_TARGETS}) +### roi_pub ### +include_directories( + ${catkin_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} +) + +add_executable(roi_pub + nodes/roi_pub/roi_pub.cpp + ) + +target_link_libraries(roi_pub + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + libcontext +) ### label_maker ### find_package(Qt5Core REQUIRED) @@ -254,52 +275,7 @@ target_link_libraries(label_maker ) -### region_tlr_ssd ### -##############################SSD'sFORK of CAFFE NEEDS TO BE PREVIOUSLY COMPILED#################### -set(SSD_CAFFE_PATH "$ENV{HOME}/ssdcaffe/distribute") -#################################################################################################### -if (EXISTS "${SSD_CAFFE_PATH}") - - find_package(CUDA REQUIRED) - - add_executable(region_tlr_ssd - nodes/region_tlr_ssd/region_tlr_ssd.cpp - nodes/region_tlr_ssd/traffic_light_recognizer.cpp - ) - - target_link_libraries(region_tlr_ssd - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - ${CUDA_LIBRARIES} - ${CUDA_CUBLAS_LIBRARIES} - ${CUDA_curand_LIBRARY} - ${SSD_CAFFE_PATH}/lib/libcaffe.so - glog - libcontext - ) - - target_include_directories(region_tlr_ssd PRIVATE - ${SSD_CAFFE_PATH}/include - ${CUDA_INCLUDE_DIRS} - nodes/region_tlr_ssd/ - ) - - add_dependencies(region_tlr_ssd - ${catkin_EXPORTED_TARGETS} - ) - - install(TARGETS region_tlr_ssd - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) - -else () # if(EXISTS "${SSD_CAFFE_PATH}") - message("'SSD/Caffe' is not installed. 'region_tlr_ssd' will not be built.") -endif () # if(EXISTS "${SSD_CAFFE_PATH}") - - -install(TARGETS region_tlr feat_proj tlr_tuner roi_extractor label_maker libcontext tl_switch +install(TARGETS region_tlr feat_proj tlr_tuner roi_extractor roi_pub label_maker libcontext tl_switch ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} @@ -314,53 +290,113 @@ install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch PATTERN ".svn" EXCLUDE) - -### region_tlr_mxnet ### -##############################MXNET with CPP_PACKAGE NEEDS TO BE PREVIOUSLY COMPILED################ -#############Please follow README file for instructions############################################# -set(MXNET_PATH "$ENV{HOME}/mxnet/") -#################################################################################################### -if (EXISTS "${MXNET_PATH}") - - find_package(CUDA REQUIRED) - - add_executable(region_tlr_mxnet - nodes/region_tlr_mxnet/region_tlr_mxnet.cpp - nodes/region_tlr_mxnet/mxnet_traffic_light_recognizer.cpp - nodes/region_tlr_mxnet/region_tlr_mxnet.h - nodes/region_tlr_mxnet/mxnet_traffic_light_recognizer.h - ) - - target_link_libraries(region_tlr_mxnet - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - ${CUDA_LIBRARIES} - ${CUDA_CUBLAS_LIBRARIES} - ${CUDA_curand_LIBRARY} - ${MXNET_PATH}/lib/libmxnet.so - libcontext - ) - - target_include_directories(region_tlr_mxnet PRIVATE - ${MXNET_PATH}/nnvm/include/ - ${MXNET_PATH}/cpp-package/include/ - ${MXNET_PATH}/include/ - ${MXNET_PATH}/dmlc-core/include/ - ${CUDA_INCLUDE_DIRS} - nodes/region_tlr_mxnet/ - include - ) - - add_dependencies(region_tlr_mxnet - ${catkin_EXPORTED_TARGETS} - ) - - install(TARGETS region_tlr_mxnet - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) +find_package(CUDA) + +if (CUDA_FOUND) + + ### region_tlr_ssd ### + ##############################SSD'sFORK of CAFFE NEEDS TO BE PREVIOUSLY COMPILED#################### + set(SSD_CAFFE_PATH "$ENV{HOME}/ssdcaffe/distribute") + #################################################################################################### + if (EXISTS "${SSD_CAFFE_PATH}") + + add_executable(region_tlr_ssd + nodes/region_tlr_ssd/region_tlr_ssd.cpp + nodes/region_tlr_ssd/traffic_light_recognizer.cpp + ) + + target_link_libraries(region_tlr_ssd + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${CUDA_LIBRARIES} + ${CUDA_CUBLAS_LIBRARIES} + ${CUDA_curand_LIBRARY} + ${SSD_CAFFE_PATH}/lib/libcaffe.so + glog + libcontext + ) + + target_include_directories(region_tlr_ssd PRIVATE + ${SSD_CAFFE_PATH}/include + ${CUDA_INCLUDE_DIRS} + nodes/region_tlr_ssd/ + ) + + add_dependencies(region_tlr_ssd + ${catkin_EXPORTED_TARGETS} + ) + + install(TARGETS region_tlr_ssd + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + + else () # if(EXISTS "${SSD_CAFFE_PATH}") + message("'SSD/Caffe' is not installed. 'region_tlr_ssd' will not be built.") + endif () # if(EXISTS "${SSD_CAFFE_PATH}") + + + ### region_tlr_mxnet ### + ##############################MXNET with CPP_PACKAGE NEEDS TO BE PREVIOUSLY COMPILED################ + #############Please follow README file for instructions############################################# + set(MXNET_PATH "$ENV{HOME}/mxnet/") + #################################################################################################### + if (EXISTS "${MXNET_PATH}") + + add_executable(region_tlr_mxnet + nodes/region_tlr_mxnet/region_tlr_mxnet.cpp + nodes/region_tlr_mxnet/mxnet_traffic_light_recognizer.cpp + nodes/region_tlr_mxnet/region_tlr_mxnet.h + nodes/region_tlr_mxnet/mxnet_traffic_light_recognizer.h + ) + + target_link_libraries(region_tlr_mxnet + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${CUDA_LIBRARIES} + ${CUDA_CUBLAS_LIBRARIES} + ${CUDA_curand_LIBRARY} + ${MXNET_PATH}/lib/libmxnet.so + libcontext + ) + + target_include_directories(region_tlr_mxnet PRIVATE + ${MXNET_PATH}/nnvm/include/ + ${MXNET_PATH}/cpp-package/include/ + ${MXNET_PATH}/include/ + ${MXNET_PATH}/dmlc-core/include/ + ${CUDA_INCLUDE_DIRS} + nodes/region_tlr_mxnet/ + include + ) + + add_dependencies(region_tlr_mxnet + ${catkin_EXPORTED_TARGETS} + ) + + install(TARGETS region_tlr_mxnet + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + + else () + message("'MXNET Package' is not installed. 'region_tlr_mxnet' will not be built.") + endif () + + ### region_tlr_tensorflow ### + #################################################################################################### + find_package(TensorFlow QUIET) + + if (TENSORFLOW_FOUND) + catkin_python_setup() + catkin_install_python(PROGRAMS nodes/region_tlr_tensorflow/trafficlight_recognizer/region_tlr_tensorflow.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + else () + message("'CuDNN' or 'tensorflow' is not installed. 'region_tlr_tensorflow' will not be built.") + endif () else () - message("'MXNET Package' is not installed. 'region_tlr_mxnet' will not be built.") + message("'CUDA' is not installed. 'region_tlr_mxnet', 'region_tlr_ssd', and 'region_tlr_tensorflow' will not be built.") endif () diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/cmake/FindTensorFlow.cmake b/ros/src/computing/perception/detection/trafficlight_recognizer/cmake/FindTensorFlow.cmake new file mode 100644 index 00000000000..1eba1930030 --- /dev/null +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/cmake/FindTensorFlow.cmake @@ -0,0 +1,298 @@ +# Patrick Wieschollek, +# FindTENSORFLOW.cmake +# https://github.com/PatWie/tensorflow-cmake/blob/master/cmake/modules/FindTensorFlow.cmake +# ------------- +# +# Find TensorFlow library and includes +# +# Automatically set variables have prefix "TensorFlow", +# while variables you need to specify have prefix "TENSORFLOW" +# This module will set the following variables in your project: +# +# ``TENSORFLOW_VERSION`` +# exact TensorFlow version obtained from runtime +# ``TENSORFLOW_ABI`` +# ABI specification of TensorFlow library obtained from runtime +# ``TENSORFLOW_INCLUDE_DIRS`` +# where to find tensorflow header files obtained from runtime +# ``TENSORFLOW_LIBS`` +# the libraries to link against to use TENSORFLOW obtained from runtime +# ``TENSORFLOW_FOUND TRUE`` +# If false, do not try to use TENSORFLOW. +# +# for some examples, you will need to specify on of the following paths +# ``TensorFlow_SOURCE_DIR`` +# Path to source of TensorFlow, when env-var 'TENSORFLOW_SOURCE_DIR' is set and path exists +# ``TensorFlow_C_LIBRARY`` +# Path to libtensorflow_cc.so (require env-var 'TENSORFLOW_BUILD_DIR') +# +# +# USAGE +# ------ +# add "list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}../../path/to/this/file)" to your project +# +# "add_tensorflow_gpu_operation" is a macro to compile a custom operation +# +# add_tensorflow_gpu_operation("") expects the following files to exists: +# - kernels/_kernel.cc +# - kernels/_kernel_gpu.cu.cc (kernels/_kernel.cu is supported as well) +# - kernels/_op.cc +# - kernels/_op.h +# - ops/.cc + +if(APPLE) + message(WARNING "This FindTensorflow.cmake is not tested on APPLE\n" + "Please report if this works\n" + "https://github.com/PatWie/tensorflow-cmake") +endif(APPLE) + +if(WIN32) + message(WARNING "This FindTensorflow.cmake is not tested on WIN32\n" + "Please report if this works\n" + "https://github.com/PatWie/tensorflow-cmake") +endif(WIN32) + +set(PYTHON_EXECUTABLE "python3" CACHE STRING "specify the python version TensorFlow is installed on.") + + +if(TENSORFLOW_FOUND) + # reuse cached variables + message(STATUS "Reuse cached information from TensorFlow ${TENSORFLOW_VERSION} ") +else() + message(STATUS "Detecting TensorFlow using ${PYTHON_EXECUTABLE}" + " (use -DPYTHON_EXECUTABLE=... otherwise)") + execute_process( + COMMAND ${PYTHON_EXECUTABLE} -c "import tensorflow as tf; print(tf.__version__); print(tf.__cxx11_abi_flag__); print(tf.sysconfig.get_include()); print(tf.sysconfig.get_lib() + '/libtensorflow_framework.so')" + OUTPUT_VARIABLE TF_INFORMATION_STRING + OUTPUT_STRIP_TRAILING_WHITESPACE + RESULT_VARIABLE retcode) + + if(NOT "${retcode}" STREQUAL "0") + message(STATUS "Detecting TensorFlow info - failed \n Did you installed TensorFlow?") + else() + message(STATUS "Detecting TensorFlow info - done") + + string(REPLACE "\n" ";" TF_INFORMATION_LIST ${TF_INFORMATION_STRING}) + list(GET TF_INFORMATION_LIST 0 TF_DETECTED_VERSION) + list(GET TF_INFORMATION_LIST 1 TF_DETECTED_ABI) + list(GET TF_INFORMATION_LIST 2 TF_DETECTED_INCLUDE_DIR) + list(GET TF_INFORMATION_LIST 3 TF_DETECTED_LIBRARY) + + # set(TF_DETECTED_VERSION 1.8) + + set(_packageName "TF") + if (DEFINED TF_DETECTED_VERSION) + string (REGEX MATCHALL "[0-9]+" _versionComponents "${TF_DETECTED_VERSION}") + list (LENGTH _versionComponents _len) + if (${_len} GREATER 0) + list(GET _versionComponents 0 TF_DETECTED_VERSION_MAJOR) + endif() + if (${_len} GREATER 1) + list(GET _versionComponents 1 TF_DETECTED_VERSION_MINOR) + endif() + if (${_len} GREATER 2) + list(GET _versionComponents 2 TF_DETECTED_VERSION_PATCH) + endif() + if (${_len} GREATER 3) + list(GET _versionComponents 3 TF_DETECTED_VERSION_TWEAK) + endif() + set (TF_DETECTED_VERSION_COUNT ${_len}) + else() + set (TF_DETECTED_VERSION_COUNT 0) + endif() + + + # -- prevent pre 1.9 versions + # Note: TensorFlow 1.7 supported custom ops and all header files. + # TensorFlow 1.8 broke that promise and 1.9, 1.10 are fine again. + # This cmake-file is only tested against 1.9+. + if("${TF_DETECTED_VERSION}" VERSION_LESS "1.9") + message(FATAL_ERROR "Your installed TensorFlow version ${TF_DETECTED_VERSION} is too old.") + endif() + + if(TF_FIND_VERSION_EXACT) + # User requested exact match of TensorFlow. + # TensorFlow release cycles are currently just depending on (major, minor) + # But we test against both. + set(_TensorFlow_TEST_VERSIONS + "${TF_FIND_VERSION_MAJOR}.${TF_FIND_VERSION_MINOR}.${TF_FIND_VERSION_PATCH}" + "${TF_FIND_VERSION_MAJOR}.${TF_FIND_VERSION_MINOR}") + else(TF_FIND_VERSION_EXACT) + # User requested not an exact TensorFlow version. + # However, only TensorFlow versions 1.9, 1.10 support all header files + # for custom ops. + set(_TensorFlow_KNOWN_VERSIONS ${TensorFlow_ADDITIONAL_VERSIONS} + "1.9" "1.9.0" "1.10" "1.10.0" "1.11" "1.11.0" "1.12" "1.12.0" "1.13" "1.13.0") + set(_TensorFlow_TEST_VERSIONS) + + if(TF_FIND_VERSION) + set(_TF_FIND_VERSION_SHORT "${TF_FIND_VERSION_MAJOR}.${TF_FIND_VERSION_MINOR}") + # Select acceptable versions. + foreach(version ${_TensorFlow_KNOWN_VERSIONS}) + if(NOT "${version}" VERSION_LESS "${TF_FIND_VERSION}") + # This version is high enough. + list(APPEND _TensorFlow_TEST_VERSIONS "${version}") + endif() + endforeach(version) + else(TF_FIND_VERSION) + # Any version is acceptable. + set(_TensorFlow_TEST_VERSIONS "${_TensorFlow_KNOWN_VERSIONS}") + endif(TF_FIND_VERSION) + endif() + + # test all given versions + set(TENSORFLOW_FOUND FALSE) + FOREACH(_TensorFlow_VER ${_TensorFlow_TEST_VERSIONS}) + if("${TF_DETECTED_VERSION_MAJOR}.${TF_DETECTED_VERSION_MINOR}" STREQUAL "${_TensorFlow_VER}") + # found appropriate version + set(TENSORFLOW_VERSION ${TF_DETECTED_VERSION}) + set(TENSORFLOW_ABI ${TF_DETECTED_ABI}) + set(TENSORFLOW_INCLUDE_DIRS ${TF_DETECTED_INCLUDE_DIR}) + set(TENSORFLOW_LIBS ${TF_DETECTED_LIBRARY}) + set(TENSORFLOW_FOUND TRUE) + message(STATUS "Found TensorFlow: (found appropriate version \"${TENSORFLOW_VERSION}\")") + message(STATUS "TensorFlow-ABI is ${TENSORFLOW_ABI}") + message(STATUS "TensorFlow-INCLUDE_DIR is ${TENSORFLOW_INCLUDE_DIRS}") + message(STATUS "TensorFlow-LIBRARY is ${TENSORFLOW_LIBS}") + + add_definitions("-DTENSORFLOW_ABI=${TENSORFLOW_ABI}") + add_definitions("-DTENSORFLOW_VERSION=${TENSORFLOW_VERSION}") + break() + endif() + ENDFOREACH(_TensorFlow_VER) + + if(NOT TENSORFLOW_FOUND) + message(FATAL_ERROR "Your installed TensorFlow version ${TF_DETECTED_VERSION_MAJOR}.${TF_DETECTED_VERSION_MINOR} is not supported\n" + "We tested against ${_TensorFlow_TEST_VERSIONS}") + endif(NOT TENSORFLOW_FOUND) + + # test 1.11 version + if("${TF_DETECTED_VERSION}" VERSION_EQUAL "1.11") + set(TF_DISABLE_ASSERTS "TRUE") + endif() + + if("${TF_DETECTED_VERSION}" VERSION_EQUAL "1.12") + set(TF_DISABLE_ASSERTS "TRUE") + endif() + + if("${TF_DETECTED_VERSION}" VERSION_EQUAL "1.12.0") + set(TF_DISABLE_ASSERTS "TRUE") + endif() + + endif() + +endif() + +if(TENSORFLOW_FOUND) + + if(${TF_DISABLE_ASSERTS}) + message(STATUS "[WARNING] The TensorFlow version ${TF_DETECTED_VERSION} has a bug (see \#22766). We disable asserts using -DNDEBUG=True ") + add_definitions("-DNDEBUG=True") + endif() + + find_library(TensorFlow_C_LIBRARY + NAMES libtensorflow_cc.so + PATHS $ENV{TENSORFLOW_BUILD_DIR} + DOC "TensorFlow CC library." ) + + if(TensorFlow_C_LIBRARY) + message(STATUS "TensorFlow-CC-LIBRARY is ${TensorFlow_C_LIBRARY}") + else() + message(STATUS "No TensorFlow-CC-LIBRARY detected") + endif() + + find_path(TensorFlow_SOURCE_DIR + NAMES + tensorflow/c + tensorflow/cc + tensorflow/core + tensorflow/core/framework + tensorflow/core/platform + tensorflow/python + third_party + PATHS $ENV{TENSORFLOW_SOURCE_DIR}) + + if(TensorFlow_SOURCE_DIR) + message(STATUS "TensorFlow-SOURCE-DIRECTORY is ${TensorFlow_SOURCE_DIR}") + else() + message(STATUS "No TensorFlow source repository detected") + endif() + + macro(TensorFlow_REQUIRE_C_LIBRARY) + if(TensorFlow_C_LIBRARY) + else() + message(FATAL_ERROR "Project requires libtensorflow_cc.so, please specify the path in ENV-VAR 'TENSORFLOW_BUILD_DIR'") + endif() + endmacro() + + macro(TensorFlow_REQUIRE_SOURCE) + if(TensorFlow_SOURCE_DIR) + else() + message(FATAL_ERROR "Project requires TensorFlow source directory, please specify the path in ENV-VAR 'TENSORFLOW_SOURCE_DIR'") + endif() + endmacro() + + macro(add_tensorflow_cpu_operation op_name) + # Compiles a CPU-only operation without invoking NVCC + message(STATUS "will build custom TensorFlow operation \"${op_name}\" (CPU only)") + + add_library(${op_name}_op SHARED kernels/${op_name}_op.cc kernels/${op_name}_kernel.cc ops/${op_name}.cc ) + + set_target_properties(${op_name}_op PROPERTIES PREFIX "") + target_link_libraries(${op_name}_op LINK_PUBLIC ${TENSORFLOW_LIBS}) + endmacro() + + + macro(add_tensorflow_gpu_operation op_name) + # Compiles a CPU + GPU operation with invoking NVCC + message(STATUS "will build custom TensorFlow operation \"${op_name}\" (CPU+GPU)") + + set(kernel_file "") + if(EXISTS "kernels/${op_name}_kernel.cu") + message(WARNING "you should rename your file ${op_name}_kernel.cu to ${op_name}_kernel_gpu.cu.cc") + set(kernel_file kernels/${op_name}_kernel.cu) + else() + set_source_files_properties(kernels/${op_name}_kernel_gpu.cu.cc PROPERTIES CUDA_SOURCE_PROPERTY_FORMAT OBJ) + set(kernel_file kernels/${op_name}_kernel_gpu.cu.cc) + endif() + + cuda_add_library(${op_name}_op_cu SHARED ${kernel_file}) + set_target_properties(${op_name}_op_cu PROPERTIES PREFIX "") + + add_library(${op_name}_op SHARED kernels/${op_name}_op.cc kernels/${op_name}_kernel.cc ops/${op_name}.cc ) + + set_target_properties(${op_name}_op PROPERTIES PREFIX "") + set_target_properties(${op_name}_op PROPERTIES COMPILE_FLAGS "-DGOOGLE_CUDA") + target_link_libraries(${op_name}_op LINK_PUBLIC ${op_name}_op_cu ${TENSORFLOW_LIBS}) + endmacro() + + # simplify TensorFlow dependencies + add_library(TensorFlow_DEP INTERFACE) + TARGET_INCLUDE_DIRECTORIES(TensorFlow_DEP SYSTEM INTERFACE ${TensorFlow_SOURCE_DIR}) + TARGET_INCLUDE_DIRECTORIES(TensorFlow_DEP SYSTEM INTERFACE ${TENSORFLOW_INCLUDE_DIRS}) + TARGET_LINK_LIBRARIES(TensorFlow_DEP INTERFACE -Wl,--allow-multiple-definition -Wl,--whole-archive ${TensorFlow_C_LIBRARY} -Wl,--no-whole-archive) + TARGET_LINK_LIBRARIES(TensorFlow_DEP INTERFACE -Wl,--allow-multiple-definition -Wl,--whole-archive ${TENSORFLOW_LIBS} -Wl,--no-whole-archive) + + include(FindPackageHandleStandardArgs) + find_package_handle_standard_args( + TENSORFLOW + FOUND_VAR TENSORFLOW_FOUND + REQUIRED_VARS + TENSORFLOW_LIBS + TENSORFLOW_INCLUDE_DIRS + VERSION_VAR + TENSORFLOW_VERSION + ) + + mark_as_advanced(TF_INFORMATION_STRING TF_DETECTED_VERSION TF_DETECTED_VERSION_MAJOR TF_DETECTED_VERSION_MINOR TF_DETECTED_VERSION TF_DETECTED_ABI + TF_DETECTED_INCLUDE_DIR TF_DETECTED_LIBRARY TF_DISABLE_ASSERTS + TensorFlow_C_LIBRARY TENSORFLOW_LIBS TensorFlow_SOURCE_DIR TENSORFLOW_INCLUDE_DIRS TENSORFLOW_ABI) + +endif() + + SET(TENSORFLOW_INCLUDE_DIRS ${TENSORFLOW_INCLUDE_DIRS} CACHE PATH "path to tensorflow header files") + SET(TENSORFLOW_VERSION ${TENSORFLOW_VERSION} CACHE INTERNAL "The Python executable Version") + SET(TENSORFLOW_ABI ${TENSORFLOW_ABI} CACHE STRING "The Python executable Version") + SET(TENSORFLOW_LIBS ${TENSORFLOW_LIBS} CACHE PATH "The Python executable Version") + SET(TENSORFLOW_FOUND ${TENSORFLOW_FOUND} CACHE BOOL "The Python executable Version") + SET(TF_DISABLE_ASSERTS ${TF_DISABLE_ASSERTS} CACHE BOOL "Workarounds") diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/interface.yaml b/ros/src/computing/perception/detection/trafficlight_recognizer/interface.yaml index 915dde9772b..762eddc98b2 100644 --- a/ros/src/computing/perception/detection/trafficlight_recognizer/interface.yaml +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/interface.yaml @@ -12,9 +12,15 @@ - name: /region_tlr_ssd publish: [/light_color, /sound_player, /tlr_result, /tlr_superimpose_image] subscribe: [/image_raw, /roi_signal] +- name: /region_tlr_tensorflow + publish: [/light_color, /sound_player] + subscribe: [/tlr_roi_image] - name: /roi_extractor publish: [] subscribe: [/image_raw, /roi_signal] +- name: /roi_pub + publish: [/tlr_roi_image, /tlr_result, /tlr_superimpose_image] + subscribe: [/image_raw, /roi_signal, /config/superimpose] - name: /light_color_switch publish: [/light_color] subscribe: [/camera_light_color, /ams_light_color] diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/launch/traffic_light_recognition_tensorflow.launch b/ros/src/computing/perception/detection/trafficlight_recognizer/launch/traffic_light_recognition_tensorflow.launch new file mode 100644 index 00000000000..bdfbc6f0f36 --- /dev/null +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/launch/traffic_light_recognition_tensorflow.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/__init__.py b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/__init__.py new file mode 100644 index 00000000000..43ae9b13d74 --- /dev/null +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/__init__.py @@ -0,0 +1 @@ +from region_tlr_tensorflow import * diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/region_tlr_tensorflow.py b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/region_tlr_tensorflow.py new file mode 100755 index 00000000000..a6308f17eaf --- /dev/null +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/region_tlr_tensorflow.py @@ -0,0 +1,128 @@ +#!/usr/bin/env python + +import rospy +from sensor_msgs.msg import Image +from std_msgs.msg import String +from cv_bridge import CvBridge +import cv2 +import numpy as np +import tensorflow as tf +from keras.models import load_model +from keras.preprocessing.image import img_to_array +from autoware_msgs.msg import TrafficLight + +USE_ALT_COLORSPACE = False +TARGET_SIZE = (32, 32) +NUM_CHANNELS = 3 +IDX_DEBOUNCE_THRESHOLD = 2 +CONFIDENCE_THRESHOLD = 0.6 +PUB_TIMEOUT = 10.0 # seconds +ROI_IMG_TIMEOUT = 1.0 # seconds +states = ['red', 'green', 'off'] +# internal_state_map = {0:'green', 1:'off', 2:'red', 3:'yellow' } +classifier_state_map = {0: 1, 1: 2, 2: 0, 3: 0} # note, treating yellow as red + +classifier_state_strings = {0: 'red signal', 1: 'green signal', 2: ''} + +config = tf.ConfigProto() +config.gpu_options.allow_growth = True +session = tf.Session(config=config) + +cv_bridge = CvBridge() +idx_debounce_count = 0 +last_pub_state_idx = -1 +last_debounce_state_idx = -1 +img_timer = None + +result_msg = TrafficLight() + + +def preprocess_image(img): + out_img = cv2.cvtColor(img, cv2.COLOR_BGR2YCrCb) + return out_img + + +def ROI_image_callback(image_msg): + global idx_debounce_count, \ + IDX_DEBOUNCE_THRESHOLD, \ + last_pub_state_idx, \ + last_debounce_state_idx, \ + last_pub_time, \ + img_timer + + if img_timer is not None: + img_timer.shutdown() + + img_timer = rospy.Timer(rospy.Duration(ROI_IMG_TIMEOUT), ImgTimeoutCallback) + last_ROI_img_time = rospy.get_rostime() + + # Resize the input image then feed it into the NN for prediction + cv_image = cv_bridge.imgmsg_to_cv2(image_msg, "passthrough") + + if USE_ALT_COLORSPACE: + cv_image = preprocess_image(cv_image) + + img = cv2.resize(cv_image, TARGET_SIZE, interpolation=cv2.INTER_LINEAR) + img = img.astype("float") / 255.0 + img = img_to_array(img) + img = np.expand_dims(img, axis=0) + + proba = nn_model.predict(img) + confidence = np.amax(proba) + predicted_state = nn_model.predict_classes(img) + + idx = -1 + if confidence >= CONFIDENCE_THRESHOLD: + # Get the prediction + idx = np.argmax(proba) + idx = classifier_state_map[idx] + + # Debounce the prediction before publishing + if idx == last_debounce_state_idx: + idx_debounce_count += 1 + if idx_debounce_count > IDX_DEBOUNCE_THRESHOLD: + idx_debounce_count = IDX_DEBOUNCE_THRESHOLD # prevent overflow + else: + last_debounce_state_idx = idx + idx_debounce_count = 0 + + if idx_debounce_count >= IDX_DEBOUNCE_THRESHOLD: + # Only consider publishing debounced states + if last_debounce_state_idx != last_pub_state_idx or \ + (rospy.get_rostime() - last_pub_time > rospy.Duration(PUB_TIMEOUT) and + last_pub_state_idx != 2): + # Only publish when state changes or a timeout occurs (but only want to repeat non-"unknown" states) + result_msg.traffic_light = last_debounce_state_idx + light_color_pub.publish(result_msg) + + if last_debounce_state_idx != last_pub_state_idx: + light_color_string_pub.publish(classifier_state_strings[last_debounce_state_idx]) + + last_pub_state_idx = last_debounce_state_idx + last_pub_time = rospy.get_rostime() + + +def ImgTimeoutCallback(event): + global last_pub_state_idx, last_pub_time + if last_pub_state_idx != 2: + result_msg.traffic_light = 2 + light_color_pub.publish(result_msg) + light_color_string_pub.publish(classifier_state_strings[2]) + last_pub_state_idx = 2 + last_pub_time = rospy.get_rostime() + +rospy.init_node('tlr_classifier') + +nn_model_path = rospy.get_param('~nn_model_path') +nn_model = load_model(nn_model_path) + +# Have to do this or the prediction in the callback fails +proba = nn_model.predict(np.zeros((1, TARGET_SIZE[0], TARGET_SIZE[1], NUM_CHANNELS))) + +rospy.Subscriber('tlr_roi_image', Image, ROI_image_callback, queue_size=1) +light_color_pub = rospy.Publisher('light_color', TrafficLight, queue_size=1) +light_color_string_pub = rospy.Publisher('sound_player', String, queue_size=1) + +last_pub_time = rospy.get_rostime() + +rospy.spin() diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/roi_pub/roi_pub.cpp b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/roi_pub/roi_pub.cpp new file mode 100644 index 00000000000..a9d314b2d18 --- /dev/null +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/roi_pub/roi_pub.cpp @@ -0,0 +1,332 @@ +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include + +static const std::string WINDOW_NAME = "superimpose result"; + +// A frame image acquired from topic +cv::Mat frame_; + +std::string image_topic_name; +bool swap_pole_lane_id; + +// Timestamp of a frame in process +std_msgs::Header frame_header_; + +// Publishers +ros::Publisher roi_image_publisher; +ros::Publisher marker_publisher; +ros::Publisher superimpose_image_publisher; + +void PublishMarkerArray(std::vector contexts) +{ + // Define color constants + std_msgs::ColorRGBA color_black; + color_black.r = 0.0f; + color_black.g = 0.0f; + color_black.b = 0.0f; + color_black.a = 1.0f; + + std_msgs::ColorRGBA color_red; + color_red.r = 1.0f; + color_red.g = 0.0f; + color_red.b = 0.0f; + color_red.a = 1.0f; + + std_msgs::ColorRGBA color_yellow; + color_yellow.r = 1.0f; + color_yellow.g = 1.0f; + color_yellow.b = 0.0f; + color_yellow.a = 1.0f; + + std_msgs::ColorRGBA color_green; + color_green.r = 0.0f; + color_green.g = 1.0f; + color_green.b = 0.0f; + color_green.a = 1.0f; + + // publish all result as ROS MarkerArray + for (const auto ctx : contexts) + { + visualization_msgs::MarkerArray signal_set; + visualization_msgs::Marker red_light, yellow_light, green_light; + + // Set the frame ID + red_light.header.frame_id = "map"; + yellow_light.header.frame_id = "map"; + green_light.header.frame_id = "map"; + + // Set the namespace and ID for this markers + red_light.ns = "tlr_result_red"; + red_light.id = ctx.signalID; + + yellow_light.ns = "tlr_result_yellow"; + yellow_light.id = ctx.signalID; + + green_light.ns = "tlr_result_green"; + green_light.id = ctx.signalID; + + // Set the markers type + red_light.type = visualization_msgs::Marker::SPHERE; + yellow_light.type = visualization_msgs::Marker::SPHERE; + green_light.type = visualization_msgs::Marker::SPHERE; + + // Set the pose of the markers + red_light.pose.position.x = ctx.redCenter3d.x; + red_light.pose.position.y = ctx.redCenter3d.y; + red_light.pose.position.z = ctx.redCenter3d.z; + red_light.pose.orientation.x = 0.0; + red_light.pose.orientation.y = 0.0; + red_light.pose.orientation.z = 0.0; + red_light.pose.orientation.w = 0.0; + + yellow_light.pose.position.x = ctx.yellowCenter3d.x; + yellow_light.pose.position.y = ctx.yellowCenter3d.y; + yellow_light.pose.position.z = ctx.yellowCenter3d.z; + yellow_light.pose.orientation.x = 0.0; + yellow_light.pose.orientation.y = 0.0; + yellow_light.pose.orientation.z = 0.0; + yellow_light.pose.orientation.w = 0.0; + + green_light.pose.position.x = ctx.greenCenter3d.x; + green_light.pose.position.y = ctx.greenCenter3d.y; + green_light.pose.position.z = ctx.greenCenter3d.z; + green_light.pose.orientation.x = 0.0; + green_light.pose.orientation.y = 0.0; + green_light.pose.orientation.z = 0.0; + green_light.pose.orientation.w = 0.0; + + // Set the scale of the markers. We assume lamp radius is 30cm in real world + red_light.scale.x = 0.3; + red_light.scale.y = 0.3; + red_light.scale.z = 0.3; + + yellow_light.scale.x = 0.3; + yellow_light.scale.y = 0.3; + yellow_light.scale.z = 0.3; + + green_light.scale.x = 0.3; + green_light.scale.y = 0.3; + green_light.scale.z = 0.3; + + // Set the color for each marker + switch (ctx.lightState) + { + case GREEN: + red_light.color = color_black; + yellow_light.color = color_black; + green_light.color = color_green; + break; + case YELLOW: + red_light.color = color_black; + yellow_light.color = color_yellow; + green_light.color = color_black; + break; + case RED: + red_light.color = color_red; + yellow_light.color = color_black; + green_light.color = color_black; + break; + case UNDEFINED: + red_light.color = color_black; + yellow_light.color = color_black; + green_light.color = color_black; + break; + } + + red_light.lifetime = ros::Duration(0.1); + yellow_light.lifetime = ros::Duration(0.1); + green_light.lifetime = ros::Duration(0.1); + + // Pack each light marker into one + signal_set.markers.push_back(red_light); + signal_set.markers.push_back(yellow_light); + signal_set.markers.push_back(green_light); + + // Publish + marker_publisher.publish(signal_set); + } +} // void PublishMarkerArray() + +void PublishImage(std::vector contexts) +{ + // Copy the frame image for output + cv::Mat result_image = frame_.clone(); + cv::cvtColor(result_image, result_image, cv::COLOR_RGB2BGR); + + // Define information for written label + std::string label; + const int k_font_face = cv::FONT_HERSHEY_COMPLEX_SMALL; + const double k_font_scale = 0.8; + int font_baseline = 0; + CvScalar label_color; + + for (const auto ctx : contexts) + { + // Draw superimpose result on image + circle(result_image, ctx.redCenter, ctx.lampRadius, CV_RGB(255, 0, 0), 1, 0); + circle(result_image, ctx.yellowCenter, ctx.lampRadius, CV_RGB(255, 255, 0), 1, 0); + circle(result_image, ctx.greenCenter, ctx.lampRadius, CV_RGB(0, 255, 0), 1, 0); + + // Draw recognition result on image + switch (ctx.lightState) + { + case GREEN: + label = "GREEN"; + label_color = CV_RGB(0, 255, 0); + break; + case YELLOW: + label = "YELLOW"; + label_color = CV_RGB(255, 255, 0); + break; + case RED: + label = "RED"; + label_color = CV_RGB(255, 0, 0); + break; + case UNDEFINED: + label = "UNKNOWN"; + label_color = CV_RGB(0, 0, 0); + } + + if (ctx.leftTurnSignal) + { + label += " LEFT"; + } + if (ctx.rightTurnSignal) + { + label += " RIGHT"; + } + // add lane # text + label += " " + std::to_string(ctx.closestLaneId); + + cv::Point label_origin = cv::Point(ctx.topLeft.x, ctx.botRight.y + font_baseline); + + cv::putText(result_image, label, label_origin, k_font_face, k_font_scale, label_color); + } + + // Publish superimpose result image + cv_bridge::CvImage converter; + converter.header = frame_header_; + converter.encoding = sensor_msgs::image_encodings::BGR8; + converter.image = result_image; + superimpose_image_publisher.publish(converter.toImageMsg()); +} // void PublishImage() + +void superimposeCb(const std_msgs::Bool::ConstPtr& config_msg) +{ + bool show_superimpose_result = config_msg->data; + + if (show_superimpose_result) + { + cv::namedWindow(WINDOW_NAME, cv::WINDOW_NORMAL); + cv::startWindowThread(); + } + + if (!show_superimpose_result) + { + if (cvGetWindowHandle(WINDOW_NAME.c_str()) != NULL) + { + cv::destroyWindow(WINDOW_NAME); + cv::waitKey(1); + } + } +} // void superimposeCb() + +void imageCallback(const sensor_msgs::ImageConstPtr& msg) +{ + auto se_frame = cv_bridge::toCvShare(msg); + + if (msg->encoding == "bgr8") + cv::cvtColor(se_frame->image, frame_, cv::COLOR_BGR2RGB); + else if (msg->encoding == "bayer_bggr8") + cv::cvtColor(se_frame->image, frame_, cv::COLOR_BayerRG2RGB); + else if (msg->encoding == "bayer_rggb8") + cv::cvtColor(se_frame->image, frame_, cv::COLOR_BayerBG2RGB); + else + ROS_WARN("Received image of unhandled encoding type."); + + frame_header_ = msg->header; +} + +void roiSignalCallback(const autoware_msgs::Signals::ConstPtr& extracted_pos) +{ + static ros::Time previous_timestamp; + std::vector contexts_; + // If frame has not been prepared, abort this callback + if (frame_.empty() || frame_header_.stamp == previous_timestamp) + { + std::cout << "No Image" << std::endl; + return; + } + + // Acquire signal position on the image + // Context::SetContexts(contexts_, extracted_pos, frame_.rows, frame_.cols, swap_pole_lane_id); + Context::SetContexts(contexts_, extracted_pos, frame_.rows, frame_.cols); + + // Publish recognition result as some topic format + if (extracted_pos->Signals.size() == 0 || contexts_.size() == 0) + { + std::cout << "no signals in the image" << std::endl; + } + else + { + // Extract ROI for top signal in vector (top signal has largest estimated + // radius in every signals projected in a image) + cv::Mat roi = frame_(cv::Rect(contexts_.at(0).topLeft, contexts_.at(0).botRight)); + + cv_bridge::CvImage converter; + converter.header = frame_header_; + converter.encoding = sensor_msgs::image_encodings::RGB8; + converter.image = roi; + roi_image_publisher.publish(converter.toImageMsg()); + } + + PublishMarkerArray(contexts_); + PublishImage(contexts_); + + previous_timestamp = frame_header_.stamp; +} + +void getROSParams() +{ + ros::NodeHandle private_node_handle("~"); + private_node_handle.param("image_raw_topic", image_topic_name, "/image_raw"); + ROS_INFO("image_raw_topic: %s", image_topic_name.c_str()); + + private_node_handle.param("swap_pole_lane_id", swap_pole_lane_id, "false"); + ROS_INFO("swap_pole_lane_id: %s", swap_pole_lane_id ? "true" : "false"); +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "tlr_roi_pub"); + ros::NodeHandle n; + + getROSParams(); + + // Register subscribers + image_transport::ImageTransport it(n); + image_transport::Subscriber image_subscriber = it.subscribe(image_topic_name, 1, &imageCallback, ros::VoidPtr()); + ros::Subscriber roi_signal_subscriber = n.subscribe("/roi_signal", 1, &roiSignalCallback); + ros::Subscriber superimpose_sub = n.subscribe("/config/superimpose", 1, &superimposeCb); + + // Register publishers + roi_image_publisher = n.advertise("tlr_roi_image", 1); + marker_publisher = n.advertise("tlr_result", 1, true); + superimpose_image_publisher = n.advertise("tlr_superimpose_image", 1); + + ros::spin(); + + return 0; +} diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/package.xml b/ros/src/computing/perception/detection/trafficlight_recognizer/package.xml index e6719d093ef..037bc6561eb 100644 --- a/ros/src/computing/perception/detection/trafficlight_recognizer/package.xml +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/package.xml @@ -19,10 +19,14 @@ eigen libvectormap roscpp + rospy sensor_msgs tf vector_map visualization_msgs + libopencv-dev + camera_info_manager + image_transport cmake_modules runtime_manager @@ -39,10 +43,14 @@ eigen libvectormap roscpp + rospy sensor_msgs tf vector_map visualization_msgs + libopencv-dev + camera_info_manager + image_transport diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/setup.py b/ros/src/computing/perception/detection/trafficlight_recognizer/setup.py new file mode 100644 index 00000000000..b2bd23193b6 --- /dev/null +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/setup.py @@ -0,0 +1,12 @@ +## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +# fetch values from package.xml +setup_args = generate_distutils_setup( + packages=['trafficlight_recognizer'], + package_dir={'': 'nodes/region_tlr_tensorflow'}, +) + +setup(**setup_args) diff --git a/ros/src/util/packages/autoware_launcher/tests/test_plugins.py b/ros/src/util/packages/autoware_launcher/tests/test_plugins.py index 4663aa7b131..c441fa58872 100644 --- a/ros/src/util/packages/autoware_launcher/tests/test_plugins.py +++ b/ros/src/util/packages/autoware_launcher/tests/test_plugins.py @@ -36,4 +36,4 @@ def test_plugin_field(): print(ymlargs) print(xmlargs) except: - print(result.group(1) + " is not built") \ No newline at end of file + print(result.group(1) + " is not built") From 25e63d8afc275a6e7ae6266f4f4ddd11c52833f8 Mon Sep 17 00:00:00 2001 From: Joshua Whitley Date: Tue, 28 May 2019 08:26:45 -0500 Subject: [PATCH 138/139] As/111 live traffic new detector (#16) * First run at replacing region_tlr_tensorflow with new version. * Fixing order-of-operations CMake bug in TLR. * Fixing another order-of-operations issue in TLR. * Adding main function and fixing srv install. * Fixing launch file for new region_tlr_tensorflow. * Making tensorflow_tlr.py a class. * python global variable fixes in tlr * python self instance ref fixes --- ros/src/.config/rviz/default.rviz | 690 ------------------ .../trafficlight_recognizer/CMakeLists.txt | 62 +- .../trafficlight_recognizer/interface.yaml | 7 +- ...raffic_light_recognition_tensorflow.launch | 6 +- .../region_tlr_tensorflow.cpp | 535 ++++++++++++++ .../region_tlr_tensorflow.h | 80 ++ .../trafficlight_recognizer/__init__.py | 2 +- .../region_tlr_tensorflow.py | 128 ---- .../trafficlight_recognizer/tensorflow_tlr.py | 69 ++ .../nodes/roi_pub/roi_pub.cpp | 332 --------- .../srv/RecognizeLightState.srv | 4 + 11 files changed, 737 insertions(+), 1178 deletions(-) delete mode 100644 ros/src/.config/rviz/default.rviz create mode 100644 ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/region_tlr_tensorflow.cpp create mode 100644 ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/region_tlr_tensorflow.h delete mode 100755 ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/region_tlr_tensorflow.py create mode 100755 ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/tensorflow_tlr.py delete mode 100644 ros/src/computing/perception/detection/trafficlight_recognizer/nodes/roi_pub/roi_pub.cpp create mode 100644 ros/src/computing/perception/detection/trafficlight_recognizer/srv/RecognizeLightState.srv diff --git a/ros/src/.config/rviz/default.rviz b/ros/src/.config/rviz/default.rviz deleted file mode 100644 index 6f4dcded0b2..00000000000 --- a/ros/src/.config/rviz/default.rviz +++ /dev/null @@ -1,690 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 0 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Camera1/Visibility1 - - /Points Raw1 - - /Points Raw1/Status1 - - /Local Waypoints1/Status1 - - /Vector Map CenterLines1/Namespaces1 - - /Global Path1/Namespaces1 - - /Local Rollouts1/Namespaces1 - - /GlobalPathAnimation1/Status1 - - /OverlayImage1 - - /OK1 - - /WARN1 - - /ERROR1 - - /FATAL1 - Splitter Ratio: 0.695804 - Tree Height: 369 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679016 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: Points Map - - Class: integrated_viewer/ImageViewerPlugin - Image topic: ----- - Lane topic: ----- - Name: ImageViewerPlugin - Point size: 3 - Point topic: ----- - Rect topic: ----- - - Class: autoware_rviz_debug/DecisionMakerPanel - Name: DecisionMakerPanel -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: false - Line Style: - Line Width: 0.0299999993 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: false - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - map: - Value: true - sim_base_link: - Value: true - sim_lidar: - Value: true - world: - Value: true - Marker Scale: 5 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - world: - map: - sim_base_link: - sim_lidar: - {} - Update Interval: 0 - Value: true - - Alpha: 0.0500000007 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Points Map - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 2 - Size (m): 0.00999999978 - Style: Points - Topic: /points_map - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /vector_map - Name: Vector Map - Namespaces: - cross_road: true - cross_walk: true - road_sign: true - signal: true - stop_line: true - white_line: true - Queue Size: 100 - Value: true - - Class: rviz/Camera - Enabled: false - Image Rendering: overlay - Image Topic: /image_raw - Name: Camera - Overlay Alpha: 0.400000006 - Queue Size: 10 - Transport Hint: raw - Unreliable: false - Value: false - Visibility: - A* Sim Obstacle: true - Behavior State: true - Control Pose: true - Current Pose: true - Detection Range: true - ERROR: true - FATAL: true - Global Path: true - Global Waypoints: true - GlobalPathAnimation: true - Grid: true - Image: true - Local Rollouts: true - Local Waypoints: true - MarkerArray: true - Next Waypoint Mark: true - OK: true - Occupancy Grid Map: true - OverlayImage: true - OverlayText: true - PP Trajectory Mark: true - Points Cluster: true - Points Map: true - Points Raw: true - Safety Box: true - Simulated Obstacle: true - Stixel: true - TF: false - Tracked Contours: true - Value: true - Vector Map: true - Vector Map CenterLines: true - Vehicle Model: true - Velocity (km/h): true - Vscan Points: true - WARN: true - Waypoint Guide: true - Zoom Factor: 1 - - Alpha: 0.300000012 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 11.8534737 - Min Value: 9.73868942 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: AxisColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 137 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Points Raw - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 5 - Size (m): 0.00999999978 - Style: Points - Topic: /points_raw - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 0.5 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 255 - Min Color: 0; 0; 0 - Min Intensity: 255 - Name: Vscan Points - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.00999999978 - Style: Points - Topic: /vscan_points - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.100000001 - Class: rviz/Pose - Color: 255; 25; 0 - Enabled: false - Head Length: 2 - Head Radius: 2 - Name: Control Pose - Shaft Length: 2 - Shaft Radius: 1 - Shape: Arrow - Topic: /control_pose - Unreliable: false - Value: false - - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.100000001 - Class: rviz/Pose - Color: 255; 170; 255 - Enabled: false - Head Length: 2 - Head Radius: 2 - Name: Current Pose - Shaft Length: 2 - Shaft Radius: 1 - Shape: Arrow - Topic: /ndt_pose - Unreliable: false - Value: false - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /detection_range - Name: Detection Range - Namespaces: - Crosswalk Detection: true - Decelerate Detection: true - Stop Detection: true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /next_target_mark - Name: Next Waypoint Mark - Namespaces: - next_target_marker: true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /trajectory_circle_mark - Name: PP Trajectory Mark - Namespaces: - trajectory_circle_marker: true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: false - Marker Topic: /vscan_linelist - Name: Stixel - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - Name: Vehicle Model - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Points Cluster - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 5 - Size (m): 0.00999999978 - Style: Points - Topic: /points_cluster - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /local_waypoints_mark - Name: Local Waypoints - Namespaces: - local_path_marker: true - local_point_marker: true - local_waypoint_velocity: true - Queue Size: 100 - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /global_waypoints_mark - Name: Global Waypoints - Namespaces: - global_change_flag_lane_1: true - global_lane_waypoint_orientation_marker_1: true - global_velocity_lane_1: true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /waypoint_guide - Name: Waypoint Guide - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /astar_sim_obstacle - Name: A* Sim Obstacle - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 0.699999988 - Class: rviz/Map - Color Scheme: map - Draw Behind: true - Enabled: true - Name: Occupancy Grid Map - Topic: /grid_map_filter_visualization/distance_transform - Unreliable: false - Use Timestamp: false - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /vector_map_center_lines_rviz - Name: Vector Map CenterLines - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /global_waypoints_rviz - Name: Global Path - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /local_trajectories - Name: Local Rollouts - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /detected_polygons - Name: Tracked Contours - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /behavior_state - Name: Behavior State - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /AnimateGlobalPlan - Name: GlobalPathAnimation - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /safety_border - Name: Safety Box - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: jsk_rviz_plugin/BoundingBoxArray - Enabled: true - Name: Simulated Obstacle - Topic: /dp_planner_tracked_boxes - Unreliable: false - Value: true - alpha: 0.800000012 - color: 25; 255; 0 - coloring: Value - line width: 0.00999999978 - only edge: false - show coords: false - - Buffer length: 100 - Class: jsk_rviz_plugin/Plotter2D - Enabled: true - Name: Velocity (km/h) - Show Value: true - Topic: /linear_velocity_viz - Value: true - auto color change: false - auto scale: true - background color: 0; 0; 0 - backround alpha: 0 - border: true - foreground alpha: 0.699999988 - foreground color: 85; 255; 0 - height: 80 - left: 40 - linewidth: 1 - max color: 255; 0; 0 - max value: 1 - min value: -1 - show caption: true - text size: 8 - top: 30 - update interval: 0.0399999991 - width: 80 - - Align Bottom: false - Background Alpha: 0.800000012 - Background Color: 0; 0; 0 - Class: jsk_rviz_plugin/OverlayText - Enabled: true - Foreground Alpha: 0.800000012 - Foreground Color: 25; 255; 240 - Name: OverlayText - Overtake Color Properties: false - Overtake Position Properties: false - Topic: /ndt_monitor/ndt_info_text - Value: true - font: DejaVu Sans Mono - height: 128 - left: 0 - line width: 2 - text size: 12 - top: 0 - width: 128 - - Class: rviz/Image - Enabled: false - Image Topic: /image_raw - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - - Class: jsk_rviz_plugin/OverlayImage - Enabled: false - Name: OverlayImage - Topic: /image_raw - Value: false - alpha: 0.800000012 - height: 128 - keep aspect ratio: true - left: 128 - top: 128 - width: 640 - - Align Bottom: false - Background Alpha: 0.800000012 - Background Color: 0; 0; 0 - Class: jsk_rviz_plugin/OverlayText - Enabled: true - Foreground Alpha: 0.800000012 - Foreground Color: 25; 255; 240 - Name: OK - Overtake Color Properties: false - Overtake Position Properties: false - Topic: /health_aggregator/ok_text - Value: true - font: DejaVu Sans Mono - height: 128 - left: 0 - line width: 2 - text size: 12 - top: 0 - width: 128 - - Align Bottom: false - Background Alpha: 0.800000012 - Background Color: 0; 0; 0 - Class: jsk_rviz_plugin/OverlayText - Enabled: true - Foreground Alpha: 0.800000012 - Foreground Color: 25; 255; 240 - Name: WARN - Overtake Color Properties: false - Overtake Position Properties: false - Topic: /health_aggregator/warn_text - Value: true - font: DejaVu Sans Mono - height: 128 - left: 0 - line width: 2 - text size: 12 - top: 0 - width: 128 - - Align Bottom: false - Background Alpha: 0.800000012 - Background Color: 0; 0; 0 - Class: jsk_rviz_plugin/OverlayText - Enabled: true - Foreground Alpha: 0.800000012 - Foreground Color: 25; 255; 240 - 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Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1215 - X: 65 - Y: 24 diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt b/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt index d94e516e1e3..52b40954a64 100644 --- a/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt @@ -33,6 +33,7 @@ find_package(catkin REQUIRED COMPONENTS vector_map camera_info_manager image_transport + message_generation ) find_package(OpenCV REQUIRED) @@ -70,6 +71,18 @@ include_directories( ${Eigen3_INCLUDE_DIRS} ) +catkin_python_setup() + +add_service_files( + FILES RecognizeLightState.srv + ) + +generate_messages( + DEPENDENCIES + std_msgs + sensor_msgs + ) + catkin_package( INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS} CATKIN_DEPENDS @@ -87,6 +100,7 @@ catkin_package( vector_map_server visualization_msgs waypoint_follower + message_runtime LIBRARIES libcontext ) @@ -213,22 +227,6 @@ target_link_libraries(roi_extractor add_dependencies(region_tlr ${catkin_EXPORTED_TARGETS}) -### roi_pub ### -include_directories( - ${catkin_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} -) - -add_executable(roi_pub - nodes/roi_pub/roi_pub.cpp - ) - -target_link_libraries(roi_pub - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - libcontext -) - ### label_maker ### find_package(Qt5Core REQUIRED) find_package(Qt5Gui REQUIRED) @@ -275,7 +273,7 @@ target_link_libraries(label_maker ) -install(TARGETS region_tlr feat_proj tlr_tuner roi_extractor roi_pub label_maker libcontext tl_switch +install(TARGETS region_tlr feat_proj tlr_tuner roi_extractor label_maker libcontext tl_switch ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} @@ -390,8 +388,34 @@ if (CUDA_FOUND) find_package(TensorFlow QUIET) if (TENSORFLOW_FOUND) - catkin_python_setup() - catkin_install_python(PROGRAMS nodes/region_tlr_tensorflow/trafficlight_recognizer/region_tlr_tensorflow.py + add_executable(region_tlr_tensorflow + nodes/region_tlr_tensorflow/region_tlr_tensorflow.cpp + nodes/region_tlr_tensorflow/region_tlr_tensorflow.h + ) + + target_include_directories(region_tlr_tensorflow PRIVATE + ${catkin_INCLUDE_DIRS} + ${OpenCV_LIBRARIES} + ) + + target_link_libraries(region_tlr_tensorflow + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + libcontext + ) + + add_dependencies(region_tlr_tensorflow + ${catkin_EXPORTED_TARGETS} + ${trafficlight_recognizer_EXPORTED_TARGETS} + ) + + install(TARGETS region_tlr_tensorflow + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + + catkin_install_python(PROGRAMS nodes/region_tlr_tensorflow/trafficlight_recognizer/tensorflow_tlr.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) else () message("'CuDNN' or 'tensorflow' is not installed. 'region_tlr_tensorflow' will not be built.") diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/interface.yaml b/ros/src/computing/perception/detection/trafficlight_recognizer/interface.yaml index 762eddc98b2..b7256de6f54 100644 --- a/ros/src/computing/perception/detection/trafficlight_recognizer/interface.yaml +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/interface.yaml @@ -13,14 +13,11 @@ publish: [/light_color, /sound_player, /tlr_result, /tlr_superimpose_image] subscribe: [/image_raw, /roi_signal] - name: /region_tlr_tensorflow - publish: [/light_color, /sound_player] - subscribe: [/tlr_roi_image] + publish: [/light_color, /sound_player, /tlr_roi_image, /tlr_result, /tlr_superimpose_image] + subscribe: [/image_raw, /roi_signal] - name: /roi_extractor publish: [] subscribe: [/image_raw, /roi_signal] -- name: /roi_pub - publish: [/tlr_roi_image, /tlr_result, /tlr_superimpose_image] - subscribe: [/image_raw, /roi_signal, /config/superimpose] - name: /light_color_switch publish: [/light_color] subscribe: [/camera_light_color, /ams_light_color] diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/launch/traffic_light_recognition_tensorflow.launch b/ros/src/computing/perception/detection/trafficlight_recognizer/launch/traffic_light_recognition_tensorflow.launch index bdfbc6f0f36..0ec50e94497 100644 --- a/ros/src/computing/perception/detection/trafficlight_recognizer/launch/traffic_light_recognition_tensorflow.launch +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/launch/traffic_light_recognition_tensorflow.launch @@ -3,18 +3,18 @@ - + - + - + diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/region_tlr_tensorflow.cpp b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/region_tlr_tensorflow.cpp new file mode 100644 index 00000000000..95cfcadb90a --- /dev/null +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/region_tlr_tensorflow.cpp @@ -0,0 +1,535 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "Context.h" +#include "region_tlr_tensorflow.h" + +RegionTLRTensorFlowROSNode::RegionTLRTensorFlowROSNode() : + image_topic_name_("/image_raw"), + kAdvertiseInLatch_(true), + kTrafficLightRed(0), + kTrafficLightGreen(1), + kTrafficLightUnknown(2), + kStringRed("red signal"), + kStringGreen("green signal"), + kStringUnknown("") +{ +} + +RegionTLRTensorFlowROSNode::~RegionTLRTensorFlowROSNode() +{ +} + +void RegionTLRTensorFlowROSNode::RunRecognition() +{ + GetROSParam(); // get execution parameters from ROS parameter server + StartSubscribersAndPublishers(); + ROS_INFO("Node initialized, waiting for signals from feat_proj..."); + ros::spin(); +} + +void RegionTLRTensorFlowROSNode::ImageRawCallback(const sensor_msgs::ImageConstPtr &msg) +{ + auto se_frame = cv_bridge::toCvShare(msg); + + if (msg->encoding == "bgr8") + cv::cvtColor(se_frame->image, frame_, cv::COLOR_BGR2RGB); + else if (msg->encoding == "bayer_bggr8") + cv::cvtColor(se_frame->image, frame_, cv::COLOR_BayerRG2RGB); + else if (msg->encoding == "bayer_rggb8") + cv::cvtColor(se_frame->image, frame_, cv::COLOR_BayerBG2RGB); + else + ROS_WARN("Received image of unhandled encoding type."); + + frame_header_ = msg->header; +} + +void RegionTLRTensorFlowROSNode::ROISignalCallback(const autoware_msgs::Signals::ConstPtr &extracted_pos) +{ + static ros::Time previous_timestamp; + + // Abort this callback if a new image is not available + if (frame_.empty() || + frame_header_.stamp == previous_timestamp) + return; + + // Acquire signal position on the image + Context::SetContexts(contexts_, extracted_pos, frame_.rows, frame_.cols); + + // Recognize the color of the traffic light + int counter = 0; + for (Context &context: contexts_) + { + if (context.topLeft.x > context.botRight.x) + continue; + + counter++; + + // Extract ROI + cv::Mat roi = frame_(cv::Rect(context.topLeft, context.botRight)).clone(); + cv_bridge::CvImage converter; + converter.header = frame_header_; + converter.encoding = sensor_msgs::image_encodings::RGB8; + converter.image = roi; + sensor_msgs::ImagePtr roi_img = converter.toImageMsg(); + + // Publish the ROI image for top signal in vector (top signal has largest estimated + // radius in every signals projected in a image) + if (counter == 1) + { + roi_image_publisher.publish(converter.toImageMsg()); + } + + // Get current state of traffic light from current frame + trafficlight_recognizer::RecognizeLightState srv; + srv.request.roi_image = *roi_img; + LightState current_state = LightState::UNDEFINED; + + double confidence = 0.0; + if (srv_client.call(srv)) + { + ROS_INFO("light state: %d (%f)", srv.response.class_id, srv.response.confidence); + current_state = (LightState)srv.response.class_id; + confidence = srv.response.confidence; + } + else + { + ROS_ERROR("Failed to call service recognize_light_state"); + return; + } + + // The state of the traffic light WON'T be changed + // unless the new state is found at least change_state_threshold_ times + if (confidence >= score_threshold_) + DetermineState(current_state, context); + } + + if (extracted_pos->Signals.size() == 0) + std::cout << "No signals in the image" << std::endl; + else + { + // Publish recognition result + PublishTrafficLight(contexts_); + } + + PublishString(contexts_); + PublishMarkerArray(contexts_); + PublishImage(contexts_); + + // Save timestamp of this frame so that same frame has never been process again + previous_timestamp = frame_header_.stamp; +} + +void RegionTLRTensorFlowROSNode::GetROSParam() +{ + ros::NodeHandle private_node_handle("~"); + + private_node_handle.param("image_raw_topic", image_topic_name_, "/image_raw"); + ROS_INFO("image_raw_topic: %s", image_topic_name_.c_str()); + + private_node_handle.param("change_state_threshold", change_state_threshold_, 2); + ROS_INFO("change_state_threshold: %d", change_state_threshold_); + + private_node_handle.param("score_threshold", score_threshold_, 0.6); + ROS_INFO("score_threshold: %f", score_threshold_); +} + +void RegionTLRTensorFlowROSNode::StartSubscribersAndPublishers() +{ + ros::NodeHandle node_handle; + + // Register subscribers + image_transport::ImageTransport it(node_handle); + image_subscriber = it.subscribe(image_topic_name_, + 1, + &RegionTLRTensorFlowROSNode::ImageRawCallback, + this); + + roi_signal_subscriber = node_handle.subscribe("/roi_signal", + 1, + &RegionTLRTensorFlowROSNode::ROISignalCallback, + this); + + // Register publishers + signal_state_publisher = node_handle.advertise("light_color", 1); + signal_state_string_publisher = node_handle.advertise("sound_player", 1); + marker_publisher = node_handle.advertise("tlr_result", 1, kAdvertiseInLatch_); + superimpose_image_publisher = node_handle.advertise("tlr_superimpose_image", 1); + roi_image_publisher = node_handle.advertise("tlr_roi_image", 1); +} + +/*! + * DetermineState works as a latch to reduce the chance of sudden changes in the state of the traffic light, caused by + * misclassifications in the detector. To change the traffic light state, the new candidate should be found at + * least kChangeStateThreshold times. + * @param current_state the current state of the traffic light as reported by the classifier. + * @param in_out_signal_context the object containing the data of the current Traffic Light instance. + */ +void RegionTLRTensorFlowROSNode::DetermineState(LightState in_current_state, + Context& in_out_signal_context) +{ + //if reported state by classifier is different than the previously stored + if (in_current_state != in_out_signal_context.lightState) + { + //and also different from the previous difference + if (in_current_state != in_out_signal_context.newCandidateLightState) + { + //set classifier result as a candidate + in_out_signal_context.newCandidateLightState = in_current_state; + in_out_signal_context.stateJudgeCount = 0; + } + else + { + //if classifier returned the same result previously, then increase its confidence + in_out_signal_context.stateJudgeCount++; + if (in_out_signal_context.stateJudgeCount > change_state_threshold_) + in_out_signal_context.stateJudgeCount = change_state_threshold_; // prevent overflow + + //if new candidate has been found enough times, change state to the new candidate + if (in_out_signal_context.stateJudgeCount >= change_state_threshold_) + { + in_out_signal_context.lightState = in_current_state; + } + } + } +} + +void RegionTLRTensorFlowROSNode::PublishTrafficLight(std::vector contexts) +{ + autoware_msgs::TrafficLight topic; + static int32_t previous_state = kTrafficLightUnknown; + topic.traffic_light = kTrafficLightUnknown; + + for (const auto ctx: contexts) + { + switch (ctx.lightState) + { + case GREEN: + topic.traffic_light = kTrafficLightGreen; + break; + case YELLOW: + case RED: + topic.traffic_light = kTrafficLightRed; + break; + case UNDEFINED: + topic.traffic_light = kTrafficLightUnknown; + break; + } + + // Publish the first state in contexts, + // which has largest estimated radius of signal. + // This program assume that the signal which has the largest estimated radius + // equal the nearest one from camera. + if (topic.traffic_light != kTrafficLightUnknown) + { + break; + } + } + + // If state changes from previous one, publish it + static ros::Time prev_time = ros::Time::now(); + double timeout = 10.0; //seconds + if (topic.traffic_light != previous_state || ros::Time::now() - prev_time > ros::Duration(timeout)) + { + prev_time = ros::Time::now(); + signal_state_publisher.publish(topic); + previous_state = topic.traffic_light; + } +} + +void RegionTLRTensorFlowROSNode::PublishString(std::vector contexts) +{ + std_msgs::String topic; + static std::string previous_state = kStringUnknown; + topic.data = kStringUnknown; + for (const auto ctx: contexts) + { + switch (ctx.lightState) + { + case GREEN: + topic.data = kStringGreen; + break; + case YELLOW: + case RED: + topic.data = kStringRed; + break; + case UNDEFINED: + topic.data = kStringUnknown; + break; + } + + // Publish the first state in contexts, + // which has largest estimated radius of signal. + // This program assume that the signal which has the largest estimated radius + // equal the nearest one from camera. + if (topic.data != kStringUnknown) + { + break; + } + } + + // If state changes from previous one, publish it + if (topic.data != previous_state) + { + signal_state_string_publisher.publish(topic); + previous_state = topic.data; + } +} + +void RegionTLRTensorFlowROSNode::PublishMarkerArray(std::vector contexts) +{ + // Define color constants + std_msgs::ColorRGBA color_black; + color_black.r = 0.0f; + color_black.g = 0.0f; + color_black.b = 0.0f; + color_black.a = 1.0f; + + std_msgs::ColorRGBA color_red; + color_red.r = 1.0f; + color_red.g = 0.0f; + color_red.b = 0.0f; + color_red.a = 1.0f; + + std_msgs::ColorRGBA color_yellow; + color_yellow.r = 1.0f; + color_yellow.g = 1.0f; + color_yellow.b = 0.0f; + color_yellow.a = 1.0f; + + std_msgs::ColorRGBA color_green; + color_green.r = 0.0f; + color_green.g = 1.0f; + color_green.b = 0.0f; + color_green.a = 1.0f; + + // publish all result as ROS MarkerArray + for (const auto ctx: contexts) + { + visualization_msgs::MarkerArray signal_set; + visualization_msgs::Marker red_light, yellow_light, green_light; + + // Set the frame ID + red_light.header.frame_id = "map"; + yellow_light.header.frame_id = "map"; + green_light.header.frame_id = "map"; + + // Set the namespace and ID for this markers + red_light.ns = "tlr_result_red"; + red_light.id = ctx.signalID; + + yellow_light.ns = "tlr_result_yellow"; + yellow_light.id = ctx.signalID; + + green_light.ns = "tlr_result_green"; + green_light.id = ctx.signalID; + + // Set the markers type + red_light.type = visualization_msgs::Marker::SPHERE; + yellow_light.type = visualization_msgs::Marker::SPHERE; + green_light.type = visualization_msgs::Marker::SPHERE; + + // Set the pose of the markers + red_light.pose.position.x = ctx.redCenter3d.x; + red_light.pose.position.y = ctx.redCenter3d.y; + red_light.pose.position.z = ctx.redCenter3d.z; + red_light.pose.orientation.x = 0.0; + red_light.pose.orientation.y = 0.0; + red_light.pose.orientation.z = 0.0; + red_light.pose.orientation.w = 0.0; + + yellow_light.pose.position.x = ctx.yellowCenter3d.x; + yellow_light.pose.position.y = ctx.yellowCenter3d.y; + yellow_light.pose.position.z = ctx.yellowCenter3d.z; + yellow_light.pose.orientation.x = 0.0; + yellow_light.pose.orientation.y = 0.0; + yellow_light.pose.orientation.z = 0.0; + yellow_light.pose.orientation.w = 0.0; + + green_light.pose.position.x = ctx.greenCenter3d.x; + green_light.pose.position.y = ctx.greenCenter3d.y; + green_light.pose.position.z = ctx.greenCenter3d.z; + green_light.pose.orientation.x = 0.0; + green_light.pose.orientation.y = 0.0; + green_light.pose.orientation.z = 0.0; + green_light.pose.orientation.w = 0.0; + + // Set the scale of the markers. We assume lamp radius is 30cm in real world + red_light.scale.x = 0.3; + red_light.scale.y = 0.3; + red_light.scale.z = 0.3; + + yellow_light.scale.x = 0.3; + yellow_light.scale.y = 0.3; + yellow_light.scale.z = 0.3; + + green_light.scale.x = 0.3; + green_light.scale.y = 0.3; + green_light.scale.z = 0.3; + + // Set the color for each marker + switch (ctx.lightState) + { + case GREEN: + red_light.color = color_black; + yellow_light.color = color_black; + green_light.color = color_green; + break; + case YELLOW: + red_light.color = color_black; + yellow_light.color = color_yellow; + green_light.color = color_black; + break; + case RED: + red_light.color = color_red; + yellow_light.color = color_black; + green_light.color = color_black; + break; + case UNDEFINED: + red_light.color = color_black; + yellow_light.color = color_black; + green_light.color = color_black; + break; + } + + red_light.lifetime = ros::Duration(0.1); + yellow_light.lifetime = ros::Duration(0.1); + green_light.lifetime = ros::Duration(0.1); + + // Pack each light marker into one + signal_set.markers.push_back(red_light); + signal_set.markers.push_back(yellow_light); + signal_set.markers.push_back(green_light); + + // Publish + marker_publisher.publish(signal_set); + } +} + +void RegionTLRTensorFlowROSNode::PublishImage(std::vector contexts) +{ + // Copy the frame image for output + cv::Mat result_image; + cv::cvtColor(frame_, result_image, cv::COLOR_RGB2BGR); + + // Define information for written label + std::string label; + int kFontFace = cv::FONT_HERSHEY_COMPLEX_SMALL; + int kThickness = 1; + double kFontScale = 0.8; + int font_baseline = 0; + CvScalar label_color; + + int counter = 0; + for (const auto ctx: contexts) + { + // Draw superimpose result on image + + // circle(result_image, ctx.redCenter, ctx.lampRadius, CV_RGB(255, 0, 0), 1, 0); + // circle(result_image, ctx.yellowCenter, ctx.lampRadius, CV_RGB(255, 255, 0), 1, 0); + // circle(result_image, ctx.greenCenter, ctx.lampRadius, CV_RGB(0, 255, 0), 1, 0); + + // Draw recognition result on image + switch (ctx.lightState) + { + case GREEN: + label = "GREEN"; + label_color = CV_RGB(0, 255, 0); + break; + case YELLOW: + label = "YELLOW"; + label_color = CV_RGB(255, 255, 0); + break; + case RED: + label = "RED"; + label_color = CV_RGB(255, 0, 0); + break; + case UNDEFINED: + label = "UNKNOWN"; + label_color = CV_RGB(0, 0, 0); + } + + cv::rectangle(result_image, ctx.topLeft, ctx.botRight, label_color, 2); + + if (ctx.leftTurnSignal) + { + label += " LEFT"; + } + if (ctx.rightTurnSignal) + { + label += " RIGHT"; + } + + // Add lane ID text + label += " " + std::to_string(ctx.closestLaneId); + cv::Point label_origin = cv::Point(ctx.topLeft.x, ctx.botRight.y + font_baseline); + cv::putText(result_image, label, label_origin, kFontFace, kFontScale, label_color, kThickness); + } + + std_msgs::String topic; + for (const auto ctx: contexts) + { + switch (ctx.lightState) + { + case GREEN: + topic.data = kStringGreen; + label_color = CV_RGB(0, 255, 0); + break; + case YELLOW: + case RED: + topic.data = kStringRed; + label_color = CV_RGB(255, 0, 0); + break; + case UNDEFINED: + topic.data = kStringUnknown; + label_color = CV_RGB(0, 0, 0); + } + + // Publish the first state in contexts, + // which has largest estimated radius of signal. + // This program assume that the signal which has the largest estimated radius + // equal the nearest one from camera. + if (topic.data != kStringUnknown) + break; + } + + // Add text with state of closest signal + kFontFace = cv::FONT_HERSHEY_TRIPLEX; + kFontScale *= 3; + kThickness *= 3; + std::transform(topic.data.begin(), topic.data.end(), topic.data.begin(), ::toupper); + cv::Size textSize = cv::getTextSize(topic.data, kFontFace, kFontScale, kThickness, &font_baseline); + cv::Point label_origin((frame_.cols - textSize.width) / 2, 3 * (frame_.rows + textSize.height) / 4); + cv::putText(result_image, topic.data, label_origin, kFontFace, kFontScale, label_color, kThickness); + + // Publish superimpose result image + cv_bridge::CvImage converter; + converter.header = frame_header_; + converter.encoding = sensor_msgs::image_encodings::BGR8; + converter.image = result_image; + superimpose_image_publisher.publish(converter.toImageMsg()); +} + +int main(int argc, char *argv[]) +{ + // Initialize ros node + ros::init(argc, argv, "region_tlr_tensorflow_node"); + ros::NodeHandle n; + + // Create RegionTLRTensorFlowROSNode class object and do initialization + RegionTLRTensorFlowROSNode region_tlr_tensorflow_ros_node; + ros::service::waitForService("recognize_light_state", -1); + region_tlr_tensorflow_ros_node.srv_client = n.serviceClient("recognize_light_state"); + + // Start recognition process + region_tlr_tensorflow_ros_node.RunRecognition(); + + return 0; +} diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/region_tlr_tensorflow.h b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/region_tlr_tensorflow.h new file mode 100644 index 00000000000..ca6e2560303 --- /dev/null +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/region_tlr_tensorflow.h @@ -0,0 +1,80 @@ +#ifndef REGION_TLR_TENSORFLOW_H +#define REGION_TLR_TENSORFLOW_H + +#include +#include +#include +#include + +#include +#include + +#include +#include + +#include "Context.h" +#include "autoware_msgs/Signals.h" + +class RegionTLRTensorFlowROSNode +{ +public: + RegionTLRTensorFlowROSNode(); + ~RegionTLRTensorFlowROSNode(); + + void RunRecognition(); + void ImageRawCallback(const sensor_msgs::ImageConstPtr &msg); + void ROISignalCallback(const autoware_msgs::Signals::ConstPtr &extracted_pos); + + // The vector of data structure to save traffic light state, position, ...etc + std::vector contexts_; + + // Service client + ros::ServiceClient srv_client; + +private: + void GetROSParam(); + void StartSubscribersAndPublishers(); + void DetermineState(LightState in_current_state, Context& in_out_signal_context); + void PublishTrafficLight(std::vector contexts); + void PublishString(std::vector contexts); + void PublishMarkerArray(std::vector contexts); + void PublishImage(std::vector contexts); + void SuperimposeCb(const std_msgs::Bool::ConstPtr &config_msg); + + // Execution parameter + std::string image_topic_name_; + double score_threshold_; + int change_state_threshold_;// The threshold of state detected times to accept the state change + bool swap_pole_lane_id; + + // Subscribers + image_transport::Subscriber image_subscriber; + ros::Subscriber roi_signal_subscriber; + ros::Subscriber superimpose_sub; + + // Publishers + ros::Publisher signal_state_publisher; + ros::Publisher signal_state_string_publisher; + ros::Publisher marker_publisher; + ros::Publisher superimpose_image_publisher; + ros::Publisher roi_image_publisher; + + // Flag to show topic will be published in latch manner + bool kAdvertiseInLatch_; + + // A frame image acquired from topic + cv::Mat frame_; + + // Timestamp of a frame in process + std_msgs::Header frame_header_; + + // constant values to pass recognition states to other nodes + const int32_t kTrafficLightRed; + const int32_t kTrafficLightGreen; + const int32_t kTrafficLightUnknown; + const std::string kStringRed; + const std::string kStringGreen; + const std::string kStringUnknown; +}; + +#endif // REGION_TLR_TENSORFLOW_H diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/__init__.py b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/__init__.py index 43ae9b13d74..e265ba34fd4 100644 --- a/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/__init__.py +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/__init__.py @@ -1 +1 @@ -from region_tlr_tensorflow import * +from tensorflow_tlr import * diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/region_tlr_tensorflow.py b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/region_tlr_tensorflow.py deleted file mode 100755 index a6308f17eaf..00000000000 --- a/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/region_tlr_tensorflow.py +++ /dev/null @@ -1,128 +0,0 @@ -#!/usr/bin/env python - -import rospy -from sensor_msgs.msg import Image -from std_msgs.msg import String -from cv_bridge import CvBridge -import cv2 -import numpy as np -import tensorflow as tf -from keras.models import load_model -from keras.preprocessing.image import img_to_array -from autoware_msgs.msg import TrafficLight - -USE_ALT_COLORSPACE = False -TARGET_SIZE = (32, 32) -NUM_CHANNELS = 3 -IDX_DEBOUNCE_THRESHOLD = 2 -CONFIDENCE_THRESHOLD = 0.6 -PUB_TIMEOUT = 10.0 # seconds -ROI_IMG_TIMEOUT = 1.0 # seconds -states = ['red', 'green', 'off'] -# internal_state_map = {0:'green', 1:'off', 2:'red', 3:'yellow' } -classifier_state_map = {0: 1, 1: 2, 2: 0, 3: 0} # note, treating yellow as red - -classifier_state_strings = {0: 'red signal', 1: 'green signal', 2: ''} - -config = tf.ConfigProto() -config.gpu_options.allow_growth = True -session = tf.Session(config=config) - -cv_bridge = CvBridge() -idx_debounce_count = 0 -last_pub_state_idx = -1 -last_debounce_state_idx = -1 -img_timer = None - -result_msg = TrafficLight() - - -def preprocess_image(img): - out_img = cv2.cvtColor(img, cv2.COLOR_BGR2YCrCb) - return out_img - - -def ROI_image_callback(image_msg): - global idx_debounce_count, \ - IDX_DEBOUNCE_THRESHOLD, \ - last_pub_state_idx, \ - last_debounce_state_idx, \ - last_pub_time, \ - img_timer - - if img_timer is not None: - img_timer.shutdown() - - img_timer = rospy.Timer(rospy.Duration(ROI_IMG_TIMEOUT), ImgTimeoutCallback) - last_ROI_img_time = rospy.get_rostime() - - # Resize the input image then feed it into the NN for prediction - cv_image = cv_bridge.imgmsg_to_cv2(image_msg, "passthrough") - - if USE_ALT_COLORSPACE: - cv_image = preprocess_image(cv_image) - - img = cv2.resize(cv_image, TARGET_SIZE, interpolation=cv2.INTER_LINEAR) - img = img.astype("float") / 255.0 - img = img_to_array(img) - img = np.expand_dims(img, axis=0) - - proba = nn_model.predict(img) - confidence = np.amax(proba) - predicted_state = nn_model.predict_classes(img) - - idx = -1 - if confidence >= CONFIDENCE_THRESHOLD: - # Get the prediction - idx = np.argmax(proba) - idx = classifier_state_map[idx] - - # Debounce the prediction before publishing - if idx == last_debounce_state_idx: - idx_debounce_count += 1 - if idx_debounce_count > IDX_DEBOUNCE_THRESHOLD: - idx_debounce_count = IDX_DEBOUNCE_THRESHOLD # prevent overflow - else: - last_debounce_state_idx = idx - idx_debounce_count = 0 - - if idx_debounce_count >= IDX_DEBOUNCE_THRESHOLD: - # Only consider publishing debounced states - if last_debounce_state_idx != last_pub_state_idx or \ - (rospy.get_rostime() - last_pub_time > rospy.Duration(PUB_TIMEOUT) and - last_pub_state_idx != 2): - # Only publish when state changes or a timeout occurs (but only want to repeat non-"unknown" states) - result_msg.traffic_light = last_debounce_state_idx - light_color_pub.publish(result_msg) - - if last_debounce_state_idx != last_pub_state_idx: - light_color_string_pub.publish(classifier_state_strings[last_debounce_state_idx]) - - last_pub_state_idx = last_debounce_state_idx - last_pub_time = rospy.get_rostime() - - -def ImgTimeoutCallback(event): - global last_pub_state_idx, last_pub_time - if last_pub_state_idx != 2: - result_msg.traffic_light = 2 - light_color_pub.publish(result_msg) - light_color_string_pub.publish(classifier_state_strings[2]) - last_pub_state_idx = 2 - last_pub_time = rospy.get_rostime() - -rospy.init_node('tlr_classifier') - -nn_model_path = rospy.get_param('~nn_model_path') -nn_model = load_model(nn_model_path) - -# Have to do this or the prediction in the callback fails -proba = nn_model.predict(np.zeros((1, TARGET_SIZE[0], TARGET_SIZE[1], NUM_CHANNELS))) - -rospy.Subscriber('tlr_roi_image', Image, ROI_image_callback, queue_size=1) -light_color_pub = rospy.Publisher('light_color', TrafficLight, queue_size=1) -light_color_string_pub = rospy.Publisher('sound_player', String, queue_size=1) - -last_pub_time = rospy.get_rostime() - -rospy.spin() diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/tensorflow_tlr.py b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/tensorflow_tlr.py new file mode 100755 index 00000000000..2c48c1f37f2 --- /dev/null +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/region_tlr_tensorflow/trafficlight_recognizer/tensorflow_tlr.py @@ -0,0 +1,69 @@ +#!/usr/bin/env python + +from sensor_msgs.msg import Image +from std_msgs.msg import String, Float32 +from trafficlight_recognizer.srv import * +import cv2 +import numpy as np +import rospy +from cv_bridge import CvBridge +import tensorflow as tf +from keras.models import load_model +from keras.preprocessing.image import img_to_array + +class RegionTlrTensorFlow: + def __init__(self): + self.USE_ALT_COLORSPACE = False + self.TARGET_SIZE = (32, 32) + self.NUM_CHANNELS = 3 + self.CLASSIFIER_STATE_MAP = {0:0, 1:3, 2:2, 3:1} # map from trained NN ordering to Autoware ordering + + self.cv_bridge = CvBridge() + + def preprocess_image(self, img): + if self.USE_ALT_COLORSPACE: + out_img = cv2.cvtColor(img, cv2.COLOR_BGR2YCrCb) + else: + out_img = img.copy() + + out_img = cv2.resize(out_img, self.TARGET_SIZE, interpolation=cv2.INTER_LINEAR) + out_img = out_img.astype("float") / 255.0 # normalize to [0, 1] + out_img = img_to_array(out_img) + out_img = np.expand_dims(out_img, axis=0) # add dimension for batch index + + return out_img + + def recognize_light_state(self, req): + # Prepare the input image then feed it into the NN for prediction + cv_image = self.cv_bridge.imgmsg_to_cv2(req.roi_image, "passthrough") + img = self.preprocess_image(cv_image) + + # Make the class prediction for this image and get a confidence value + proba = self.nn_model.predict(img) + confidence = np.amax(proba) + class_id = self.CLASSIFIER_STATE_MAP[np.argmax(proba)] + return [class_id, confidence] + + def run(self): + rospy.init_node('tensorflow_tlr') + + # Workaround for cuDNN issue + config = tf.ConfigProto() + config.gpu_options.allow_growth = True + session = tf.Session(config=config) + + # Setup the neural network + self.nn_model_path = rospy.get_param('~nn_model_path') + self.nn_model = load_model(self.nn_model_path) + + # Have to do this or the prediction in the callback fails + proba = self.nn_model.predict(np.zeros((1, self.TARGET_SIZE[0], self.TARGET_SIZE[1], self.NUM_CHANNELS))) + + # Setup service + self.service = rospy.Service('recognize_light_state', RecognizeLightState, self.recognize_light_state) + + rospy.spin() + +if __name__ == "__main__": + region_tlr_tensorflow = RegionTlrTensorFlow() + region_tlr_tensorflow.run() diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/roi_pub/roi_pub.cpp b/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/roi_pub/roi_pub.cpp deleted file mode 100644 index a9d314b2d18..00000000000 --- a/ros/src/computing/perception/detection/trafficlight_recognizer/nodes/roi_pub/roi_pub.cpp +++ /dev/null @@ -1,332 +0,0 @@ -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#include -#include -#include - -static const std::string WINDOW_NAME = "superimpose result"; - -// A frame image acquired from topic -cv::Mat frame_; - -std::string image_topic_name; -bool swap_pole_lane_id; - -// Timestamp of a frame in process -std_msgs::Header frame_header_; - -// Publishers -ros::Publisher roi_image_publisher; -ros::Publisher marker_publisher; -ros::Publisher superimpose_image_publisher; - -void PublishMarkerArray(std::vector contexts) -{ - // Define color constants - std_msgs::ColorRGBA color_black; - color_black.r = 0.0f; - color_black.g = 0.0f; - color_black.b = 0.0f; - color_black.a = 1.0f; - - std_msgs::ColorRGBA color_red; - color_red.r = 1.0f; - color_red.g = 0.0f; - color_red.b = 0.0f; - color_red.a = 1.0f; - - std_msgs::ColorRGBA color_yellow; - color_yellow.r = 1.0f; - color_yellow.g = 1.0f; - color_yellow.b = 0.0f; - color_yellow.a = 1.0f; - - std_msgs::ColorRGBA color_green; - color_green.r = 0.0f; - color_green.g = 1.0f; - color_green.b = 0.0f; - color_green.a = 1.0f; - - // publish all result as ROS MarkerArray - for (const auto ctx : contexts) - { - visualization_msgs::MarkerArray signal_set; - visualization_msgs::Marker red_light, yellow_light, green_light; - - // Set the frame ID - red_light.header.frame_id = "map"; - yellow_light.header.frame_id = "map"; - green_light.header.frame_id = "map"; - - // Set the namespace and ID for this markers - red_light.ns = "tlr_result_red"; - red_light.id = ctx.signalID; - - yellow_light.ns = "tlr_result_yellow"; - yellow_light.id = ctx.signalID; - - green_light.ns = "tlr_result_green"; - green_light.id = ctx.signalID; - - // Set the markers type - red_light.type = visualization_msgs::Marker::SPHERE; - yellow_light.type = visualization_msgs::Marker::SPHERE; - green_light.type = visualization_msgs::Marker::SPHERE; - - // Set the pose of the markers - red_light.pose.position.x = ctx.redCenter3d.x; - red_light.pose.position.y = ctx.redCenter3d.y; - red_light.pose.position.z = ctx.redCenter3d.z; - red_light.pose.orientation.x = 0.0; - red_light.pose.orientation.y = 0.0; - red_light.pose.orientation.z = 0.0; - red_light.pose.orientation.w = 0.0; - - yellow_light.pose.position.x = ctx.yellowCenter3d.x; - yellow_light.pose.position.y = ctx.yellowCenter3d.y; - yellow_light.pose.position.z = ctx.yellowCenter3d.z; - yellow_light.pose.orientation.x = 0.0; - yellow_light.pose.orientation.y = 0.0; - yellow_light.pose.orientation.z = 0.0; - yellow_light.pose.orientation.w = 0.0; - - green_light.pose.position.x = ctx.greenCenter3d.x; - green_light.pose.position.y = ctx.greenCenter3d.y; - green_light.pose.position.z = ctx.greenCenter3d.z; - green_light.pose.orientation.x = 0.0; - green_light.pose.orientation.y = 0.0; - green_light.pose.orientation.z = 0.0; - green_light.pose.orientation.w = 0.0; - - // Set the scale of the markers. We assume lamp radius is 30cm in real world - red_light.scale.x = 0.3; - red_light.scale.y = 0.3; - red_light.scale.z = 0.3; - - yellow_light.scale.x = 0.3; - yellow_light.scale.y = 0.3; - yellow_light.scale.z = 0.3; - - green_light.scale.x = 0.3; - green_light.scale.y = 0.3; - green_light.scale.z = 0.3; - - // Set the color for each marker - switch (ctx.lightState) - { - case GREEN: - red_light.color = color_black; - yellow_light.color = color_black; - green_light.color = color_green; - break; - case YELLOW: - red_light.color = color_black; - yellow_light.color = color_yellow; - green_light.color = color_black; - break; - case RED: - red_light.color = color_red; - yellow_light.color = color_black; - green_light.color = color_black; - break; - case UNDEFINED: - red_light.color = color_black; - yellow_light.color = color_black; - green_light.color = color_black; - break; - } - - red_light.lifetime = ros::Duration(0.1); - yellow_light.lifetime = ros::Duration(0.1); - green_light.lifetime = ros::Duration(0.1); - - // Pack each light marker into one - signal_set.markers.push_back(red_light); - signal_set.markers.push_back(yellow_light); - signal_set.markers.push_back(green_light); - - // Publish - marker_publisher.publish(signal_set); - } -} // void PublishMarkerArray() - -void PublishImage(std::vector contexts) -{ - // Copy the frame image for output - cv::Mat result_image = frame_.clone(); - cv::cvtColor(result_image, result_image, cv::COLOR_RGB2BGR); - - // Define information for written label - std::string label; - const int k_font_face = cv::FONT_HERSHEY_COMPLEX_SMALL; - const double k_font_scale = 0.8; - int font_baseline = 0; - CvScalar label_color; - - for (const auto ctx : contexts) - { - // Draw superimpose result on image - circle(result_image, ctx.redCenter, ctx.lampRadius, CV_RGB(255, 0, 0), 1, 0); - circle(result_image, ctx.yellowCenter, ctx.lampRadius, CV_RGB(255, 255, 0), 1, 0); - circle(result_image, ctx.greenCenter, ctx.lampRadius, CV_RGB(0, 255, 0), 1, 0); - - // Draw recognition result on image - switch (ctx.lightState) - { - case GREEN: - label = "GREEN"; - label_color = CV_RGB(0, 255, 0); - break; - case YELLOW: - label = "YELLOW"; - label_color = CV_RGB(255, 255, 0); - break; - case RED: - label = "RED"; - label_color = CV_RGB(255, 0, 0); - break; - case UNDEFINED: - label = "UNKNOWN"; - label_color = CV_RGB(0, 0, 0); - } - - if (ctx.leftTurnSignal) - { - label += " LEFT"; - } - if (ctx.rightTurnSignal) - { - label += " RIGHT"; - } - // add lane # text - label += " " + std::to_string(ctx.closestLaneId); - - cv::Point label_origin = cv::Point(ctx.topLeft.x, ctx.botRight.y + font_baseline); - - cv::putText(result_image, label, label_origin, k_font_face, k_font_scale, label_color); - } - - // Publish superimpose result image - cv_bridge::CvImage converter; - converter.header = frame_header_; - converter.encoding = sensor_msgs::image_encodings::BGR8; - converter.image = result_image; - superimpose_image_publisher.publish(converter.toImageMsg()); -} // void PublishImage() - -void superimposeCb(const std_msgs::Bool::ConstPtr& config_msg) -{ - bool show_superimpose_result = config_msg->data; - - if (show_superimpose_result) - { - cv::namedWindow(WINDOW_NAME, cv::WINDOW_NORMAL); - cv::startWindowThread(); - } - - if (!show_superimpose_result) - { - if (cvGetWindowHandle(WINDOW_NAME.c_str()) != NULL) - { - cv::destroyWindow(WINDOW_NAME); - cv::waitKey(1); - } - } -} // void superimposeCb() - -void imageCallback(const sensor_msgs::ImageConstPtr& msg) -{ - auto se_frame = cv_bridge::toCvShare(msg); - - if (msg->encoding == "bgr8") - cv::cvtColor(se_frame->image, frame_, cv::COLOR_BGR2RGB); - else if (msg->encoding == "bayer_bggr8") - cv::cvtColor(se_frame->image, frame_, cv::COLOR_BayerRG2RGB); - else if (msg->encoding == "bayer_rggb8") - cv::cvtColor(se_frame->image, frame_, cv::COLOR_BayerBG2RGB); - else - ROS_WARN("Received image of unhandled encoding type."); - - frame_header_ = msg->header; -} - -void roiSignalCallback(const autoware_msgs::Signals::ConstPtr& extracted_pos) -{ - static ros::Time previous_timestamp; - std::vector contexts_; - // If frame has not been prepared, abort this callback - if (frame_.empty() || frame_header_.stamp == previous_timestamp) - { - std::cout << "No Image" << std::endl; - return; - } - - // Acquire signal position on the image - // Context::SetContexts(contexts_, extracted_pos, frame_.rows, frame_.cols, swap_pole_lane_id); - Context::SetContexts(contexts_, extracted_pos, frame_.rows, frame_.cols); - - // Publish recognition result as some topic format - if (extracted_pos->Signals.size() == 0 || contexts_.size() == 0) - { - std::cout << "no signals in the image" << std::endl; - } - else - { - // Extract ROI for top signal in vector (top signal has largest estimated - // radius in every signals projected in a image) - cv::Mat roi = frame_(cv::Rect(contexts_.at(0).topLeft, contexts_.at(0).botRight)); - - cv_bridge::CvImage converter; - converter.header = frame_header_; - converter.encoding = sensor_msgs::image_encodings::RGB8; - converter.image = roi; - roi_image_publisher.publish(converter.toImageMsg()); - } - - PublishMarkerArray(contexts_); - PublishImage(contexts_); - - previous_timestamp = frame_header_.stamp; -} - -void getROSParams() -{ - ros::NodeHandle private_node_handle("~"); - private_node_handle.param("image_raw_topic", image_topic_name, "/image_raw"); - ROS_INFO("image_raw_topic: %s", image_topic_name.c_str()); - - private_node_handle.param("swap_pole_lane_id", swap_pole_lane_id, "false"); - ROS_INFO("swap_pole_lane_id: %s", swap_pole_lane_id ? "true" : "false"); -} - -int main(int argc, char** argv) -{ - ros::init(argc, argv, "tlr_roi_pub"); - ros::NodeHandle n; - - getROSParams(); - - // Register subscribers - image_transport::ImageTransport it(n); - image_transport::Subscriber image_subscriber = it.subscribe(image_topic_name, 1, &imageCallback, ros::VoidPtr()); - ros::Subscriber roi_signal_subscriber = n.subscribe("/roi_signal", 1, &roiSignalCallback); - ros::Subscriber superimpose_sub = n.subscribe("/config/superimpose", 1, &superimposeCb); - - // Register publishers - roi_image_publisher = n.advertise("tlr_roi_image", 1); - marker_publisher = n.advertise("tlr_result", 1, true); - superimpose_image_publisher = n.advertise("tlr_superimpose_image", 1); - - ros::spin(); - - return 0; -} diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/srv/RecognizeLightState.srv b/ros/src/computing/perception/detection/trafficlight_recognizer/srv/RecognizeLightState.srv new file mode 100644 index 00000000000..0ac28d4a223 --- /dev/null +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/srv/RecognizeLightState.srv @@ -0,0 +1,4 @@ +sensor_msgs/Image roi_image +--- +uint8 class_id +float32 confidence From 169c7ab495d2c8d145dae54f5494d21f282c6c04 Mon Sep 17 00:00:00 2001 From: snehagn Date: Wed, 29 May 2019 11:33:34 -0500 Subject: [PATCH 139/139] Adding AS TLR node to runtime manager. --- .../runtime_manager/scripts/computing.yaml | 42 +++++++++++++++++++ 1 file changed, 42 insertions(+) diff --git a/ros/src/util/packages/runtime_manager/scripts/computing.yaml b/ros/src/util/packages/runtime_manager/scripts/computing.yaml index b0af4acf3ce..622280ec8b4 100755 --- a/ros/src/util/packages/runtime_manager/scripts/computing.yaml +++ b/ros/src/util/packages/runtime_manager/scripts/computing.yaml @@ -294,6 +294,18 @@ subs : border : 16 flags : [ all ] + - name : region_tlr_tensorflow + desc : region_tlr desc sample + cmd : roslaunch trafficlight_recognizer traffic_light_recognition_tensorflow.launch + param: region_tlr_tensorflow + gui : + flags : [ need_camera_info ] + sel_cam_dialog_only : [ camera_id ] + sel_cam_dialog_allow: [ camera_id ] + camera_id : + border : 16 + flags : [ all ] + - name : region_tlr_mxnet desc : region_tlr_mxnet desc sample cmd : roslaunch trafficlight_recognizer traffic_light_recognition_mxnet.launch @@ -2303,6 +2315,36 @@ params : delim : ':=' only_enable : True + - name : region_tlr_tensorflow + topic: /config/superimpose + msg : Bool + vars : + - name : data + desc : data desc sample + label : Display superimpose result + kind : checkbox + v : False + - name : camera_id + desc : camera_id desc sample + kind : menu + label : Camera ID + choices_type : str + v : '' + cmd_param : + dash : '' + delim : ':=' + only_enable : True + - name : nn_model_path + desc : network model file + label : nn_model_path + kind : path + path_type : multi + v : /home/dev/config/model-RGB-009-0.9857.hdf5 + cmd_param : + dash : '' + delim : ':=' + + - name : region_tlr_mxnet topic: /config/superimpose msg : Bool