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feat(autoware_launch): move config from autoware.universe for percept…
…ion (#131) feat(autoware_launch): move config to autoware_launch for perception Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp>
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11
...re_launch/config/perception/object_recognition/detection/object_lanelet_filter.param.yaml
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| /**: | ||
| ros__parameters: | ||
| filter_target_label: | ||
| UNKNOWN : true | ||
| CAR : false | ||
| TRUCK : false | ||
| BUS : false | ||
| TRAILER : false | ||
| MOTORCYCLE : false | ||
| BICYCLE : false | ||
| PEDESTRIAN : false |
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...e_launch/config/perception/object_recognition/detection/object_position_filter.param.yaml
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| /**: | ||
| ros__parameters: | ||
| filter_target_label: | ||
| UNKNOWN : true | ||
| CAR : false | ||
| TRUCK : false | ||
| BUS : false | ||
| TRAILER : false | ||
| MOTORCYCLE : false | ||
| BICYCLE : false | ||
| PEDESTRIAN : false | ||
|
|
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| upper_bound_x: 100.0 | ||
| lower_bound_x: 0.0 | ||
| upper_bound_y: 10.0 | ||
| lower_bound_y: -10.0 |
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...re_launch/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml
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| /**: | ||
| ros__parameters: | ||
| use_down_sample_filter: False | ||
| down_sample_voxel_size: 0.1 | ||
| distance_threshold: 0.5 |
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66
...ption/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
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| /**: | ||
| ros__parameters: | ||
| can_assign_matrix: | ||
| #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN <-Measurement | ||
| [1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN <-Tracker | ||
| 0, 1, 1, 1, 1, 0, 0, 0, #CAR | ||
| 0, 1, 1, 1, 1, 0, 0, 0, #TRUCK | ||
| 0, 1, 1, 1, 1, 0, 0, 0, #BUS | ||
| 0, 1, 1, 1, 1, 0, 0, 0, #TRAILER | ||
| 0, 0, 0, 0, 0, 1, 1, 1, #MOTORBIKE | ||
| 0, 0, 0, 0, 0, 1, 1, 1, #BICYCLE | ||
| 0, 0, 0, 0, 0, 1, 1, 1] #PEDESTRIAN | ||
|
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| max_dist_matrix: | ||
| #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN | ||
| [4.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, #UNKNOWN | ||
| 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR | ||
| 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK | ||
| 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS | ||
| 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER | ||
| 3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #MOTORBIKE | ||
| 3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, #BICYCLE | ||
| 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN | ||
| max_area_matrix: | ||
| # NOTE: The size of truck is 12 m length x 3 m width. | ||
| # NOTE: The size of trailer is 20 m length x 3 m width. | ||
| #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN | ||
| [100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, 100.00, #UNKNOWN | ||
| 12.10, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #CAR | ||
| 36.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #TRUCK | ||
| 60.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #BUS | ||
| 60.00, 12.10, 36.00, 60.00, 60.00, 10000.00, 10000.00, 10000.00, #TRAILER | ||
| 2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, #MOTORBIKE | ||
| 2.50, 10000.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, #BICYCLE | ||
| 2.00, 10000.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00] #PEDESTRIAN | ||
| min_area_matrix: | ||
| #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN | ||
| [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN | ||
| 3.600, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #CAR | ||
| 6.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #TRUCK | ||
| 10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #BUS | ||
| 10.000, 3.600, 6.000, 10.000, 10.000, 0.000, 0.000, 0.000, #TRAILER | ||
| 0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, #MOTORBIKE | ||
| 0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, #BICYCLE | ||
| 0.001, 0.000, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100] #PEDESTRIAN | ||
| max_rad_matrix: # If value is greater than pi, it will be ignored. | ||
| #UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN | ||
| [3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN | ||
| 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR | ||
| 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK | ||
| 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS | ||
| 3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER | ||
| 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE | ||
| 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE | ||
| 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN | ||
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| min_iou_matrix: # If value is negative, it will be ignored. | ||
| #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN | ||
| [0.0001, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN | ||
| 0.1, 0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR | ||
| 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK | ||
| 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS | ||
| 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER | ||
| 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE | ||
| 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE | ||
| 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.0001] #PEDESTRIAN |
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...config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml
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| pcl_grid_map_extraction: | ||
| num_processing_threads: 12 | ||
| cloud_transform: | ||
| translation: | ||
| x: 0.0 | ||
| y: 0.0 | ||
| z: 0.0 | ||
| rotation: # intrinsic rotation X-Y-Z (r-p-y)sequence | ||
| r: 0.0 | ||
| p: 0.0 | ||
| y: 0.0 | ||
| cluster_extraction: | ||
| cluster_tolerance: 0.2 | ||
| min_num_points: 3 | ||
| max_num_points: 1000000 | ||
| outlier_removal: | ||
| is_remove_outliers: false | ||
| mean_K: 10 | ||
| stddev_threshold: 1.0 | ||
| downsampling: | ||
| is_downsample_cloud: false | ||
| voxel_size: | ||
| x: 0.02 | ||
| y: 0.02 | ||
| z: 0.02 | ||
| grid_map: | ||
| min_num_points_per_cell: 3 | ||
| resolution: 0.3 | ||
| height_type: 1 | ||
| height_thresh: 1.0 |
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...onfig/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
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| /**: | ||
| ros__parameters: | ||
| additional_lidars: [] | ||
| ransac_input_topics: [] | ||
| use_single_frame_filter: False | ||
| use_time_series_filter: True | ||
|
|
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| common_crop_box_filter: | ||
| parameters: | ||
| min_x: -50.0 | ||
| max_x: 100.0 | ||
| min_y: -50.0 | ||
| max_y: 50.0 | ||
| max_z: 2.5 # recommended 2.5 for non elevation_grid_mode | ||
| min_z: -2.5 # recommended 0.0 for non elevation_grid_mode | ||
| negative: False | ||
|
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| common_ground_filter: | ||
| plugin: "ground_segmentation::ScanGroundFilterComponent" | ||
| parameters: | ||
| global_slope_max_angle_deg: 10.0 | ||
| local_slope_max_angle_deg: 13.0 # recommended 30.0 for non elevation_grid_mode | ||
| split_points_distance_tolerance: 0.2 | ||
| use_virtual_ground_point: True | ||
| split_height_distance: 0.2 | ||
| non_ground_height_threshold: 0.20 | ||
| grid_size_m: 0.1 | ||
| grid_mode_switch_radius: 20.0 | ||
| gnd_grid_buffer_size: 4 | ||
| detection_range_z_max: 2.5 | ||
| elevation_grid_mode: true |
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41 changes: 41 additions & 0 deletions
41
autoware_launch/launch/components/tier4_perception_component.launch.xml
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| <?xml version="1.0"?> | ||
| <launch> | ||
| <arg name="mode"/> | ||
| <arg name="vehicle_param_file"/> | ||
| <arg name="use_pointcloud_container"/> | ||
| <arg name="pointcloud_container_name"/> | ||
| <arg name="enable_fine_detection"/> | ||
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| <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml"> | ||
| <arg name="mode" value="$(var mode)"/> | ||
| <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/> | ||
| <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/> | ||
| <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/> | ||
| <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/> | ||
|
|
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| <arg | ||
| name="object_recognition_detection_object_lanelet_filter_param_path" | ||
| value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_lanelet_filter.param.yaml" | ||
| /> | ||
| <arg | ||
| name="object_recognition_detection_object_position_filter_param_path" | ||
| value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_position_filter.param.yaml" | ||
| /> | ||
| <arg | ||
| name="object_recognition_detection_pointcloud_map_filter_param_path" | ||
| value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml" | ||
| /> | ||
| <arg | ||
| name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path" | ||
| value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml" | ||
| /> | ||
| <arg | ||
| name="obstacle_segmentation_ground_segmentation_param_path" | ||
| value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml" | ||
| /> | ||
| <arg | ||
| name="obstacle_segmentation_ground_segmentation_elevation_map_param_path" | ||
| value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml" | ||
| /> | ||
| </include> | ||
| </launch> |