feat(tier4_perception_launch): add radar far object integration in tracking stage #5269
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Merged
7 tasks
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
miursh
reviewed
Oct 12, 2023
...nch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
Outdated
Show resolved
Hide resolved
launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml
Outdated
Show resolved
Hide resolved
launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
Outdated
Show resolved
Hide resolved
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
…n and near object detection Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
7 tasks
miursh
reviewed
Oct 16, 2023
...nch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
Outdated
Show resolved
Hide resolved
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
scepter914
reviewed
Oct 16, 2023
| <!-- Radar long range integration methods --> | ||
| <arg | ||
| name="radar_long_range_integration" | ||
| default="tracking" |
There was a problem hiding this comment.
[IMO]
Now, we reduced weight by reducing various functions.
I guess radar tracking is a little heavy process (about 20ms processing time), so I want lightweight perception as this default parameter for now.
And I want to put it into operation that if there is enough computational power for project, this parameter can change.
So I think default parameter of should be detection.
If changing to use_radar_tracking_fusion, it should be false.
scepter914
reviewed
Oct 16, 2023
launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml
Outdated
Show resolved
Hide resolved
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
10 tasks
YoshiRi
added a commit
to YoshiRi/autoware.universe
that referenced
this pull request
Oct 16, 2023
…acking stage (autowarefoundation#5269) * update tracking/perception launch Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * switch tracker launcher mode with argument Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update prediction to switch by radar_long_range_integration paramter Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * make radar far object integration switchable between detection/tracking Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix camera lidar radar fusion flow when 'tracking' is used. Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix spelling and appearance Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * reconstruct topic flow when use tracking to merge far object detection and near object detection Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix input topic miss in tracking.launch Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix comment in camera_lidar_radar fusion Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * refactor: rename and remove paramters in prediction.launch Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * refactor: rename merger control variable from string to bool Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
4 tasks
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Use
radar_long_range_integrationparameter to control radar far detection will merged bydetection or tracking.Related links
There are Dependencies in this PR.
Must merge following PRs before merge this PR.
Tests performed
Check the node activated in sample-rosbag simulation.
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.
In-review checklist for the PR reviewers
The PR reviewers must check the checkboxes below before approval.
Post-review checklist for the PR author
The PR author must check the checkboxes below before merging.
After all checkboxes are checked, anyone who has write access can merge the PR.