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fix(dummy_perception_publisher): independent of pointcloud from detection_successful_rate #1166

Merged
merged 3 commits into from
Jun 25, 2022
Merged

fix(dummy_perception_publisher): independent of pointcloud from detection_successful_rate #1166

merged 3 commits into from
Jun 25, 2022

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@shmpwk shmpwk commented Jun 24, 2022 •
edited by tkimura4
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Signed-off-by: Shumpei Wakabayashi shumpei.wakabayashi@tier4.jp

Description

Previously, output pointcloud (/perception/obstacle_segmentation/pointcloud) of dummy_perception_publisher depends on detection_successful_rate.
However, the pointcloud is not relevant to detection and it should be seperated.

With this PR, the pointcloud is straightforwardly created from dummy_perception_publisher/object_info which is subscribed once.
As a result, perception/obstacle_segmentation/pointcloud is not changed when changing detection_successful_rate.

Note that the position of pointcloud is randomly created but the number of pointcloud is static as before.

Screencast-from-2022.06.24.-17.28.11.mp4

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@shmpwk
fix(dummy_perception_publisher): independent of pointcloud from detec…
700acbf 
…tion_success_rate

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
@shmpwk shmpwk requested review from tkimura4 and taikitanaka3 June 24, 2022 08:55
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codecov bot commented Jun 24, 2022 •
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Codecov Report

Merging #1166 (92905fb) into main (a2826ca) will decrease coverage by 0.01%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main   #1166      +/-   ##
========================================
- Coverage   9.13%   9.11%   -0.02%     
========================================
  Files       1036    1034       -2     
  Lines      70805   70676     -129     
  Branches   14783   14757      -26     
========================================
- Hits        6468    6444      -24     
+ Misses     59026   58945      -81     
+ Partials    5311    5287      -24
Flag Coverage Δ *Carryforward flag
differential 4.98% <0.00%> (?)
total 9.10% <0.00%> (-0.02%) ⬇️ Carriedforward from 5dc2730

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files Coverage Δ
simulator/dummy_perception_publisher/src/node.cpp 0.00% <0.00%> (ø)
common/interpolation/src/spline_interpolation.cpp 60.56% <0.00%> (-1.41%) ⬇️
...nal_processing/test/src/lowpass_filter_1d_test.cpp 42.85% <0.00%> (-0.90%) ⬇️
...terpolation/test/src/test_spline_interpolation.cpp 27.77% <0.00%> (-0.04%) ⬇️
localization/ndt/include/ndt/impl/omp.hpp 0.00% <0.00%> (ø)
localization/ndt/include/ndt/pcl_generic.hpp 0.00% <0.00%> (ø)
planning/route_handler/src/route_handler.cpp 0.00% <0.00%> (ø)
localization/ndt/include/ndt/pcl_modified.hpp 0.00% <0.00%> (ø)
planning/obstacle_cruise_planner/src/node.cpp 0.00% <0.00%> (ø)
planning/obstacle_cruise_planner/src/utils.cpp 0.00% <0.00%> (ø)
... and 24 more

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As a result, perception/obstacle_segmentation/pointcloud is not changed when changing detection_successful_rate.

I confirmed that only detection results depended on detection_successful_rate and pointclouds were always output regardless of detection_successful_rate

https://user-images.githubusercontent.com/59680180/175748873-a89fc09b-583f-406d-a097-5c38ffada6a5.mp4
(detection_successful_rate: 0.5)

tkimura4
tkimura4 approved these changes Jun 24, 2022
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LGTM

@shmpwk shmpwk enabled auto-merge (squash) June 25, 2022 01:22
@shmpwk shmpwk merged commit f6be294 into autowarefoundation:main Jun 25, 2022
@shmpwk shmpwk deleted the fix/output_pointcloud branch June 25, 2022 04:16
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Jun 26, 2022
Merged
yukkysaito pushed a commit to yukkysaito/autoware.universe that referenced this pull request Jun 29, 2022
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feat: add autoware joy controller (autowarefoundation#72)
d44beb2 
* release v0.4.0

* Support G29 controller in autoware_joy_controller (autowarefoundation#699)

* Add map for G29 controller

* Add new line at end of file

* Change structure of JoyConverterBase class

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* Set joy_type by console input

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* Remap AccelPedal -> accel, BrakePedal -> brake

* Remove [autoware_joy_controller] from ROS_INFO

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* Change key map for G29 controller and set deadzone parameter (autowarefoundation#740)

* Add missing dependencies of autoware_joy_controller (autowarefoundation#755)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

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* Use quotes for includes where appropriate

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* restore filename to original for version update

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Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

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* add use_sim-time option (autowarefoundation#454)

* Fix for rolling (autowarefoundation#1226)

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* Replace ns by push-ros-namespace

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Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Porting remote cmd selector (autowarefoundation#1286)

* Feature/add remote cmd selector (autowarefoundation#1179)

* Add in/out args of remote_cmd_converter.launch

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Change remote input topic of vehicle_cmd_gate

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add msgs for remote_cmd_selector

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* Add remote_cmd_selector

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* Remove VehicleCommand support in autoware_joy_controller

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* Support external_cmd_source in autoware_joy_controller.launch (autowarefoundation#1194)

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* Fix porting miss

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This reverts commit 169cc8d28442825b1d61b0439b9892c913304527.

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* remove unnecessary topic

* remove unused topic

* add external cmd instead

* ToExternalComd

* fix topic in joy con

* Fix -Wunused-parameter (autowarefoundation#1836)

* Fix -Wunused-parameter

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix mistake

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* fix spell

* Fix lint issues

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ignore flake8 warnings

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>

* Add autoware api (autowarefoundation#1979)

* Use EmergencyState instead of deprecated EmergencyMode (autowarefoundation#2030)

* Use EmergencyState instead of deprecated EmergencyMode

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* Use stamped type

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* use early return

* add license note

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* move prettier-xml to pre-commit-hooks-ros

* update version for bug-fix

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* submit engage with api service from joy controller (autowarefoundation#2320)

* fix engagew with api

* delete unused

* fix for uncrustify

* revive vehicle_engage

* some fix

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* Change formatter to clang-format and black (autowarefoundation#2332)

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* fix(dummy_perception_publisher): independent of pointcloud from detection_success_rate

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fix(dummy_perception_publisher): independent of pointcloud from detec…
50265bc 
…tion_successful_rate (#1166)

* fix(dummy_perception_publisher): independent of pointcloud from detection_success_rate

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
h-ohta referenced this pull request in tier4/autoware.universe Feb 28, 2023
@shmpwk @pre-commit-ci @h-ohta
fix(dummy_perception_publisher): independent of pointcloud from detec…
ed04ab9 
…tion_successful_rate (#1166)

* fix(dummy_perception_publisher): independent of pointcloud from detection_success_rate

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
h-ohta referenced this pull request in tier4/autoware.universe Feb 28, 2023
@shmpwk @pre-commit-ci @h-ohta
fix(dummy_perception_publisher): independent of pointcloud from detec…
2b4f22f 
…tion_successful_rate (#1166)

* fix(dummy_perception_publisher): independent of pointcloud from detection_success_rate

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
h-ohta referenced this pull request in tier4/autoware.universe Feb 28, 2023
@h-ohta @HiroIshida
@shmpwk @pre-commit-ci
fix(dummy_perception_publisher): independent of pointcloud from detec…
e9ebd09 
…tion_successful_rate (backport #527, #926, #1166) (#290)

* feat(dummy_perception_publisher): publish realistic dummy pointcloud using raymarchig (#527)

* Create pointcloud by raycasting from vehicle

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* [after-review] Use vector of ObjectInfo

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* [after-review] Implemented by strategy pattern

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* [after-review] split files

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Use pcl raytracing

Tmp

Tmp

Tmp

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Add signed distance function lib

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Use sdf library

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Remove no longer used functions

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Refactor

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Simplify getPoint

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Raytracing considering inter object relation

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Add random noise

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Default is object centric

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Return if no objects are detected

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Change definition of tf_global_to_local (same as other autoware codes)

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Remove create method

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Reaname: VehicleCentric -> EgoCentric

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Refactor a bit

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Tune parameter

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Fix: Even if selected_idices is zero, pointclouds must be published

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Fix launch file

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Fix typo

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Fix: create merged pointcloud when no idx is selected

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Use ray-maching by default

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* perf(dummy_perception_publisher): tune ego-centric pointcloud generation of dummy perception publisher (#926)

* Take advantage of visible range

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Tune

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Fix: typo

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

* Use hypot

* fix(dummy_perception_publisher): independent of pointcloud from detection_successful_rate (#1166)

* fix(dummy_perception_publisher): independent of pointcloud from detection_success_rate

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

---------

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>
Co-authored-by: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com>
Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
saka1-s pushed a commit to saka1-s/autoware.universe that referenced this pull request Apr 8, 2024
@mkuri
Merge pull request autowarefoundation#1166 from tier4/cherry-pick/pr6504
a65c73b 
fix(mission_planner): find the first common interval naively for main/mrm reroute check (autowarefoundation#6504)
iwatake2222 pushed a commit to iwatake2222/autoware.universe that referenced this pull request Jan 17, 2025
@ahmeddesokyebrahim
fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruisi…
6c0733a 
…ng front NPCs in dense urban ODD scenarios (autowarefoundation#1166)

fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruising front NPCs in dense urban ODD scenarios

Signed-off-by: Ahmed Ebrahim <ahmed.ebrahim@leodrive.ai>
Kazunori-Nakajima pushed a commit to Kazunori-Nakajima/autoware.universe that referenced this pull request Feb 6, 2025
@yuki-takagi-66
revert(obstacle_cruise): revert an awf change (autowarefoundation#617)
6ed90f9 
Revert "fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruising front NPCs in dense urban ODD scenarios (autowarefoundation#1166)"
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@tkimura4 tkimura4 tkimura4 approved these changes

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@shmpwk @tkimura4