feat(image_projection_based_fusion): update pointpainting

[yukke42]

Description

1. fix projection between points and roi
2. update pointpainting model

Related links

Tests performed

sample data is available on #4314.

By the commit for the first item.

The average delay is reduced from 0.270 sec to 0.220 sec on the same environment.

[before]

[after]

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

Summary by CodeRabbit

Release Notes:

• New Feature: The score_threshold parameter in the pointpainting node has been lowered from 0.45 to 0.35, allowing for more accurate point painting.
• Refactor: The PointPaintingFusionNode class has undergone significant changes, including the addition of a helper function, improved transformation methods, and the introduction of a new parameter for specifying classes to be painted.
• Bug fix: The timeout duration in the getTransformStamped function has been reduced from 0.5 seconds to 0.01 seconds, improving performance.

"With lower thresholds and transformed points,
Our fusion now paints with greater accuracy.
Transformed by Eigen, pcl_ros takes the lead,
As we refactor and improve our code's efficiency."

[github-actions]

CodeRabbit

Walkthrough

The overall change includes modifications to the PointPaintingFusionNode class in the pointpainting_fusion package. Notable changes include the addition of a helper function for transforming messages, the use of pcl_ros::transforms for point cloud transformation, the introduction of a new parameter for specifying classes to be painted, and the removal of unnecessary variables and transformations. Additionally, there are changes to constants in the preprocess_kernel.cu file and a modification to the timeout duration in the getTransformStamped function in the utils.cpp file.

Changes

File	Summary
perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml	The score_threshold parameter in the pointpainting node is changed from 0.45 to 0.35.
perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp	Several changes to the PointPaintingFusionNode class, including the addition of a helper function for message transformation, the use of pcl_ros::transforms, introduction of a new parameter for specifying classes to be painted, modification of logic for determining class index, and removal of unnecessary variables and transformations.
perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu	Changes to the constants ENCODER_IN_FEATURE_SIZE and POINT_FEATURE_SIZE from 14 and 9 to 12 and 7 respectively.
perception/image_projection_based_fusion/src/utils/utils.cpp	Modification of the getTransformStamped function to reduce the timeout duration from 0.5 seconds to 0.01 seconds when looking up a transform using tf_buffer.lookupTransform.

[github-actions]

CodeRabbit

Commits

Files that changed from the base of the PR and between 48129f1 and 2759e85 commits.

Files selected (4)

• perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml (1)
• perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp (5)
• perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu (1)
• perception/image_projection_based_fusion/src/utils/utils.cpp (1)

Files skipped from review due to trivial changes (1)

• perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml

Review comments generated (4)

• Review: 2
• LGTM: 2

---

Tips

Chat with CodeRabbit Bot (@coderabbitai)

• Reply on review comments left by this bot to ask follow-up questions. A review comment is a comment on a diff or a file.
• Invite the bot into a review comment chain by tagging @coderabbitai in a reply.

Code suggestions

• The bot may make code suggestions, but please review them carefully before committing since the line number ranges may be misaligned.
• You can edit the comment made by the bot and manually tweak the suggestion if it is slightly off.

Pausing incremental reviews

• Add @coderabbitai: ignore anywhere in the PR description to pause further reviews from the bot.

[yukke42]

[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.06% ⚠️

Comparison is base (dd8e1d6) 14.91% compared to head (a5608b1) 14.86%.
Report is 106 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4544      +/-   ##
==========================================
- Coverage   14.91%   14.86%   -0.06%     
==========================================
  Files        1516     1521       +5     
  Lines      104652   105036     +384     
  Branches    31853    31853              
==========================================
  Hits        15610    15610              
- Misses      72007    72391     +384     
  Partials    17035    17035              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.91% <ø> (+<0.01%)	⬆️	Carriedforward from dd8e1d6

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

Files Changed	Coverage Δ
...ion_based_fusion/src/pointpainting_fusion/node.cpp	0.00% <0.00%> (ø)
...sion/src/pointpainting_fusion/preprocess_kernel.cu	0.00% <ø> (ø)
.../image_projection_based_fusion/src/utils/utils.cpp	0.00% <0.00%> (ø)

... and 7 files with indirect coverage changes

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[yukkysaito]

LGTM

[miursh]

LGTM
@yukke42 Could you also update the param in https://github.com/autowarefoundation/autoware_launch/tree/main/autoware_launch/config/perception/object_recognition/detection/lidar_model

[miursh]

It looks much more stable than before

[yukke42]

@miursh Cloud you check autowarefoundation/autoware_launch#506?