diff --git a/.catkin_workspace b/.catkin_workspace new file mode 100644 index 0000000..52fd97e --- /dev/null +++ b/.catkin_workspace @@ -0,0 +1 @@ +# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/.gitignore b/.gitignore index 5acb669..66505ca 100644 --- a/.gitignore +++ b/.gitignore @@ -1,2 +1,3 @@ -build +/build +/devel .vscode diff --git a/README.md b/README.md index eaf0f64..cd59d97 100644 --- a/README.md +++ b/README.md @@ -1 +1,7 @@ -# livox_detect \ No newline at end of file +# livox_detect + +catkin_make + +source devel/setup.bash + +roslaunch livox_detect livox_detection.launch diff --git a/models/livox_backbone_sim.onnx b/models/livox_backbone_sim.onnx deleted file mode 100644 index dde5313..0000000 Binary files a/models/livox_backbone_sim.onnx and /dev/null differ diff --git a/models/livox_detection_sim.engine b/models/livox_detection_sim.engine deleted file mode 100644 index 4e3892d..0000000 Binary files a/models/livox_detection_sim.engine and /dev/null differ diff --git a/readme.md b/readme.md deleted file mode 100755 index 46949aa..0000000 --- a/readme.md +++ /dev/null @@ -1,17 +0,0 @@ -# 知识点 -1. 使用智能指针，对tensorrt返回值做封装，使得内存安全不会泄露 - ```c++ - template - shared_ptr<_T> make_nvshared(_T* ptr){ - return shared_ptr<_T>(ptr, [](_T* p){p->destroy();}); - } - // [](_T* p){p->destroy();} 这里用lambda 表达式的形式来表示 destroy 的方式 - ``` - - 因为他常常需要destroy进行释放 -2. 使用cudaMallocHost对输入的host进行分配，使得主机内存复制到设备效率更高 -3. 注意推理时的预处理，指定了rgb与bgr对调 -4. 如果需要多个图像推理，需要： - 1. 在编译时，指定maxbatchsize为多个图 - 2. 在推理时，指定输入的bindings shape的batch维度为使用的图像数，要求小于等于maxbatchsize - 3. 在收取结果的时候，tensor的shape是input指定的batch大小，按照batch处理即可 - \ No newline at end of file diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt new file mode 120000 index 0000000..66dd650 --- /dev/null +++ b/src/CMakeLists.txt @@ -0,0 +1 @@ +/opt/ros/melodic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/src/autoware_msgs/CHANGELOG.rst b/src/autoware_msgs/CHANGELOG.rst new file mode 100755 index 0000000..1fd1530 --- /dev/null +++ b/src/autoware_msgs/CHANGELOG.rst @@ -0,0 +1,469 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.13.0 (2019-12-03) +------------------- +* Adding service message for TF-based TLR +* Update package.xml files to Format 2. +* Contributors: Joshua Whitley + +1.12.0 (2019-07-12) +------------------- + +1.11.0 (2019-03-21) +------------------- +* [Feature] Rebuild decision maker (`#1609 `_) +* Fix license notice in corresponding package.xml +* Cleanup WaypointState.msg and add sttering_state=STR_BACK (`#1822 `_) +* Initial release of object filter +* Contributors: Abraham Monrroy, Kenji Funaoka, amc-nu, s-azumi + +1.10.0 (2019-01-17) +------------------- +* Feature/perception visualization cleanup (`#1648 `_) + * * Initial commit for visualization package + * Removal of all visualization messages from perception nodes + * Visualization dependency removal + * Launch file modification + * * Fixes to visualization + * Error on Clustering CPU + * Reduce verbosity on markers + * intial commit + * * Changed to 2 spaces indentation + * Added README + * Fixed README messages type + * 2 space indenting + * ros clang format + * Publish acceleration and velocity from ukf tracker + * Remove hardcoded path + * Updated README + * updated prototype + * Prototype update for header and usage + * Removed unknown label from being reported + * Updated publishing orientation to match develop + * * Published all the trackers + * Added valid field for visualization and future compatibility with ADAS ROI filtering + * Add simple functions + * Refacor code + * * Reversed back UKF node to develop + * Formatted speed + * Refactor codes + * Refactor codes + * Refactor codes + * Refacor codes + * Make tracking visualization work + * Relay class info in tracker node + * Remove dependency to jskbbox and rosmarker in ukf tracker + * apply rosclang to ukf tracker + * Refactor codes + * Refactor codes + * add comment + * refactor codes + * Revert "Refactor codes" + This reverts commit 135aaac46e49cb18d9b76611576747efab3caf9c. + * Revert "apply rosclang to ukf tracker" + This reverts commit 4f8d1cb5c8263a491f92ae5321e5080cb34b7b9c. + * Revert "Remove dependency to jskbbox and rosmarker in ukf tracker" + This reverts commit 4fa1dd40ba58065f7afacc5e478001078925b27d. + * Revert "Relay class info in tracker node" + This reverts commit 1637baac44c8d3d414cc069f3af12a79770439ae. + * delete dependency to jsk and remove pointcloud_frame + * get direction nis + * set velocity_reliable true in tracker node + * Add divided function + * add function + * Sanity checks + * Relay all the data from input DetectedObject + * Divided function work both for immukf and sukf + * Add comment + * Refactor codes + * Pass immukf test + * make direction assisted tracking work + * Visualization fixes + * Refacor codes + * Refactor codes + * Refactor codes + * refactor codes + * refactor codes + * Refactor codes + * refactor codes + * Tracker Merging step added + * Added launch file support for merging phase + * lane assisted with sukf + * Refactor codes + * Refactor codes + * * change only static objects + * keep label of the oldest tracker + * Static Object discrimination + * Non rotating bouding box + * no disappear if detector works + * Modify removeRedundant a bit + * Replacement of JSK visualization for RViz Native Markers + * Added Models namespace to visualization + * Naming change for matching the perception component graph + * * Added 3D Models for different classes in visualization + * 2D Rect node visualize_rects added to visualization_package +* Fix Ndt/NDT naming convention +* Contributors: Abraham Monrroy Cano, Esteve Fernandez + +1.9.1 (2018-11-06) +------------------ + +1.9.0 (2018-10-31) +------------------ +* Moved CAN mesages to autoware_can_msgs +* Moved configuration messages to autoware_config_msgs +* [fix] PascalCase messages (`#1408 `_) + * Switch message files to pascal case + * Switch message names to pascal case in Runtime Manager + * Switch message names to pascal case in *.yaml + * Rename brake_cmd and steer_cmd to BrakeCmd and SteerCmd in main.yaml +* Feature/compare map filter (`#1559 `_) + * add compare map filter + * add README + * add copyright + * change default parameter + * fix typo + * clang-format + * Revert "clang-format" + This reverts commit 95869328f35f6ed1e918c26901ad36ab9737e466. + * retry clang-format +* Contributors: Esteve Fernandez, YamatoAndo + +1.8.0 (2018-08-31) +------------------ +* Support old behavior of insert static object for obstacle avoidance testing + Only one simulated car available in the runtime manager + update for copywrite note + insert autoware_build_flags to new nodes +* Feature/std perception msg (`#1418 `_) + * New standard message definition for the perception nodes + * New Detected Object message applied to: + * SSD + * Integrated RVIZ viewer + * External Viewer + * modified yolo2 and yolo3, compiles but cuda issues, trying different PC + * Boiler plate for range vision fusion node + * Added GenColors for Kinetic + Typo fixes for yolo2 + * testing colors in Yolo3 + * Completed transformation, projection of 3D boxes + * Fixed error on negative assignation + * code clean up + * removed yolo2 and yolo3, replaced by single darknet node. GUI launches yolo3 for now, to change. Pushing to test code on other PC. + * Readme updated, added gitignore for data folder. + * *Added Runtime manager UI for yolo2, yolo3. + *Support tested for TinyYolo v2 and v3 + * Fusion Vision Range + Icons for viewer + * Range Vision Fusion node + * Indigo cv im read + * Indigo compiation fix + * Topic renaming according to new spec + * Try to fix arm64 stuff + * * Added launch file + * Added Runtime manager entry + * * Added Publication of non fused objects + * Fixed topic names +* add max_scan_range to ConfigNDTMapping/ConfigApproximateNDTMapping +* Update OpenPlanner libraries (op_planner, op_utitity, op_ros_helpers) + Update ring ground filter with latest implementation + Update lidar_kf_contour_track with latest implementation + Add op_utilities nodes (op_bag_player, op_data_logger, op_pose2tf) + Modify autoware_msgs for OpenPlanner use (CloudCluster, DetectedObject, lane, waypoint) + Update UI computing.yaml for the new nodes and modifies parameters + Update UI sensing.yaml for updated ring_ground_filter params +* Modify points_concat_filter to support up to 8 lidars +* Contributors: Abraham Monrroy, Akihito Ohsato, hatem-darweesh, yukikitsukawa + +1.7.0 (2018-05-18) +------------------ +* update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst +* [Fix] rename packages (`#1269 `_) + * rename lidar_tracker + * Modify pf_lidar_track's cmake file + * Refactor code + * Rename from euclidean_lidar_tracker to lidar_euclidean_track + * Rename from kf_contour_track to lidar_kf_contour_track + * Rename from kf_lidar_track to lidar_kf_track, but need some modification in euclidean cluster(Cluster.h) + * Rename from pf_lidar_tarck to lidar_pf_track + * Rename range_fusion + * Rename obj_reproj + * Rename euclidean_cluster to lidar_euclidean_cluster_detect + * Rename svm_lidar_detect to lidar_svm_detect + * Rename kf_lidar_track to lidar_kf_track + * Change version 1.6.3 to 1.7.0 in pacakge.xml + * Modify CMake so that extrenal header would be loaded + * Remove obj_reproj from cv_tracker + * Add interface.yaml + * Rename road_wizard to trafficlight_recognizer + * create common directory + * Add lidar_imm_ukf_pda_track + * create vision_detector and moved cv + * Modify interface.yaml and package.xml + * remove dpm_ocv + * moved directory + * Delete unnecessary launch file + * Delete rcnn related file and code + * separated dummy_track from cv_tracker + * separated klt_track from cv_tracker + * Fix a cmake + * Remove unnecessary dependency of lidar_euclidean_cluster_detect package + * Rename image_segmenter to vision_segment_enet_detect + * Remove unnecessary dependency of lidar_svm_detect package + * separated kf_track and fix a some compiling issue + * move viewers + * merge ndt_localizer and icp_localizer, and rename to lidar_localizer + * Remove unnecessary dependency of lidar_euclidean_track + * moved image lib + * add launch + * lib move under lidar_tracker + * Rename dpm_ttic to vision_dpm_ttic_detect + * rename yolo3detector to vision_yolo3_detect + * Modify cmake and package.xml in vision_dpm_ttic_detect + * moved sourcefiles into nodes dir + * moved sourcefiles into nodes dir + * Move cv_tracker/data folder and delete cv_tracker/model folder + * fix a package file and cmake + * Rename yolo2 -> vision_yolo2_detect + * fix a package file and cmake + * Fix package name of launch file + * Rename ssd to vision_ssd_detect + * fixed cmake and package for decerese dependencies + * remove top packages dir for detection + * fixed cmake for cuda + * Rename lane_detector to vision_lane_detect + * Modify package.xml in lidar-related packages + * Remove unnecessary dependencies in lidar_detector and lidar_tracker + * Modify computing.yaml for dpm_ttic + * Modify dpm_ttic launch file + * Remove/Add dependencies to trafficlight_recognizer + * Update data folder in dpm_ttic + * Modified CMake and package file in dpm_ttic. + * Remove src dir in imm_ukf_pda_track + * removed unnecessary comments + * rename lidar_tracker + * Modify pf_lidar_track's cmake file + * Refactor code + * Rename from euclidean_lidar_tracker to lidar_euclidean_track + * Rename from kf_contour_track to lidar_kf_contour_track + * Rename from kf_lidar_track to lidar_kf_track, but need some modification in euclidean cluster(Cluster.h) + * Rename from pf_lidar_tarck to lidar_pf_track + * Rename range_fusion + * Rename obj_reproj + * Rename road_wizard to trafficlight_recognizer + * Rename euclidean_cluster to lidar_euclidean_cluster_detect + * Rename svm_lidar_detect to lidar_svm_detect + * Rename kf_lidar_track to lidar_kf_track + * Change version 1.6.3 to 1.7.0 in pacakge.xml + * Modify CMake so that extrenal header would be loaded + * Remove obj_reproj from cv_tracker + * Add interface.yaml + * create common directory + * Add lidar_imm_ukf_pda_track + * create vision_detector and moved cv + * Modify interface.yaml and package.xml + * remove dpm_ocv + * moved directory + * Delete unnecessary launch file + * Delete rcnn related file and code + * separated dummy_track from cv_tracker + * separated klt_track from cv_tracker + * Fix a cmake + * Remove unnecessary dependency of lidar_euclidean_cluster_detect package + * Rename image_segmenter to vision_segment_enet_detect + * Remove unnecessary dependency of lidar_svm_detect package + * separated kf_track and fix a some compiling issue + * move viewers + * merge ndt_localizer and icp_localizer, and rename to lidar_localizer + * Remove unnecessary dependency of lidar_euclidean_track + * moved image lib + * add launch + * lib move under lidar_tracker + * Rename dpm_ttic to vision_dpm_ttic_detect + * rename yolo3detector to vision_yolo3_detect + * Modify cmake and package.xml in vision_dpm_ttic_detect + * moved sourcefiles into nodes dir + * moved sourcefiles into nodes dir + * Move cv_tracker/data folder and delete cv_tracker/model folder + * fix a package file and cmake + * Rename yolo2 -> vision_yolo2_detect + * fix a package file and cmake + * Fix package name of launch file + * Rename ssd to vision_ssd_detect + * fixed cmake and package for decerese dependencies + * remove top packages dir for detection + * fixed cmake for cuda + * Rename lane_detector to vision_lane_detect + * Modify package.xml in lidar-related packages + * Remove unnecessary dependencies in lidar_detector and lidar_tracker + * Modify computing.yaml for dpm_ttic + * Modify dpm_ttic launch file + * Remove/Add dependencies to trafficlight_recognizer + * Update data folder in dpm_ttic + * Modified CMake and package file in dpm_ttic. + * Remove src dir in imm_ukf_pda_track + * Fix bug for not starting run time manager + * Remove invalid dependency +* Return disable_decision_maker to rosparam +* Rename class and functions filter->replan +* Fix message +* Fix config message path +* change can_translator + - Support to vehicle_status(can intermediate layer) + - Separate the can translator and the odometry. + - Support to output vehicle autonomous mode +* add vehicle_status msg +* Add end point offset option +* Fix/cmake cleanup (`#1156 `_) + * Initial Cleanup + * fixed also for indigo + * kf cjeck + * Fix road wizard + * Added travis ci + * Trigger CI + * Fixes to cv_tracker and lidar_tracker cmake + * Fix kitti player dependencies + * Removed unnecessary dependencies + * messages fixing for can + * Update build script travis + * Travis Path + * Travis Paths fix + * Travis test + * Eigen checks + * removed unnecessary dependencies + * Eigen Detection + * Job number reduced + * Eigen3 more fixes + * More Eigen3 + * Even more Eigen + * find package cmake modules included + * More fixes to cmake modules + * Removed non ros dependency + * Enable industrial_ci for indidog and kinetic + * Wrong install command + * fix rviz_plugin install + * FastVirtualScan fix + * Fix Qt5 Fastvirtualscan + * Fixed qt5 system dependencies for rosdep + * NDT TKU Fix catkin not pacakged + * Fixes from industrial_ci +* add ctrl_cmd/cmd/linear_acceletion +* Correspond to new version of waypoint_csv(for decision_maker) +* fix runtime_manager layout and description +* Add config_callback for online waypoint tuning +* Separate configration for speed planning against obstacle/stopline (Note: no logics changed) +* parametrize detection area +* add ratio for stopline target +* Add a transition to stopstate to re-start only manually +* add new param for decision_maker +* Contributors: Abraham Monrroy, Akihito Ohsato, Dejan Pangercic, Kosuke Murakami, Yamato ANDO, Yuma, Yuma Nihei, Yusuke FUJII + +1.6.3 (2018-03-06) +------------------ + +1.6.2 (2018-02-27) +------------------ +* Update CHANGELOG +* Contributors: Yusuke FUJII + +1.6.1 (2018-01-20) +------------------ +* update CHANGELOG +* Contributors: Yusuke FUJII + +1.6.0 (2017-12-11) +------------------ +* Prepare release for 1.6.0 +* Added support to publish result of multiple traffic signals according to the lane + VectorMapServer Support to publish signals on current lane if current_pose and final_waypoints available +* Initial modifications to feat_proj, tlr, context and vector_map loader, server and client to support different types of traffic signals +* - Add new Node for object polygon representation and tracking (kf_contour_tracker) + - Add launch file and tune tracking parameters + - Test with Moriyama rosbag +* Fixed: + - callback + - laneshift + Added: + - publisher for laneid + - new lanechange flag + - new param for decisionMaker +* add to insert shift lane +* Support to lanechange similar to state_machine(old) package +* Changed path state recognition to the way based on /lane_waypoints_array +* Fix build error, add msg definition +* Rename and merge msgs +* add path velocity smoothing +* add msg of waypointstate for decision_maker +* Feature/fusion_filter - fusion multiple lidar (`#842 `_) + * Add fusion_filter to merge multiple lidar pointclouds + * Refactor fusion_filter + * Apply clang-format and rebase develop + * Add fusion_filter launch and runtime_manager config + * Fix names, fusion_filter -> points_concat_filter + * Fix build error in ros-indigo + * Fix some default message/frame names + * Refactor code and apply clang-format + * Add configrations for runtime_manager + * Fix CMake +* refactor code +* refactor code +* refactor msg and add blinker to msg +* Add ground_filter config for runtime_manager (`#828 `_) +* Ray Ground Filter Initial Commit +* add approximate_ndt_mapping (`#811 `_) +* add new msg and rename msg +* add mqtt sender +* Contributors: AMC, Akihito Ohsato, Yamato ANDO, Yuki Iida, Yuki Kitsukawa, Yusuke FUJII, hatem-darweesh + +1.5.1 (2017-09-25) +------------------ +* Release/1.5.1 (`#816 `_) + * fix a build error by gcc version + * fix build error for older indigo version + * update changelog for v1.5.1 + * 1.5.1 +* Contributors: Yusuke FUJII + +1.5.0 (2017-09-21) +------------------ +* Update changelog +* update decision maker config +* Add to support dynamical parameter for decision_maker +* Add decision_maker config +* add config parameter +* autoware_msgs does not depend on jsk_rviz_plugin, cmake and package.xml were not correct +* Contributors: Dejan Pangercic, Yusuke FUJII + +1.4.0 (2017-08-04) +------------------ +* version number must equal current release number so we can start releasing in the future +* added changelogs +* Contributors: Dejan Pangercic + +1.3.1 (2017-07-16) +------------------ + +1.3.0 (2017-07-14) +------------------ +* convert to autoware_msgs +* Contributors: YamatoAndo + +1.2.0 (2017-06-07) +------------------ + +1.1.2 (2017-02-27 23:10) +------------------------ + +1.1.1 (2017-02-27 22:25) +------------------------ + +1.1.0 (2017-02-24) +------------------ + +1.0.1 (2017-01-14) +------------------ + +1.0.0 (2016-12-22) +------------------ diff --git a/src/autoware_msgs/CMakeLists.txt b/src/autoware_msgs/CMakeLists.txt new file mode 100755 index 0000000..e99f2b3 --- /dev/null +++ b/src/autoware_msgs/CMakeLists.txt @@ -0,0 +1,88 @@ +cmake_minimum_required(VERSION 2.8.3) +project(autoware_msgs) + +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + jsk_recognition_msgs + message_generation + sensor_msgs + std_msgs +) + +add_message_files( + DIRECTORY msg + FILES + AccelCmd.msg + AdjustXY.msg + BrakeCmd.msg + Centroids.msg + CloudCluster.msg + CloudClusterArray.msg + ColorSet.msg + ControlCommand.msg + ControlCommandStamped.msg + DTLane.msg + DetectedObject.msg + DetectedObjectArray.msg + ExtractedPosition.msg + Gear.msg + GeometricRectangle.msg + ICPStat.msg + ImageLaneObjects.msg + ImageObj.msg + ImageObjRanged.msg + ImageObjTracked.msg + ImageObjects.msg + ImageRect.msg + ImageRectRanged.msg + IndicatorCmd.msg + LampCmd.msg + Lane.msg + LaneArray.msg + NDTStat.msg + ObjLabel.msg + ObjPose.msg + PointsImage.msg + ProjectionMatrix.msg + RemoteCmd.msg + ScanImage.msg + Signals.msg + State.msg + StateCmd.msg + SteerCmd.msg + SyncTimeDiff.msg + SyncTimeMonitor.msg + TrafficLight.msg + TrafficLightResult.msg + TrafficLightResultArray.msg + TunedResult.msg + ValueSet.msg + VehicleCmd.msg + VehicleLocation.msg + VehicleStatus.msg + VscanTracked.msg + VscanTrackedArray.msg + Waypoint.msg + WaypointState.msg +) + +add_service_files( + FILES RecognizeLightState.srv +) + +# generate_messages( +# DEPENDENCIES +# geometry_msgs +# jsk_recognition_msgs +# sensor_msgs +# std_msgs +# ) + +catkin_package( + CATKIN_DEPENDS + geometry_msgs + jsk_recognition_msgs + message_runtime + sensor_msgs + std_msgs +) diff --git a/src/autoware_msgs/msg/AccelCmd.msg b/src/autoware_msgs/msg/AccelCmd.msg new file mode 100755 index 0000000..3bced22 --- /dev/null +++ b/src/autoware_msgs/msg/AccelCmd.msg @@ -0,0 +1,2 @@ +Header header +int32 accel diff --git a/src/autoware_msgs/msg/AdjustXY.msg b/src/autoware_msgs/msg/AdjustXY.msg new file mode 100755 index 0000000..f90c91d --- /dev/null +++ b/src/autoware_msgs/msg/AdjustXY.msg @@ -0,0 +1,3 @@ +Header header +int32 x +int32 y diff --git a/src/autoware_msgs/msg/BrakeCmd.msg b/src/autoware_msgs/msg/BrakeCmd.msg new file mode 100755 index 0000000..5f0e658 --- /dev/null +++ b/src/autoware_msgs/msg/BrakeCmd.msg @@ -0,0 +1,2 @@ +Header header +int32 brake diff --git a/src/autoware_msgs/msg/CameraExtrinsic.msg b/src/autoware_msgs/msg/CameraExtrinsic.msg new file mode 100755 index 0000000..fa4a16c --- /dev/null +++ b/src/autoware_msgs/msg/CameraExtrinsic.msg @@ -0,0 +1,4 @@ +Header header +uint32 xsize=4 +uint32 ysize=4 +float64[] calibration diff --git a/src/autoware_msgs/msg/Centroids.msg b/src/autoware_msgs/msg/Centroids.msg new file mode 100755 index 0000000..dedd9d9 --- /dev/null +++ b/src/autoware_msgs/msg/Centroids.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +geometry_msgs/Point[] points diff --git a/src/autoware_msgs/msg/CloudCluster.msg b/src/autoware_msgs/msg/CloudCluster.msg new file mode 100755 index 0000000..cf7f37f --- /dev/null +++ b/src/autoware_msgs/msg/CloudCluster.msg @@ -0,0 +1,31 @@ +std_msgs/Header header + +uint32 id +string label +float64 score + +sensor_msgs/PointCloud2 cloud + +geometry_msgs/PointStamped min_point +geometry_msgs/PointStamped max_point +geometry_msgs/PointStamped avg_point +geometry_msgs/PointStamped centroid_point + +float64 estimated_angle + +geometry_msgs/Vector3 dimensions +geometry_msgs/Vector3 eigen_values +geometry_msgs/Vector3[] eigen_vectors + +#Array of 33 floats containing the FPFH descriptor +std_msgs/Float32MultiArray fpfh_descriptor + +jsk_recognition_msgs/BoundingBox bounding_box +geometry_msgs/PolygonStamped convex_hull + +# Indicator information +# INDICATOR_LEFT 0 +# INDICATOR_RIGHT 1 +# INDICATOR_BOTH 2 +# INDICATOR_NONE 3 +uint32 indicator_state \ No newline at end of file diff --git a/src/autoware_msgs/msg/CloudClusterArray.msg b/src/autoware_msgs/msg/CloudClusterArray.msg new file mode 100755 index 0000000..b8f7221 --- /dev/null +++ b/src/autoware_msgs/msg/CloudClusterArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +CloudCluster[] clusters \ No newline at end of file diff --git a/src/autoware_msgs/msg/ColorSet.msg b/src/autoware_msgs/msg/ColorSet.msg new file mode 100755 index 0000000..836df79 --- /dev/null +++ b/src/autoware_msgs/msg/ColorSet.msg @@ -0,0 +1,3 @@ +ValueSet Hue +ValueSet Sat +ValueSet Val diff --git a/src/autoware_msgs/msg/ControlCommand.msg b/src/autoware_msgs/msg/ControlCommand.msg new file mode 100755 index 0000000..890b1ce --- /dev/null +++ b/src/autoware_msgs/msg/ControlCommand.msg @@ -0,0 +1,3 @@ +float64 linear_velocity +float64 linear_acceleration #m/s^2 +float64 steering_angle diff --git a/src/autoware_msgs/msg/ControlCommandStamped.msg b/src/autoware_msgs/msg/ControlCommandStamped.msg new file mode 100755 index 0000000..8df6cea --- /dev/null +++ b/src/autoware_msgs/msg/ControlCommandStamped.msg @@ -0,0 +1,2 @@ +Header header +ControlCommand cmd diff --git a/src/autoware_msgs/msg/DTLane.msg b/src/autoware_msgs/msg/DTLane.msg new file mode 100755 index 0000000..0e400d1 --- /dev/null +++ b/src/autoware_msgs/msg/DTLane.msg @@ -0,0 +1,8 @@ +float64 dist +float64 dir +float64 apara +float64 r +float64 slope +float64 cant +float64 lw +float64 rw diff --git a/src/autoware_msgs/msg/DetectedObject.msg b/src/autoware_msgs/msg/DetectedObject.msg new file mode 100755 index 0000000..16dbb7c --- /dev/null +++ b/src/autoware_msgs/msg/DetectedObject.msg @@ -0,0 +1,43 @@ +std_msgs/Header header + +uint32 id +string label +float32 score #Score as defined by the detection, Optional +std_msgs/ColorRGBA color # Define this object specific color +bool valid # Defines if this object is valid, or invalid as defined by the filtering + +################ 3D BB +string space_frame #3D Space coordinate frame of the object, required if pose and dimensions are defines +geometry_msgs/Pose pose +geometry_msgs/Vector3 dimensions +geometry_msgs/Vector3 variance +geometry_msgs/Twist velocity +geometry_msgs/Twist acceleration + +sensor_msgs/PointCloud2 pointcloud + +geometry_msgs/PolygonStamped convex_hull +autoware_msgs/LaneArray candidate_trajectories + +bool pose_reliable +bool velocity_reliable +bool acceleration_reliable + +############### 2D Rect +string image_frame # Image coordinate Frame, Required if x,y,w,h defined +int32 x # X coord in image space(pixel) of the initial point of the Rect +int32 y # Y coord in image space(pixel) of the initial point of the Rect +int32 width # Width of the Rect in pixels +int32 height # Height of the Rect in pixels +float32 angle # Angle [0 to 2*PI), allow rotated rects + +sensor_msgs/Image roi_image + +############### Indicator information +uint8 indicator_state # INDICATOR_LEFT = 0, INDICATOR_RIGHT = 1, INDICATOR_BOTH = 2, INDICATOR_NONE = 3 + +############### Behavior State of the Detected Object +uint8 behavior_state # FORWARD_STATE = 0, STOPPING_STATE = 1, BRANCH_LEFT_STATE = 2, BRANCH_RIGHT_STATE = 3, YIELDING_STATE = 4, ACCELERATING_STATE = 5, SLOWDOWN_STATE = 6 + +# +string[] user_defined_info \ No newline at end of file diff --git a/src/autoware_msgs/msg/DetectedObjectArray.msg b/src/autoware_msgs/msg/DetectedObjectArray.msg new file mode 100755 index 0000000..7866cbb --- /dev/null +++ b/src/autoware_msgs/msg/DetectedObjectArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +DetectedObject[] objects \ No newline at end of file diff --git a/src/autoware_msgs/msg/ExtractedPosition.msg b/src/autoware_msgs/msg/ExtractedPosition.msg new file mode 100755 index 0000000..ff12077 --- /dev/null +++ b/src/autoware_msgs/msg/ExtractedPosition.msg @@ -0,0 +1,15 @@ +# This message defines the information required to describe a lamp (bulb) +# in a traffic signal, according to the information extracted from the ADAS Map +# and the extrinsic camera calibration + +int32 signalId # Traffic Signal Lamp ID +int32 u # Lamp ROI x in image coords +int32 v # Lamp ROI y in image coords +int32 radius # Lamp Radius +float64 x # X position in map coordinates +float64 y # Y position in map coordinates +float64 z # Z position in map coordinates +float64 hang # Azimuth "Horizontal Angle" +int8 type # Lamp Type (red, yellow, green, ...) +int32 linkId # Closest LinkID (lane) in VectorMap +int32 plId # PoleID to which this Lamp belongs to diff --git a/src/autoware_msgs/msg/Gear.msg b/src/autoware_msgs/msg/Gear.msg new file mode 100755 index 0000000..b7e1b83 --- /dev/null +++ b/src/autoware_msgs/msg/Gear.msg @@ -0,0 +1,7 @@ +uint8 NONE=0 +uint8 PARK=1 +uint8 REVERSE=2 +uint8 NEUTRAL=3 +uint8 DRIVE=4 +uint8 LOW=5 +uint8 gear \ No newline at end of file diff --git a/src/autoware_msgs/msg/GeometricRectangle.msg b/src/autoware_msgs/msg/GeometricRectangle.msg new file mode 100755 index 0000000..4a85d9c --- /dev/null +++ b/src/autoware_msgs/msg/GeometricRectangle.msg @@ -0,0 +1,4 @@ +float32 wl +float32 wr +float32 lf +float32 lb \ No newline at end of file diff --git a/src/autoware_msgs/msg/ICPStat.msg b/src/autoware_msgs/msg/ICPStat.msg new file mode 100755 index 0000000..d4431ab --- /dev/null +++ b/src/autoware_msgs/msg/ICPStat.msg @@ -0,0 +1,7 @@ +Header header +float32 exe_time +#int32 iteration +float32 score +float32 velocity +float32 acceleration +int32 use_predict_pose diff --git a/src/autoware_msgs/msg/ImageLaneObjects.msg b/src/autoware_msgs/msg/ImageLaneObjects.msg new file mode 100755 index 0000000..7d8eeb4 --- /dev/null +++ b/src/autoware_msgs/msg/ImageLaneObjects.msg @@ -0,0 +1,9 @@ +Header header +int32 lane_l_x1 # Left Lane +int32 lane_l_y1 +int32 lane_l_x2 +int32 lane_l_y2 +int32 lane_r_x1 # Right Lane +int32 lane_r_y1 +int32 lane_r_x2 +int32 lane_r_y2 diff --git a/src/autoware_msgs/msg/ImageObj.msg b/src/autoware_msgs/msg/ImageObj.msg new file mode 100755 index 0000000..b6d137f --- /dev/null +++ b/src/autoware_msgs/msg/ImageObj.msg @@ -0,0 +1,4 @@ +Header header +string type +ImageRect[] obj +# XXX Should this message have 'score' ? diff --git a/src/autoware_msgs/msg/ImageObjRanged.msg b/src/autoware_msgs/msg/ImageObjRanged.msg new file mode 100755 index 0000000..e34938a --- /dev/null +++ b/src/autoware_msgs/msg/ImageObjRanged.msg @@ -0,0 +1,3 @@ +Header header +string type +ImageRectRanged[] obj diff --git a/src/autoware_msgs/msg/ImageObjTracked.msg b/src/autoware_msgs/msg/ImageObjTracked.msg new file mode 100755 index 0000000..6a3a845 --- /dev/null +++ b/src/autoware_msgs/msg/ImageObjTracked.msg @@ -0,0 +1,7 @@ +Header header +string type +uint8 total_num +int32[] obj_id +ImageRectRanged[] rect_ranged +int32[] real_data +int32[] lifespan \ No newline at end of file diff --git a/src/autoware_msgs/msg/ImageObjects.msg b/src/autoware_msgs/msg/ImageObjects.msg new file mode 100755 index 0000000..407651e --- /dev/null +++ b/src/autoware_msgs/msg/ImageObjects.msg @@ -0,0 +1,5 @@ +Header header +uint8 car_num +int32[] car_type +float32[] score +int32[] corner_point diff --git a/src/autoware_msgs/msg/ImageRect.msg b/src/autoware_msgs/msg/ImageRect.msg new file mode 100755 index 0000000..5459197 --- /dev/null +++ b/src/autoware_msgs/msg/ImageRect.msg @@ -0,0 +1,5 @@ +int32 x +int32 y +int32 height +int32 width +float32 score diff --git a/src/autoware_msgs/msg/ImageRectRanged.msg b/src/autoware_msgs/msg/ImageRectRanged.msg new file mode 100755 index 0000000..cbd6a15 --- /dev/null +++ b/src/autoware_msgs/msg/ImageRectRanged.msg @@ -0,0 +1,4 @@ +ImageRect rect +float32 range +float32 min_height +float32 max_height diff --git a/src/autoware_msgs/msg/IndicatorCmd.msg b/src/autoware_msgs/msg/IndicatorCmd.msg new file mode 100755 index 0000000..d75cdb6 --- /dev/null +++ b/src/autoware_msgs/msg/IndicatorCmd.msg @@ -0,0 +1,3 @@ +Header header +int32 l +int32 r diff --git a/src/autoware_msgs/msg/LampCmd.msg b/src/autoware_msgs/msg/LampCmd.msg new file mode 100755 index 0000000..d75cdb6 --- /dev/null +++ b/src/autoware_msgs/msg/LampCmd.msg @@ -0,0 +1,3 @@ +Header header +int32 l +int32 r diff --git a/src/autoware_msgs/msg/Lane.msg b/src/autoware_msgs/msg/Lane.msg new file mode 100755 index 0000000..67b75bd --- /dev/null +++ b/src/autoware_msgs/msg/Lane.msg @@ -0,0 +1,10 @@ +Header header +int32 increment +int32 lane_id +Waypoint[] waypoints + +uint32 lane_index +float32 cost +float32 closest_object_distance +float32 closest_object_velocity +bool is_blocked diff --git a/src/autoware_msgs/msg/LaneArray.msg b/src/autoware_msgs/msg/LaneArray.msg new file mode 100755 index 0000000..302bded --- /dev/null +++ b/src/autoware_msgs/msg/LaneArray.msg @@ -0,0 +1,2 @@ +int32 id +Lane[] lanes diff --git a/src/autoware_msgs/msg/NDTStat.msg b/src/autoware_msgs/msg/NDTStat.msg new file mode 100755 index 0000000..7935a7c --- /dev/null +++ b/src/autoware_msgs/msg/NDTStat.msg @@ -0,0 +1,7 @@ +Header header +float32 exe_time +int32 iteration +float32 score +float32 velocity +float32 acceleration +int32 use_predict_pose diff --git a/src/autoware_msgs/msg/ObjLabel.msg b/src/autoware_msgs/msg/ObjLabel.msg new file mode 100755 index 0000000..f68a0cd --- /dev/null +++ b/src/autoware_msgs/msg/ObjLabel.msg @@ -0,0 +1,4 @@ +Header header +string type +int32[] obj_id +geometry_msgs/Point[] reprojected_pos diff --git a/src/autoware_msgs/msg/ObjPose.msg b/src/autoware_msgs/msg/ObjPose.msg new file mode 100755 index 0000000..89ed2e1 --- /dev/null +++ b/src/autoware_msgs/msg/ObjPose.msg @@ -0,0 +1,4 @@ +Header header +string type +int32[] obj_id +geometry_msgs/PoseArray[] obj diff --git a/src/autoware_msgs/msg/PointsImage.msg b/src/autoware_msgs/msg/PointsImage.msg new file mode 100755 index 0000000..da45dc0 --- /dev/null +++ b/src/autoware_msgs/msg/PointsImage.msg @@ -0,0 +1,9 @@ +Header header +float32[] distance +float32[] intensity +float32[] min_height +float32[] max_height +int32 max_y +int32 min_y +int32 image_height +int32 image_width \ No newline at end of file diff --git a/src/autoware_msgs/msg/ProjectionMatrix.msg b/src/autoware_msgs/msg/ProjectionMatrix.msg new file mode 100755 index 0000000..ee2b109 --- /dev/null +++ b/src/autoware_msgs/msg/ProjectionMatrix.msg @@ -0,0 +1,2 @@ +Header header +float64[16] projection_matrix \ No newline at end of file diff --git a/src/autoware_msgs/msg/RemoteCmd.msg b/src/autoware_msgs/msg/RemoteCmd.msg new file mode 100755 index 0000000..189ec89 --- /dev/null +++ b/src/autoware_msgs/msg/RemoteCmd.msg @@ -0,0 +1,3 @@ +Header header +autoware_msgs/VehicleCmd vehicle_cmd +int32 control_mode diff --git a/src/autoware_msgs/msg/ScanImage.msg b/src/autoware_msgs/msg/ScanImage.msg new file mode 100755 index 0000000..ea1fb06 --- /dev/null +++ b/src/autoware_msgs/msg/ScanImage.msg @@ -0,0 +1,5 @@ +Header header +float32[] distance +float32[] intensity +int32 max_y +int32 min_y \ No newline at end of file diff --git a/src/autoware_msgs/msg/Signals.msg b/src/autoware_msgs/msg/Signals.msg new file mode 100755 index 0000000..a3d1c2c --- /dev/null +++ b/src/autoware_msgs/msg/Signals.msg @@ -0,0 +1,2 @@ +Header header +ExtractedPosition[] Signals diff --git a/src/autoware_msgs/msg/State.msg b/src/autoware_msgs/msg/State.msg new file mode 100755 index 0000000..a2987cb --- /dev/null +++ b/src/autoware_msgs/msg/State.msg @@ -0,0 +1,5 @@ +Header header +string vehicle_state +string mission_state +string behavior_state +string motion_state diff --git a/src/autoware_msgs/msg/StateCmd.msg b/src/autoware_msgs/msg/StateCmd.msg new file mode 100755 index 0000000..5e01464 --- /dev/null +++ b/src/autoware_msgs/msg/StateCmd.msg @@ -0,0 +1,2 @@ +Header header +int32 cmd diff --git a/src/autoware_msgs/msg/SteerCmd.msg b/src/autoware_msgs/msg/SteerCmd.msg new file mode 100755 index 0000000..ed558ff --- /dev/null +++ b/src/autoware_msgs/msg/SteerCmd.msg @@ -0,0 +1,2 @@ +Header header +int32 steer diff --git a/src/autoware_msgs/msg/SyncTimeDiff.msg b/src/autoware_msgs/msg/SyncTimeDiff.msg new file mode 100755 index 0000000..f271c96 --- /dev/null +++ b/src/autoware_msgs/msg/SyncTimeDiff.msg @@ -0,0 +1,4 @@ +Header header +float64 time_diff +time camera +time lidar \ No newline at end of file diff --git a/src/autoware_msgs/msg/SyncTimeMonitor.msg b/src/autoware_msgs/msg/SyncTimeMonitor.msg new file mode 100755 index 0000000..8dc1936 --- /dev/null +++ b/src/autoware_msgs/msg/SyncTimeMonitor.msg @@ -0,0 +1,27 @@ +Header header +float64 image_raw +float64 points_raw +float64 points_image +float64 vscan_points +float64 vscan_image +float64 image_obj +float64 image_obj_ranged +float64 image_obj_tracked +float64 current_pose +float64 obj_label +float64 cluster_centroids +float64 obj_pose +float64 execution_time +float64 cycle_time +float64 time_diff + + +# time image_raw +# time points_raw +# time image_obj +# time image_obj_ranged +# time image_obj_tracked +# time current_pose +# time obj_label +# time cluster_centroids +# time obj_pose \ No newline at end of file diff --git a/src/autoware_msgs/msg/TrafficLight.msg b/src/autoware_msgs/msg/TrafficLight.msg new file mode 100755 index 0000000..8187451 --- /dev/null +++ b/src/autoware_msgs/msg/TrafficLight.msg @@ -0,0 +1,2 @@ +Header header +int32 traffic_light diff --git a/src/autoware_msgs/msg/TrafficLightResult.msg b/src/autoware_msgs/msg/TrafficLightResult.msg new file mode 100755 index 0000000..b997939 --- /dev/null +++ b/src/autoware_msgs/msg/TrafficLightResult.msg @@ -0,0 +1,22 @@ +# This message defines meta information for a traffic light status +Header header + +# Each bulb is assigned with an Id +# The TLR node convention is to use the yellow bulb's ID +int32 light_id + +# The result as provided by the tlr nodes +# Red and Yellow states are both treated as STOP +# RED = 0 +# YELLOW = 0 +# GREEN = 1 +# UNKNOWN = 2 +int32 recognition_result + +# This string is used by the Audio Player +string recognition_result_str + +# LaneId to which this traffic light result belongs to +# this Id is defined by the ADAS MAP +int32 lane_id + diff --git a/src/autoware_msgs/msg/TrafficLightResultArray.msg b/src/autoware_msgs/msg/TrafficLightResultArray.msg new file mode 100755 index 0000000..4c67574 --- /dev/null +++ b/src/autoware_msgs/msg/TrafficLightResultArray.msg @@ -0,0 +1,2 @@ +Header header +TrafficLightResult[] results diff --git a/src/autoware_msgs/msg/TunedResult.msg b/src/autoware_msgs/msg/TunedResult.msg new file mode 100755 index 0000000..86e577f --- /dev/null +++ b/src/autoware_msgs/msg/TunedResult.msg @@ -0,0 +1,4 @@ +Header header +ColorSet Red +ColorSet Yellow +ColorSet Green diff --git a/src/autoware_msgs/msg/ValueSet.msg b/src/autoware_msgs/msg/ValueSet.msg new file mode 100755 index 0000000..d77fb3e --- /dev/null +++ b/src/autoware_msgs/msg/ValueSet.msg @@ -0,0 +1,2 @@ +int32 center +int32 range diff --git a/src/autoware_msgs/msg/VehicleCmd.msg b/src/autoware_msgs/msg/VehicleCmd.msg new file mode 100755 index 0000000..37ba1f6 --- /dev/null +++ b/src/autoware_msgs/msg/VehicleCmd.msg @@ -0,0 +1,10 @@ +Header header +autoware_msgs/SteerCmd steer_cmd +autoware_msgs/AccelCmd accel_cmd +autoware_msgs/BrakeCmd brake_cmd +autoware_msgs/LampCmd lamp_cmd +autoware_msgs/Gear gear_cmd +int32 mode +geometry_msgs/TwistStamped twist_cmd +autoware_msgs/ControlCommand ctrl_cmd +int32 emergency diff --git a/src/autoware_msgs/msg/VehicleLocation.msg b/src/autoware_msgs/msg/VehicleLocation.msg new file mode 100755 index 0000000..c7a5135 --- /dev/null +++ b/src/autoware_msgs/msg/VehicleLocation.msg @@ -0,0 +1,3 @@ +Header header +int32 lane_array_id +int32 waypoint_index diff --git a/src/autoware_msgs/msg/VehicleStatus.msg b/src/autoware_msgs/msg/VehicleStatus.msg new file mode 100755 index 0000000..88f1136 --- /dev/null +++ b/src/autoware_msgs/msg/VehicleStatus.msg @@ -0,0 +1,24 @@ +Header header +string tm + +# Powertrain +int32 drivemode +int32 steeringmode +int32 MODE_MANUAL=0 +int32 MODE_AUTO=1 + +autoware_msgs/Gear current_gear + +float64 speed # vehicle velocity [km/s] +int32 drivepedal +int32 brakepedal + +float64 angle # vehicle steering (tire) angle [rad] + +# Body +int32 lamp +int32 LAMP_LEFT=1 +int32 LAMP_RIGHT=2 +int32 LAMP_HAZARD=3 + +int32 light diff --git a/src/autoware_msgs/msg/VscanTracked.msg b/src/autoware_msgs/msg/VscanTracked.msg new file mode 100755 index 0000000..024fcf8 --- /dev/null +++ b/src/autoware_msgs/msg/VscanTracked.msg @@ -0,0 +1,4 @@ +geometry_msgs/Point position +float32 orientation +float32 velocity +GeometricRectangle geo_rect \ No newline at end of file diff --git a/src/autoware_msgs/msg/VscanTrackedArray.msg b/src/autoware_msgs/msg/VscanTrackedArray.msg new file mode 100755 index 0000000..f260a12 --- /dev/null +++ b/src/autoware_msgs/msg/VscanTrackedArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +VscanTracked[] obj_tracked \ No newline at end of file diff --git a/src/autoware_msgs/msg/Waypoint.msg b/src/autoware_msgs/msg/Waypoint.msg new file mode 100755 index 0000000..b25c64b --- /dev/null +++ b/src/autoware_msgs/msg/Waypoint.msg @@ -0,0 +1,26 @@ +# global id +int32 gid +# local id +int32 lid +geometry_msgs/PoseStamped pose +geometry_msgs/TwistStamped twist +DTLane dtlane +int32 change_flag +WaypointState wpstate + +uint32 lane_id +uint32 left_lane_id +uint32 right_lane_id +uint32 stop_line_id +float32 cost +float32 time_cost + +# Lane Direction +# FORWARD = 0 +# FORWARD_LEFT = 1 +# FORWARD_RIGHT = 2 +# BACKWARD = 3 +# BACKWARD_LEFT = 4 +# BACKWARD_RIGHT = 5 +# STANDSTILL = 6 +uint32 direction \ No newline at end of file diff --git a/src/autoware_msgs/msg/WaypointState.msg b/src/autoware_msgs/msg/WaypointState.msg new file mode 100755 index 0000000..4486b77 --- /dev/null +++ b/src/autoware_msgs/msg/WaypointState.msg @@ -0,0 +1,27 @@ +int32 aid +uint8 NULLSTATE=0 + +# lanechange +uint8 lanechange_state + +# bilinker +uint8 steering_state +uint8 STR_LEFT=1 +uint8 STR_RIGHT=2 +uint8 STR_STRAIGHT=3 +uint8 STR_BACK=4 + +uint8 accel_state + +uint8 stop_state +# 1 is stopline, 2 is stop which can only be released manually. +uint8 TYPE_STOPLINE=1 +uint8 TYPE_STOP=2 + +uint8 event_state +uint8 TYPE_EVENT_NULL = 0 +uint8 TYPE_EVENT_GOAL = 1 +uint8 TYPE_EVENT_MIDDLE_GOAL = 2 +uint8 TYPE_EVENT_POSITION_STOP = 3 +uint8 TYPE_EVENT_BUS_STOP = 4 +uint8 TYPE_EVENT_PARKING = 5 diff --git a/src/autoware_msgs/package.xml b/src/autoware_msgs/package.xml new file mode 100755 index 0000000..92825b4 --- /dev/null +++ b/src/autoware_msgs/package.xml @@ -0,0 +1,19 @@ + + + autoware_msgs + 1.13.0 + The autoware_msgs package + Yusuke Fujii + Apache 2 + + catkin + + message_generation + + geometry_msgs + jsk_recognition_msgs + sensor_msgs + std_msgs + + message_runtime + diff --git a/src/autoware_msgs/srv/RecognizeLightState.srv b/src/autoware_msgs/srv/RecognizeLightState.srv new file mode 100755 index 0000000..0ac28d4 --- /dev/null +++ b/src/autoware_msgs/srv/RecognizeLightState.srv @@ -0,0 +1,4 @@ +sensor_msgs/Image roi_image +--- +uint8 class_id +float32 confidence diff --git a/CMakeLists.txt b/src/livox_detect/CMakeLists.txt similarity index 69% rename from CMakeLists.txt rename to src/livox_detect/CMakeLists.txt index d9e652c..5dfb3ea 100644 --- a/CMakeLists.txt +++ b/src/livox_detect/CMakeLists.txt @@ -1,8 +1,48 @@ cmake_minimum_required(VERSION 3.0) -project(livox_detection) +project(livox_detect) + +add_compile_options(-std=c++17) + +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +set(CMAKE_CXX_EXTENSIONS OFF) + +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + roslaunch + autoware_msgs + # cv_bridge //开启这个会造成opencv的冲突 + pcl_conversions + pcl_ros + geometry_msgs + laser_geometry + sensor_msgs + message_generation + visualization_msgs + # common_lib + # object_builders_lib + # grid_map_ros + # grid_map_cv //注释掉避免在xavier编译时与pcl1.8的kdtree_flannch + # grid_map_msgs + jsk_rviz_plugins + jsk_recognition_msgs +) + +generate_messages( + DEPENDENCIES + std_msgs + geometry_msgs + sensor_msgs +) + +catkin_package( + # INCLUDE_DIRS + # LIBRARIES + # CATKIN_DEPENDS roscpp rospy std_msgs +) -add_compile_options(-std=c++11) -set(CMAKE_BUILD_TYPE "Debug") # set flags for CUDA availability set(USE_CUDA ON) option(CUDA_AVAIL "CUDA available" OFF) @@ -17,8 +57,7 @@ find_package(PCL REQUIRED) include_directories(/usr/local/cuda-10.2/include) link_directories(/usr/local/cuda-10.2/lib64) # # tensorrt -include_directories(/home/jjho/software/TensorRT-7.1.3.4/include/) -link_directories(/home/jjho/software/TensorRT-7.1.3.4/lib/) + if (USE_CUDA) message("CUDA is available!") @@ -33,9 +72,9 @@ endif () # set flags for TensorRT availability option(TRT_AVAIL "TensorRT available" OFF) # try to find the tensorRT modules -find_library(NVINFER libnvinfer.so /home/jjho/software/TensorRT-7.1.3.4/lib) -find_library(NVPARSERS libnvparsers.so /home/jjho/software/TensorRT-7.1.3.4/lib) -find_library(NVONNXPARSERS libnvonnxparser.so /home/jjho/software/TensorRT-7.1.3.4/lib) +find_library(NVINFER libnvinfer.so ) +find_library(NVPARSERS libnvparsers.so ) +find_library(NVONNXPARSERS libnvonnxparser.so) # try to find the tensorRT modules # find_library(NVINFER libnvinfer.so) # find_library(NVPARSERS libnvparsers.so) @@ -80,7 +119,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) include_directories( include - src/onnx-tensorrt + ${catkin_INCLUDE_DIRS} /usr/local/cuda-10.2/include ${Eigen3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} @@ -89,9 +128,10 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) set(SOURCE_FILES src/main.cpp src/livox_detection.cpp + src/clip.cpp ) - add_executable(livox_detection + add_executable(livox_detect ${SOURCE_FILES} ) @@ -104,9 +144,10 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) ${CUDA_LIBRARIES} ) - target_link_libraries(livox_detection + target_link_libraries(livox_detect ${NVINFER} ${NVONNXPARSERS} + ${catkin_LIBRARIES} ${CUDA_LIBRARIES} ${CUDA_CUBLAS_LIBRARIES} ${CUDA_curand_LIBRARY} diff --git a/src/livox_detect/README.md b/src/livox_detect/README.md new file mode 100644 index 0000000..eaf0f64 --- /dev/null +++ b/src/livox_detect/README.md @@ -0,0 +1 @@ +# livox_detect \ No newline at end of file diff --git a/data/1589169520_1.pcd b/src/livox_detect/data/1589169520_1.pcd similarity index 100% rename from data/1589169520_1.pcd rename to src/livox_detect/data/1589169520_1.pcd diff --git a/data/1589169525_9.pcd b/src/livox_detect/data/1589169525_9.pcd similarity index 100% rename from data/1589169525_9.pcd rename to src/livox_detect/data/1589169525_9.pcd diff --git a/data/livox.pcd b/src/livox_detect/data/livox.pcd similarity index 100% rename from data/livox.pcd rename to src/livox_detect/data/livox.pcd diff --git a/src/livox_detect/include/clip.h b/src/livox_detect/include/clip.h new file mode 100644 index 0000000..8b8b680 --- /dev/null +++ b/src/livox_detect/include/clip.h @@ -0,0 +1,46 @@ +/* + * @Description: 删除多余的点，划分合适的区域 + * @Version: 2.0 + * @Author: CXY + * @Date: 2021-10-10 18:51:35 + * @LastEditors: CXY + * @LastEditTime: 2021-10-23 12:19:57 + */ +#ifndef CLIP_H +#define CLIP_H + +#include "my_detection/point_types.h" +#include +#include + +class Clip +{ +private: + //设置三个方向上最大最小检测范围 + float min_x = -30.0; + float max_x = 50.0; + float min_y = -15.0; + float max_y = 15.0; + float min_z = -2.2; + float max_z = 0.1; + + //设置车辆自身坐标，便于删除自身的点云 + float min_base_x = -2.0; + float max_base_x = 2.0; + float min_base_y = -1.0; + float max_base_y = 1.0; + float min_base_z = -2.2; + float max_base_z = 0.05; + + float leaf_size = 0.1; + +public: + Clip(ros::NodeHandle &nh, ros::NodeHandle &private_nh); + + void Process(const pcl::PointCloud &in_cloud, pcl::PointCloud &out_cloud); + //判断该点是否在范围内 + bool IsIn(const float &a, const float &min, const float &max); + ~Clip(); +}; + +#endif diff --git a/include/common.h b/src/livox_detect/include/common.h similarity index 100% rename from include/common.h rename to src/livox_detect/include/common.h diff --git a/include/config.h b/src/livox_detect/include/config.h similarity index 100% rename from include/config.h rename to src/livox_detect/include/config.h diff --git a/include/iou3d_nms.h b/src/livox_detect/include/iou3d_nms.h similarity index 100% rename from include/iou3d_nms.h rename to src/livox_detect/include/iou3d_nms.h diff --git a/include/livox_detection.hpp b/src/livox_detect/include/livox_detection.hpp similarity index 63% rename from include/livox_detection.hpp rename to src/livox_detect/include/livox_detection.hpp index 2d504e1..e517297 100644 --- a/include/livox_detection.hpp +++ b/src/livox_detect/include/livox_detection.hpp @@ -1,13 +1,19 @@ #ifndef LIVOX_DETECTION #define LIVOX_DETECTION +#include "postprocess_cuda.h" + #include // 推理用的运行时头文件 #include #include -#include "postprocess_cuda.h" +// headers in ROS +#include +#include +#include "geometry_msgs/PoseStamped.h" +#include bool build_model(); @@ -70,11 +76,11 @@ class livox_detection ~livox_detection(); - void preprocess(const pcl::PointCloud::Ptr &in_pcl_pc_ptr, pcl::PointCloud::Ptr &out_pcl_pc_ptr, float *out_points_array); - - void doprocess(const pcl::PointCloud::Ptr &in_pcl_pc_ptr); - - void postprocess(const float *rpn_all_output, std::vector &predResult); + /** + * @brief Create ROS pub/sub obejct + * @details Create/Initializing ros pub/sub object + */ + void createROSPubSub(); int BEV_W = 1120; int BEV_H = 448; @@ -87,14 +93,64 @@ class livox_detection void mask_points_out_of_range(pcl::PointCloud::Ptr &in_pcl_pc_ptr); - pcl::PointCloud input_cloud_; + void preprocess(const pcl::PointCloud::Ptr &in_pcl_pc_ptr, pcl::PointCloud::Ptr &out_pcl_pc_ptr, float *out_points_array); + + void doprocess(const pcl::PointCloud::Ptr &in_pcl_pc_ptr, std::vector &pre_box); + + void postprocess(const float *rpn_all_output, std::vector &predResult); + + void pubDetectedObject_Marker(const std::vector &detections, const std_msgs::Header &in_header); + + void initTRT(); + + /** + * @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 &msg); + + /** + * @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); + + // initializer list + ros::NodeHandle private_nh_; + + ros::NodeHandle nh_; + ros::Subscriber sub_points_; + ros::Publisher pub_objects_; + ros::Publisher pub_objects_marker_; + + std::vector engine_data; + nvinfer1::IExecutionContext *execution_context; + nvinfer1::IRuntime *runtime; + nvinfer1::ICudaEngine *engine; + + tf::Transform angle_transform_inversed_; + + float *input_data_host; + float *input_data_device; + float *output_data_host; + float *output_data_device; - const int OUTPUT_SIZE = 1 * 9 * 500; float *dev_filtered_box_; float *dev_filtered_score_; int *dev_filtered_label_; int dev_filter_count_; long *dev_keep_data_; + + std::string ONNX_Path; + std::string engine_Path; + float theta = -M_PI/38; + int input_batch = 1; + int input_numel = input_batch * BEV_C * BEV_H * BEV_W; + const int OUTPUT_SIZE = 1 * 9 * 500; float point_cloud_range[6] = {0, -44.8, -2, 224, 44.8, 4}; float voxel_size[3] = {0.2, 0.2, 0.2}; }; diff --git a/src/livox_detect/include/my_detection/point_types.h b/src/livox_detect/include/my_detection/point_types.h new file mode 100644 index 0000000..4c0b72a --- /dev/null +++ b/src/livox_detect/include/my_detection/point_types.h @@ -0,0 +1,18 @@ +/* + * @Description: types + * @Version: 2.0 + * @Author: CXY + * @Date: 2021-10-10 18:33:55 + * @LastEditors: CXY + * @LastEditTime: 2021-10-16 20:21:10 + */ +#ifndef POINT_TYPES_H +#define POINT_TYPES_H + +#include +#include +//定义点云的格式 +typedef pcl::PointXYZI Pt; +typedef pcl::PointCloud PtC; + +#endif \ No newline at end of file diff --git a/include/postprocess_cuda.h b/src/livox_detect/include/postprocess_cuda.h similarity index 100% rename from include/postprocess_cuda.h rename to src/livox_detect/include/postprocess_cuda.h diff --git a/src/livox_detect/launch/livox_detection.launch b/src/livox_detect/launch/livox_detection.launch new file mode 100755 index 0000000..6b3972e --- /dev/null +++ b/src/livox_detect/launch/livox_detection.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/src/livox_detect/models/livox_detection_sim.engine b/src/livox_detect/models/livox_detection_sim.engine new file mode 100644 index 0000000..2d44058 Binary files /dev/null and b/src/livox_detect/models/livox_detection_sim.engine differ diff --git a/models/livox_detection_sim.onnx b/src/livox_detect/models/livox_detection_sim.onnx similarity index 100% rename from models/livox_detection_sim.onnx rename to src/livox_detect/models/livox_detection_sim.onnx diff --git a/models/livox_head_sim.onnx b/src/livox_detect/models/livox_head_sim.onnx similarity index 100% rename from models/livox_head_sim.onnx rename to src/livox_detect/models/livox_head_sim.onnx diff --git a/src/livox_detect/package.xml b/src/livox_detect/package.xml new file mode 100644 index 0000000..016fb9a --- /dev/null +++ b/src/livox_detect/package.xml @@ -0,0 +1,65 @@ + + + livox_detect + 0.0.0 + The livox_detect package + + + + + jjho + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + std_msgs + roscpp + std_msgs + roscpp + std_msgs + + + + + + + + diff --git a/src/livox_detect/rviz/kitti.rviz b/src/livox_detect/rviz/kitti.rviz new file mode 100755 index 0000000..75d4ebf --- /dev/null +++ b/src/livox_detect/rviz/kitti.rviz @@ -0,0 +1,712 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Sensing1/Points Raw1 + - /Perception1 + - /Perception1/Clustered Points1 + - /Perception1/Tracked Objects1 + - /Perception1/Tracked Objects1/Namespaces1 + - /Perception1/Predicted Path1 + Splitter Ratio: 0.5991984009742737 + Tree Height: 769 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Clustered Points + - Class: autoware_rviz_debug/DecisionMakerPanel + Name: DecisionMakerPanel +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 10 + Class: rviz/Grid + Color: 85; 87; 83 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 20 + Reference Frame: + Value: true + - Class: rviz/Group + Displays: + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: true + - 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 + - Class: rviz/Group + Displays: + - 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: 1 + foreground color: 0; 255; 255 + 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: 0.03999999910593033 + width: 80 + - Buffer length: 100 + Class: jsk_rviz_plugin/Plotter2D + Enabled: true + Name: NDT Time [ms] + Show Value: true + Topic: /time_ndt_matching + Value: true + auto color change: false + auto scale: true + background color: 0; 0; 0 + backround alpha: 0 + border: true + foreground alpha: 1 + foreground color: 0; 255; 255 + height: 80 + left: 140 + linewidth: 1 + max color: 255; 0; 0 + max value: 1 + min value: -1 + show caption: true + text size: 8 + top: 30 + update interval: 0.03999999910593033 + width: 80 + - Align Bottom: false + Background Alpha: 0.8999999761581421 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000011920929 + Foreground Color: 0; 255; 255 + Invert Shadow: false + Name: NDT Monitor + Overtake BG Color Properties: false + Overtake FG Color Properties: false + Overtake Position Properties: true + Topic: /ndt_monitor/ndt_info_text + Value: true + font: DejaVu Sans Mono + height: 50 + left: 40 + line width: 2 + text size: 8 + top: 150 + width: 200 + - Align Bottom: false + Background Alpha: 0.8999999761581421 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000011920929 + Foreground Color: 0; 255; 255 + Invert Shadow: false + Name: Decision Maker Panel + Overtake BG Color Properties: false + Overtake FG Color Properties: false + Overtake Position Properties: true + Topic: /decision_maker/state_overlay + Value: true + font: DejaVu Sans Mono + height: 200 + left: 40 + line width: 2 + text size: 8 + top: 220 + width: 200 + Enabled: true + Name: Monitor + - Class: rviz/Group + Displays: + - Align Bottom: false + Background Alpha: 0.800000011920929 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000011920929 + Foreground Color: 25; 255; 240 + Invert Shadow: false + Name: OK + Overtake BG Color Properties: false + Overtake FG Color Properties: false + Overtake Position Properties: true + Topic: /health_aggregator/ok_text + Value: true + font: DejaVu Sans Mono + height: 80 + left: 40 + line width: 2 + text size: 6 + top: 430 + width: 200 + - Align Bottom: false + Background Alpha: 0.800000011920929 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000011920929 + Foreground Color: 255; 255; 0 + Invert Shadow: false + Name: WARN + Overtake BG Color Properties: false + Overtake FG Color Properties: false + Overtake Position Properties: true + Topic: /health_aggregator/warn_text + Value: true + font: DejaVu Sans Mono + height: 80 + left: 40 + line width: 2 + text size: 6 + top: 520 + width: 200 + - Align Bottom: false + Background Alpha: 0.800000011920929 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000011920929 + Foreground Color: 255; 85; 0 + Invert Shadow: false + Name: ERROR + Overtake BG Color Properties: false + Overtake FG Color Properties: false + Overtake Position Properties: true + Topic: /health_aggregator/error_text + Value: true + font: DejaVu Sans Mono + height: 80 + left: 40 + line width: 2 + text size: 6 + top: 620 + width: 200 + - Align Bottom: false + Background Alpha: 0.800000011920929 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000011920929 + Foreground Color: 255; 0; 0 + Invert Shadow: false + Name: FATAL + Overtake BG Color Properties: false + Overtake FG Color Properties: false + Overtake Position Properties: true + Topic: /health_aggregator/fatal_text + Value: true + font: DejaVu Sans Mono + height: 80 + left: 40 + line width: 2 + text size: 6 + top: 720 + width: 200 + Enabled: true + Name: Health Checker + Enabled: true + Name: System + - Class: rviz/Group + Displays: + - Alpha: 0.05000000074505806 + 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 + Min Color: 0; 0; 0 + Name: Points Map + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 2 + Size (m): 0.009999999776482582 + 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: ADAS Map + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /lanelet2_map_viz + Name: Lanelet2 Map + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Name: Map + - Class: rviz/Group + Displays: + - Alpha: 0.30000001192092896 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 2.9070000648498535 + Min Value: -8.116000175476074 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Points Raw + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 2 + Size (m): 0.009999999776482582 + Style: Points + Topic: /livox_full_cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.5 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 23.83440399169922 + Min Value: -22.532455444335938 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Points No Ground + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 2 + Size (m): 0.009999999776482582 + Style: Points + Topic: /points_no_ground + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Name: Sensing + - Class: rviz/Group + Displays: + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + 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: /current_pose + Unreliable: false + Value: false + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 255; 255; 0 + Enabled: false + Head Length: 2 + Head Radius: 1 + Name: EKF Pose + Shaft Length: 2 + Shaft Radius: 0.5 + Shape: Arrow + Topic: /ekf_pose + Unreliable: false + Value: false + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 0; 255; 255 + Enabled: false + Head Length: 2 + Head Radius: 1 + Name: NDT Pose + Shaft Length: 2 + Shaft Radius: 0.5 + Shape: Arrow + Topic: /ndt_pose + Unreliable: false + Value: false + Enabled: true + Name: Localization + - Class: rviz/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Occupancy Grid Map + Topic: /semantics/costmap_generator/occupancy_grid + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 23.83440399169922 + Min Value: -22.532455444335938 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Clustered Points + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /livox_full_cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /detection/pointpillars_objects + Name: Tracked Objects + Namespaces: + objects: true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /detected_polygons + Name: Predicted Path + Namespaces: + {} + Queue Size: 100 + Value: false + Enabled: true + Name: Perception + - Class: rviz/Group + Displays: + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /waypoint_saver_marker + Name: Saved Waypoints + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /global_waypoints_mark + Name: Global Waypoints + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /local_waypoints_mark + Name: Local Waypoints + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /detection_range + Name: Detection Range + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Group + Displays: + - 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: 0.800000011920929 + color: 25; 255; 0 + coloring: Value + line width: 0.009999999776482582 + only edge: false + show coords: false + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /AnimateGlobalPlan + Name: GlobalPathAnimation + 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: /detected_polygons + Name: Tracked Contours + 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: /global_waypoints_rviz + Name: Global Path + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Name: OP Planner + Enabled: true + Name: Planning + - Class: rviz/Group + Displays: + - Class: rviz/Marker + Enabled: true + Marker Topic: /trajectory_circle_mark + Name: Pure Pursuit Trajectory + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /next_target_mark + Name: Pure Pursuit Target + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /mpc_follower/debug/predicted_traj + Name: MPC Predicted Trajectory + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /mpc_follower/debug/filtered_traj + Name: MPC Reference Trajectory + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Name: Control + - Class: rviz/Image + Enabled: false + Image Topic: /image_rects + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + Enabled: true + Global Options: + Background Color: 0; 0; 0 + Default Light: true + Fixed Frame: livox_frame + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 51.10423278808594 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 18.711523056030273 + Y: -0.11512601375579834 + Z: 9.523289680480957 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.2297977209091187 + Target Frame: base_link + Value: Orbit (rviz) + Yaw: 3.1499996185302734 + Saved: ~ +Window Geometry: + DecisionMakerPanel: + collapsed: false + Displays: + collapsed: false + Height: 1025 + Hide Left Dock: false + Hide Right Dock: true + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1853 + X: 67 + Y: 34 diff --git a/src/livox_detect/src/clip.cpp b/src/livox_detect/src/clip.cpp new file mode 100644 index 0000000..1684e40 --- /dev/null +++ b/src/livox_detect/src/clip.cpp @@ -0,0 +1,65 @@ +/* + * @Description: 删除多余的点，划分合适的区域 + * @Version: 2.0 + * @Author: CXY + * @Date: 2021-10-10 18:51:40 + * @LastEditors: CXY + * @LastEditTime: 2021-10-22 19:02:30 + */ +#include "clip.h" +#include "config.h" +#include +#include +#include + +Clip::Clip(ros::NodeHandle &nh, ros::NodeHandle &private_nh) +{ + private_nh.param("min_x", min_x, cloud_x_min); + private_nh.param("max_x", max_x, cloud_x_max); + private_nh.param("min_y", min_y, cloud_y_min); + private_nh.param("max_y", max_y, cloud_y_max); + private_nh.param("min_z", min_z, cloud_z_min - offset_ground); + private_nh.param("max_z", max_z, cloud_z_max - offset_ground); + private_nh.param("min_base_x", min_base_x, -2.0); + private_nh.param("max_base_x", max_base_x, 2.0); + private_nh.param("min_base_y", min_base_y, -1.0); + private_nh.param("max_base_y", max_base_y, 1.0); + private_nh.param("min_base_z", min_base_z, -0.05); + private_nh.param("max_base_z", max_base_z, 0.05); +} + +void Clip::Process(const pcl::PointCloud &in_cloud, pcl::PointCloud &out_cloud) +{ + pcl::PointCloud filtered_cloud; + + //删除掉多余的点云 + for (size_t i = 0; i < in_cloud.size(); ++i) + { + float x = in_cloud.points[i].x; + float y = in_cloud.points[i].y; + float z = in_cloud.points[i].z; + if (IsIn(x, min_x, max_x) && (IsIn(y, min_y, max_y) && (IsIn(z, min_z, max_z)))) + { + if (!(IsIn(x, min_base_x, max_base_x) && IsIn(y, min_base_y, max_base_y) && IsIn(z, min_base_z, max_base_z))) + { + filtered_cloud.points.push_back(in_cloud.points[i]); + } + } + } + + //降采样 + pcl::VoxelGrid vg_filter; + vg_filter.setInputCloud(filtered_cloud.makeShared()); + vg_filter.setLeafSize(leaf_size, leaf_size, leaf_size); + vg_filter.filter(out_cloud); +} + +//判断点云是否在规定范围内 +bool Clip::IsIn(const float &a, const float &min, const float &max) +{ + return (a > min) && (a < max); +} + +Clip::~Clip() +{ +} diff --git a/src/iou3d_nms.cpp b/src/livox_detect/src/iou3d_nms.cpp similarity index 100% rename from src/iou3d_nms.cpp rename to src/livox_detect/src/iou3d_nms.cpp diff --git a/src/iou3d_nms_kernel.cu b/src/livox_detect/src/iou3d_nms_kernel.cu similarity index 100% rename from src/iou3d_nms_kernel.cu rename to src/livox_detect/src/iou3d_nms_kernel.cu diff --git a/src/livox_detect/src/livox_detection.cpp b/src/livox_detect/src/livox_detection.cpp new file mode 100644 index 0000000..bc437db --- /dev/null +++ b/src/livox_detect/src/livox_detection.cpp @@ -0,0 +1,642 @@ +// 自己定义的头文件 +#include "livox_detection.hpp" +#include "clip.h" + +// tensorRT include +// 编译用的头文件 +#include + +// onnx解析器的头文件 +#include + +// 推理用的运行时头文件 +#include + +// cuda include +#include + +// system include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include + +// headers in local files +#include "autoware_msgs/DetectedObjectArray.h" + +// headers in ROS +#include +#include + +#define checkRuntime(op) __check_cuda_runtime((op), #op, __FILE__, __LINE__) + +std::string ONNX_Path = "/media/workspace/livox_detect/src/livox_detect/models/livox_detection_sim.onnx"; +std::string engine_Path = "/media/workspace/livox_detect/src/livox_detect/models/livox_detection_sim.engine"; + +bool __check_cuda_runtime(cudaError_t code, const char *op, const char *file, int line) +{ + if (code != cudaSuccess) + { + const char *err_name = cudaGetErrorName(code); + const char *err_message = cudaGetErrorString(code); + printf("runtime error %s:%d %s failed. \n code = %s, message = %s\n", file, line, op, err_name, err_message); + return false; + } + return true; +} + +// 通过智能指针管理nv返回的指针参数 +// 内存自动释放，避免泄漏 +template +std::shared_ptr<_T> make_nvshared(_T *ptr) +{ + return std::shared_ptr<_T>(ptr, [](_T *p) + { p->destroy(); }); +} + +bool exists(const std::string &path) +{ + +#ifdef _WIN32 + return ::PathFileExistsA(path.c_str()); +#else + return access(path.c_str(), R_OK) == 0; +#endif +} + +std::vector load_file(const std::string &file) +{ + std::ifstream in(file, std::ios::in | std::ios::binary); + if (!in.is_open()) + return {}; + + in.seekg(0, std::ios::end); + size_t length = in.tellg(); + + std::vector data; + if (length > 0) + { + in.seekg(0, std::ios::beg); + data.resize(length); + + in.read((char *)&data[0], length); + } + in.close(); + return data; +} + +// 上一节的代码 +bool build_model() +{ + if (exists(engine_Path.c_str())) + { + printf("Engine file has exists.\n"); + return true; + } + + TRTLogger logger; + + // 这是基本需要的组件 + auto builder = make_nvshared(nvinfer1::createInferBuilder(logger)); + auto config = make_nvshared(builder->createBuilderConfig()); + auto network = make_nvshared(builder->createNetworkV2(1)); + + // 通过onnxparser解析器解析的结果会填充到network中，类似addConv的方式添加进去 + auto parser = make_nvshared(nvonnxparser::createParser(*network, logger)); + if (!parser->parseFromFile(ONNX_Path.c_str(), 1)) + { + printf("Failed to parse onnx\n"); + + // 注意这里的几个指针还没有释放，是有内存泄漏的，后面考虑更优雅的解决 + return false; + } + + int maxBatchSize = 1; + printf("Workspace Size = %.2f MB\n", (1 << 28) / 1024.0f / 1024.0f); + config->setMaxWorkspaceSize(1 << 28); + + // 如果模型有多个输入，则必须多个profile + auto profile = builder->createOptimizationProfile(); + auto input_tensor = network->getInput(0); + auto input_dims = input_tensor->getDimensions(); + + // 配置最小、最优、最大范围 + input_dims.d[0] = 1; + profile->setDimensions(input_tensor->getName(), nvinfer1::OptProfileSelector::kMIN, input_dims); + profile->setDimensions(input_tensor->getName(), nvinfer1::OptProfileSelector::kOPT, input_dims); + input_dims.d[0] = maxBatchSize; + profile->setDimensions(input_tensor->getName(), nvinfer1::OptProfileSelector::kMAX, input_dims); + config->addOptimizationProfile(profile); + + auto engine = make_nvshared(builder->buildEngineWithConfig(*network, *config)); + if (engine == nullptr) + { + printf("Build engine failed.\n"); + return false; + } + + // 将模型序列化，并储存为文件 + auto model_data = make_nvshared(engine->serialize()); + FILE *f = fopen(engine_Path.c_str(), "wb"); + fwrite(model_data->data(), 1, model_data->size(), f); + fclose(f); + + // 卸载顺序按照构建顺序倒序 + printf("Done.\n"); + return true; +} + +void livox_detection::initTRT() +{ + TRTLogger logger; + engine_data = load_file(engine_Path.c_str()); + runtime = nvinfer1::createInferRuntime(logger); + engine = runtime->deserializeCudaEngine(engine_data.data(), engine_data.size()); + if (engine == nullptr) + { + printf("Deserialize cuda engine failed.\n"); + runtime->destroy(); + return; + } + + execution_context = (engine->createExecutionContext()); +} + +livox_detection::livox_detection() : private_nh_("~") +{ + private_nh_.param("ONNX_Path", ONNX_Path, ""); + private_nh_.param("engine_Path", engine_Path, ""); + + initTRT(); +} + +void livox_detection::point_filter(pcl::PointCloud::Ptr &cloud, const int min, const int max, std::string axis, bool setFilterLimitsNegative) +{ + pcl::PassThrough filter; + filter.setInputCloud(cloud); + filter.setFilterFieldName(axis); + + filter.setFilterLimits(min, max); + + if (setFilterLimitsNegative == true) + { + filter.setFilterLimitsNegative(true); + } + + filter.filter(*cloud); +} + +void livox_detection::mask_points_out_of_range(pcl::PointCloud::Ptr &in_pcl_pc_ptr) +{ + // pcl::PointXYZ min; + // pcl::PointXYZ max; + + point_filter(in_pcl_pc_ptr, cloud_x_min, cloud_x_max - 0.01, "x", false); + point_filter(in_pcl_pc_ptr, cloud_y_min, cloud_y_max - 0.01, "y", false); + point_filter(in_pcl_pc_ptr, cloud_z_min - offset_ground, cloud_z_max - offset_ground - 0.01, "z", false); + + // pcl::getMinMax3D(*in_pcl_pc_ptr, min, max); + + // std::cout << max.x << "," << min.x << std::endl; + // std::cout << max.y << "," << min.y << std::endl; + // std::cout << max.z << "," << min.z << std::endl; +} + +void livox_detection::pclToArray(const pcl::PointCloud::Ptr &in_pcl_pc_ptr, float *out_points_array) +{ + float DX = voxel_size[0]; + float DY = voxel_size[1]; + float DZ = voxel_size[2]; + + for (size_t i = 0; i < in_pcl_pc_ptr->size(); i++) + { + pcl::PointXYZ point = in_pcl_pc_ptr->at(i); + int pc_lidar_x = floor((point.x - cloud_x_min) / DX); + int pc_lidar_y = floor((point.y - cloud_y_min) / DY); + int pc_lidar_z = floor((point.z + offset_ground - cloud_z_min) / DZ); + out_points_array[BEV_W * BEV_H * pc_lidar_z + BEV_W * pc_lidar_y + pc_lidar_x] = 1; + } +} + +void livox_detection::preprocess(const pcl::PointCloud::Ptr &in_pcl_pc_ptr, pcl::PointCloud::Ptr &out_pcl_pc_ptr, float *out_points_array) +{ + std::cout << "livox detect preprocess start" << std::endl; + + Clip clip(nh_, private_nh_); + + clip.Process(*in_pcl_pc_ptr, *out_pcl_pc_ptr); //删除多余的点 + + // mask_points_out_of_range(out_pcl_pc_ptr); + + pclToArray(out_pcl_pc_ptr, out_points_array); + + std::cout << "livox detect preprocess finish" << std::endl; +} + +void livox_detection::postprocess(const float *rpn_all_output, std::vector &predResult) +{ + PostprocessCuda postprococess(NUM_ANCHOR, NUM_CLASS_, NUM_OUTPUT_BOX_FEATURE); + + checkRuntime(cudaMallocHost(&dev_filtered_box_, NUM_ANCHOR_ * NUM_OUTPUT_BOX_FEATURE * sizeof(float))); + checkRuntime(cudaMallocHost(&dev_filtered_score_, NUM_ANCHOR_ * sizeof(float))); + checkRuntime(cudaMallocHost(&dev_filtered_label_, NUM_ANCHOR_ * sizeof(int))); + checkRuntime(cudaMallocHost(&dev_keep_data_, NUM_ANCHOR_ * sizeof(long))); + + dev_filter_count_ = 0; + for (int i = 0; i < NUM_ANCHOR_; i++) + { + float box_px = rpn_all_output[i * 9 + 0]; + float box_py = rpn_all_output[i * 9 + 1]; + float box_pz = rpn_all_output[i * 9 + 2]; + float box_dx = rpn_all_output[i * 9 + 3]; + float box_dy = rpn_all_output[i * 9 + 4]; + float box_dz = rpn_all_output[i * 9 + 5]; + float box_theta = rpn_all_output[i * 9 + 6]; + float box_score = rpn_all_output[i * 9 + 7]; + int box_cls = rpn_all_output[i * 9 + 8]; + + dev_filtered_box_[dev_filter_count_ * NUM_OUTPUT_BOX_FEATURE + 0] = box_px; + dev_filtered_box_[dev_filter_count_ * NUM_OUTPUT_BOX_FEATURE + 1] = box_py; + dev_filtered_box_[dev_filter_count_ * NUM_OUTPUT_BOX_FEATURE + 2] = box_pz; + dev_filtered_box_[dev_filter_count_ * NUM_OUTPUT_BOX_FEATURE + 3] = box_dx; + dev_filtered_box_[dev_filter_count_ * NUM_OUTPUT_BOX_FEATURE + 4] = box_dy; + dev_filtered_box_[dev_filter_count_ * NUM_OUTPUT_BOX_FEATURE + 5] = box_dz; + dev_filtered_box_[dev_filter_count_ * NUM_OUTPUT_BOX_FEATURE + 6] = box_theta; + + dev_filtered_score_[dev_filter_count_] = box_score; + dev_filtered_label_[dev_filter_count_] = box_cls; + + dev_filter_count_++; + } + + postprococess.doPostprocessCuda(rpn_all_output, dev_filtered_box_, dev_filtered_score_, dev_filtered_label_, dev_filter_count_, dev_keep_data_, predResult); + checkRuntime(cudaFreeHost(dev_filtered_box_)); + checkRuntime(cudaFreeHost(dev_filtered_score_)); + checkRuntime(cudaFreeHost(dev_filtered_label_)); + checkRuntime(cudaFreeHost(dev_keep_data_)); +} + +void livox_detection::doprocess(const pcl::PointCloud::Ptr &in_pcl_pc_ptr, std::vector &pre_box) +{ + + pcl::PointCloud::Ptr transformed_cloud_ptr(new pcl::PointCloud); + + checkRuntime(cudaMallocHost(&input_data_host, input_numel * sizeof(float))); + checkRuntime(cudaMalloc(&input_data_device, input_numel * sizeof(float))); + double t0 = ros::Time::now().toSec(); + preprocess(in_pcl_pc_ptr, transformed_cloud_ptr, input_data_host); + double t1 = ros::Time::now().toSec(); + printf("preprocess this frame takes %f ms\n\n", (t1 - t0) * 1000); + /////////////////////////////////////////////////// + // image to float + + /////////////////////////////////////////////////// + cudaStream_t stream = nullptr; + checkRuntime(cudaStreamCreate(&stream)); + + checkRuntime(cudaMemcpyAsync(input_data_device, input_data_host, input_numel * sizeof(float), cudaMemcpyHostToDevice, stream)); + + checkRuntime(cudaMallocHost(&output_data_host, OUTPUT_SIZE * sizeof(float))); + checkRuntime(cudaMalloc(&output_data_device, OUTPUT_SIZE * sizeof(float))); + + // 明确当前推理时，使用的数据输入大小 + auto input_dims = execution_context->getBindingDimensions(0); + input_dims.d[0] = input_batch; + + // 设置当前推理时，input大小 + execution_context->setBindingDimensions(0, input_dims); + float *bindings[] = {input_data_device, output_data_device}; + bool success = execution_context->enqueueV2((void **)bindings, stream, nullptr); + checkRuntime(cudaMemcpyAsync(output_data_host, output_data_device, OUTPUT_SIZE * sizeof(float), cudaMemcpyDeviceToHost, stream)); + checkRuntime(cudaStreamSynchronize(stream)); + + double t2 = ros::Time::now().toSec(); + printf("infer this frame takes %f ms\n\n", (t2 - t1) * 1000); + + postprocess(output_data_host, pre_box); + double t3 = ros::Time::now().toSec(); + printf("postprocess this frame takes %f ms\n\n", (t3 - t2) * 1000); + + checkRuntime(cudaStreamDestroy(stream)); + checkRuntime(cudaFreeHost(input_data_host)); + checkRuntime(cudaFreeHost(output_data_host)); + checkRuntime(cudaFree(input_data_device)); + checkRuntime(cudaFree(output_data_device)); + + std::cout << "livox detect infer finish" << std::endl; +} + +geometry_msgs::Pose livox_detection::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)); + geometry_msgs::PoseStamped pose_out; + tf::poseTFToMsg(tf * transform, out_pose.pose); + return out_pose.pose; +} + +void livox_detection::pubDetectedObject_Marker(const std::vector &detections, const std_msgs::Header &in_header) +{ + autoware_msgs::DetectedObjectArray objects; + objects.header = in_header; + + // clear all markers before + visualization_msgs::MarkerArray empty_markers; + visualization_msgs::Marker clear_marker; + clear_marker.header = in_header; + clear_marker.ns = "objects"; + clear_marker.id = 0; + clear_marker.action = clear_marker.DELETEALL; + clear_marker.lifetime = ros::Duration(); + empty_markers.markers.push_back(clear_marker); + pub_objects_marker_.publish(empty_markers); + + visualization_msgs::MarkerArray object_markers; + + for (size_t i = 0; i < detections.size(); i++) + { + /*Autoware start*/ + autoware_msgs::DetectedObject object; + object.header = in_header; + object.valid = true; + object.pose_reliable = true; + + object.pose.position.x = detections[i].x; + object.pose.position.y = detections[i].y; + object.pose.position.z = detections[i].z - offset_ground; + + // Trained this way + float autoware_yaw = detections[i].theta; + autoware_yaw += M_PI / 2; + autoware_yaw = std::atan2(std::sin(autoware_yaw), std::cos(autoware_yaw)); + geometry_msgs::Quaternion q = tf::createQuaternionMsgFromYaw(autoware_yaw); + object.pose.orientation = q; + + // if (true) + // { + // object.pose = getTransformedPose(object.pose, angle_transform_inversed_); + // } + + // Again: Trained this way + object.dimensions.x = detections[i].dx; + object.dimensions.y = detections[i].dy; + object.dimensions.z = detections[i].dz; + + /*Auwoware Msg End*/ + + const float object_px = detections[i].x; + const float object_py = detections[i].y; + const float object_pz = detections[i].z - offset_ground; + const float object_dx = detections[i].dx; + const float object_dy = detections[i].dy; + const float object_dz = detections[i].dz; + const float object_yaw = detections[i].theta; + + float yaw = std::atan2(std::sin(object_yaw), std::cos(object_yaw)); + float cos_yaw = std::cos(yaw); + float sin_yaw = std::sin(yaw); + float half_dx = object_dx / 2; + float half_dy = object_dy / 2; + float half_dz = object_dz / 2; + + // for autoware + // geometry_msgs::Quaternion q = tf::createQuaternionMsgFromYaw(yaw+M_PI/2); + // object.pose.orientation = q; + + visualization_msgs::Marker box, dir_arrow, text_show; + box.header = dir_arrow.header = text_show.header = in_header; + box.ns = dir_arrow.ns = text_show.ns = "objects"; + box.id = i; + // dir_arrow.id = obj + objects_array.size(); + text_show.id = i + detections.size(); + box.type = visualization_msgs::Marker::LINE_LIST; + dir_arrow.type = visualization_msgs::Marker::ARROW; + text_show.type = visualization_msgs::Marker::TEXT_VIEW_FACING; + geometry_msgs::Point p[24]; + // Ground side + // A->B + p[0].x = object_px + half_dx * cos_yaw - half_dy * sin_yaw; + p[0].y = object_py + half_dx * sin_yaw + half_dy * cos_yaw; + p[0].z = object_pz - half_dz; + p[1].x = object_px + half_dx * cos_yaw + half_dy * sin_yaw; + p[1].y = object_py + half_dx * sin_yaw - half_dy * cos_yaw; + p[1].z = object_pz - half_dz; + // B->C + p[2].x = p[1].x; + p[2].y = p[1].y; + p[2].z = p[1].z; + p[3].x = object_px - half_dx * cos_yaw + half_dy * sin_yaw; + p[3].y = object_py - half_dx * sin_yaw - half_dy * cos_yaw; + p[3].z = object_pz - half_dz; + // C->D + p[4].x = p[3].x; + p[4].y = p[3].y; + p[4].z = p[3].z; + p[5].x = object_px - half_dx * cos_yaw - half_dy * sin_yaw; + p[5].y = object_py - half_dx * sin_yaw + half_dy * cos_yaw; + p[5].z = object_pz - half_dz; + // D->A + p[6].x = p[5].x; + p[6].y = p[5].y; + p[6].z = p[5].z; + p[7].x = p[0].x; + p[7].y = p[0].y; + p[7].z = p[0].z; + + // Top side + // E->F + p[8].x = p[0].x; + p[8].y = p[0].y; + p[8].z = object_pz + half_dz; + p[9].x = p[1].x; + p[9].y = p[1].y; + p[9].z = object_pz + half_dz; + // F->G + p[10].x = p[1].x; + p[10].y = p[1].y; + p[10].z = object_pz + half_dz; + p[11].x = p[3].x; + p[11].y = p[3].y; + p[11].z = object_pz + half_dz; + // G->H + p[12].x = p[3].x; + p[12].y = p[3].y; + p[12].z = object_pz + half_dz; + p[13].x = p[5].x; + p[13].y = p[5].y; + p[13].z = object_pz + half_dz; + // H->E + p[14].x = p[5].x; + p[14].y = p[5].y; + p[14].z = object_pz + half_dz; + p[15].x = p[0].x; + p[15].y = p[0].y; + p[15].z = object_pz + half_dz; + + // Around side + // A->E + p[16].x = p[0].x; + p[16].y = p[0].y; + p[16].z = p[0].z; + p[17].x = p[8].x; + p[17].y = p[8].y; + p[17].z = p[8].z; + // B->F + p[18].x = p[1].x; + p[18].y = p[1].y; + p[18].z = p[1].z; + p[19].x = p[9].x; + p[19].y = p[9].y; + p[19].z = p[9].z; + // C->G + p[20].x = p[3].x; + p[20].y = p[3].y; + p[20].z = p[3].z; + p[21].x = p[11].x; + p[21].y = p[11].y; + p[21].z = p[11].z; + // D->H + p[22].x = p[5].x; + p[22].y = p[5].y; + p[22].z = p[5].z; + p[23].x = p[13].x; + p[23].y = p[13].y; + p[23].z = p[13].z; + + for (size_t pi = 0u; pi < 24; ++pi) + { + box.points.push_back(p[pi]); + } + box.scale.x = 0.1; + // box.color = color; + box.color.a = 1.0; + box.color.r = 0.18; + box.color.g = 0.45; + box.color.b = 0.70; + + object_markers.markers.push_back(box); + + // text + geometry_msgs::Pose pose; + pose.position.x = object_px; + pose.position.y = object_py; + pose.position.z = object_pz + half_dz; + text_show.pose = pose; + + std::ostringstream str; + str.precision(2); + str.setf(std::ios::fixed); + // double vx = objects_array[obj]->velocity[0]; + // double vy = objects_array[obj]->velocity[1]; + // double ground_v = sqrt(vx * vx + vy * vy); + // double distance_ck = sqrt(center(0)*center(0) + center(1)*center(1)); + // str << "id:"<< objects_array[obj]->track_id<<"\n" ;//<< "v:" << ground_v; + // str << "d: "<::Ptr pcl_pc_ptr(new pcl::PointCloud); + pcl::fromROSMsg(*msg, *pcl_pc_ptr); + // double start_time = ros::Time::now().toSec(); + + // 去除128中的nan点 + pcl::PointCloud::Ptr filtered_cloud_ptr(new pcl::PointCloud); + for (size_t i = 0; i < pcl_pc_ptr->size(); i++) + { + pcl::PointXYZ point = pcl_pc_ptr->at(i); + if (std::isnan(point.x) || std::isinf(point.x) || std::isnan(point.y) || std::isinf(point.y) || + std::isnan(point.z) || std::isinf(point.z)) + { + continue; + } + filtered_cloud_ptr->push_back(point); + } + pcl_pc_ptr = filtered_cloud_ptr; + + // 去除128中的nan点 + pcl::PointCloud::Ptr out_pcl_pc_ptr(new pcl::PointCloud); + Eigen::Affine3f transform = Eigen::Affine3f::Identity(); + transform.rotate(Eigen::AngleAxisf(theta, Eigen::Vector3f::UnitX())); //同理，UnitX(),绕X轴；UnitY(),绕Y轴 + pcl::transformPointCloud(*pcl_pc_ptr, *out_pcl_pc_ptr, transform); + + std::vector pre_box; + double start_time = ros::Time::now().toSec(); + doprocess(out_pcl_pc_ptr, pre_box); + + pubDetectedObject_Marker(pre_box, msg->header); + double end_time = ros::Time::now().toSec(); + printf("deal this frame takes %f ms\n\n", (end_time - start_time) * 1000); +} + +void livox_detection::createROSPubSub() +{ + sub_points_ = nh_.subscribe("/livox_full_cloud", 100, &livox_detection::pointsCallback, this); + pub_objects_ = nh_.advertise("/detection/lidar_detector_3d/objects", 1); + pub_objects_marker_ = nh_.advertise("/detection/pointpillars_objects", 1); +} + +livox_detection::~livox_detection() +{ + execution_context->destroy(); + runtime->destroy(); + engine->destroy(); +} diff --git a/src/livox_detect/src/main.cpp b/src/livox_detect/src/main.cpp new file mode 100755 index 0000000..e251c81 --- /dev/null +++ b/src/livox_detect/src/main.cpp @@ -0,0 +1,23 @@ +// 自己定义的头文件 +#include "livox_detection.hpp" + +#include + +int main(int argc, char **argv) +{ + if (!build_model()) + { + return -1; + } + ros::init(argc, argv, "livox_detection"); + + livox_detection livox; + livox.createROSPubSub(); + + while (ros::ok()) + { + ros::spinOnce(); + } + + return 0; +} \ No newline at end of file diff --git a/src/postprocess_cuda.cu b/src/livox_detect/src/postprocess_cuda.cu similarity index 98% rename from src/postprocess_cuda.cu rename to src/livox_detect/src/postprocess_cuda.cu index fcc9273..3125ed5 100644 --- a/src/postprocess_cuda.cu +++ b/src/livox_detect/src/postprocess_cuda.cu @@ -73,7 +73,7 @@ void PostprocessCuda::doPostprocessCuda(const float *rpn_all_output, float *dev_ for (auto i = 0; i < boxSizeAft; i++) { int ii = dev_keep_data[i]; - std::cout << i << ", " << ii << ", \n"; + // std::cout << i << ", " << ii << ", \n"; int idx = ii; Box box; diff --git a/src/livox_detection.cpp b/src/livox_detection.cpp deleted file mode 100644 index 55475c3..0000000 --- a/src/livox_detection.cpp +++ /dev/null @@ -1,370 +0,0 @@ -// 自己定义的头文件 -#include "livox_detection.hpp" - -// tensorRT include -// 编译用的头文件 -#include - -// onnx解析器的头文件 -#include - -// 推理用的运行时头文件 -#include - -// cuda include -#include - -// system include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include -#include -#include -#include -#include -#include -#include - -#define checkRuntime(op) __check_cuda_runtime((op), #op, __FILE__, __LINE__) - -std::string ONNX_Path = "/home/jjho/code/my_project/livox_detect/models/livox_detection_sim.onnx"; -std::string engine_Path = "/home/jjho/code/my_project/livox_detect/models/livox_detection_sim.engine"; - -bool __check_cuda_runtime(cudaError_t code, const char *op, const char *file, int line) -{ - if (code != cudaSuccess) - { - const char *err_name = cudaGetErrorName(code); - const char *err_message = cudaGetErrorString(code); - printf("runtime error %s:%d %s failed. \n code = %s, message = %s\n", file, line, op, err_name, err_message); - return false; - } - return true; -} - -// 通过智能指针管理nv返回的指针参数 -// 内存自动释放，避免泄漏 -template -std::shared_ptr<_T> make_nvshared(_T *ptr) -{ - return std::shared_ptr<_T>(ptr, [](_T *p) - { p->destroy(); }); -} - -bool exists(const std::string &path) -{ - -#ifdef _WIN32 - return ::PathFileExistsA(path.c_str()); -#else - return access(path.c_str(), R_OK) == 0; -#endif -} - -std::vector load_file(const std::string &file) -{ - std::ifstream in(file, std::ios::in | std::ios::binary); - if (!in.is_open()) - return {}; - - in.seekg(0, std::ios::end); - size_t length = in.tellg(); - - std::vector data; - if (length > 0) - { - in.seekg(0, std::ios::beg); - data.resize(length); - - in.read((char *)&data[0], length); - } - in.close(); - return data; -} - -// 上一节的代码 -bool build_model() -{ - if (exists(engine_Path.c_str())) - { - printf("Engine file has exists.\n"); - return true; - } - - TRTLogger logger; - - // 这是基本需要的组件 - auto builder = make_nvshared(nvinfer1::createInferBuilder(logger)); - auto config = make_nvshared(builder->createBuilderConfig()); - auto network = make_nvshared(builder->createNetworkV2(1)); - - // 通过onnxparser解析器解析的结果会填充到network中，类似addConv的方式添加进去 - auto parser = make_nvshared(nvonnxparser::createParser(*network, logger)); - if (!parser->parseFromFile(ONNX_Path.c_str(), 1)) - { - printf("Failed to parse onnx\n"); - - // 注意这里的几个指针还没有释放，是有内存泄漏的，后面考虑更优雅的解决 - return false; - } - - int maxBatchSize = 1; - printf("Workspace Size = %.2f MB\n", (1 << 28) / 1024.0f / 1024.0f); - config->setMaxWorkspaceSize(1 << 28); - - // 如果模型有多个输入，则必须多个profile - auto profile = builder->createOptimizationProfile(); - auto input_tensor = network->getInput(0); - auto input_dims = input_tensor->getDimensions(); - - // 配置最小、最优、最大范围 - input_dims.d[0] = 1; - profile->setDimensions(input_tensor->getName(), nvinfer1::OptProfileSelector::kMIN, input_dims); - profile->setDimensions(input_tensor->getName(), nvinfer1::OptProfileSelector::kOPT, input_dims); - input_dims.d[0] = maxBatchSize; - profile->setDimensions(input_tensor->getName(), nvinfer1::OptProfileSelector::kMAX, input_dims); - config->addOptimizationProfile(profile); - - auto engine = make_nvshared(builder->buildEngineWithConfig(*network, *config)); - if (engine == nullptr) - { - printf("Build engine failed.\n"); - return false; - } - - // 将模型序列化，并储存为文件 - auto model_data = make_nvshared(engine->serialize()); - FILE *f = fopen(engine_Path.c_str(), "wb"); - fwrite(model_data->data(), 1, model_data->size(), f); - fclose(f); - - // 卸载顺序按照构建顺序倒序 - printf("Done.\n"); - return true; -} - -livox_detection::livox_detection() -{ -} - -inline void livox_detection::point_filter(pcl::PointCloud::Ptr &cloud, const int min, const int max, std::string axis, bool setFilterLimitsNegative) -{ - pcl::PassThrough filter; - filter.setInputCloud(cloud); - filter.setFilterFieldName(axis); - - filter.setFilterLimits(min, max); - - if (setFilterLimitsNegative == true) - { - filter.setFilterLimitsNegative(true); - } - - filter.filter(*cloud); -} - -void livox_detection::mask_points_out_of_range(pcl::PointCloud::Ptr &in_pcl_pc_ptr) -{ - pcl::PointXYZ min; - pcl::PointXYZ max; - - point_filter(in_pcl_pc_ptr, cloud_x_min, cloud_x_max - 0.01, "x", false); - point_filter(in_pcl_pc_ptr, cloud_y_min, cloud_y_max - 0.01, "y", false); - point_filter(in_pcl_pc_ptr, cloud_z_min, cloud_z_max - 0.01, "z", false); - - pcl::getMinMax3D(*in_pcl_pc_ptr, min, max); - - std::cout << max.x << "," << min.x << std::endl; - std::cout << max.y << "," << min.y << std::endl; - std::cout << max.z << "," << min.z << std::endl; -} - -void livox_detection::pclToArray(const pcl::PointCloud::Ptr &in_pcl_pc_ptr, float *out_points_array) -{ - float DX = voxel_size[0]; - float DY = voxel_size[1]; - float DZ = voxel_size[2]; - - for (size_t i = 0; i < in_pcl_pc_ptr->size(); i++) - { - pcl::PointXYZ point = in_pcl_pc_ptr->at(i); - int pc_lidar_x = floor((point.x - cloud_x_min) / DX); - int pc_lidar_y = floor((point.y - cloud_y_min) / DY); - int pc_lidar_z = floor((point.z - cloud_z_min) / DZ); - out_points_array[BEV_W * BEV_H * pc_lidar_z + BEV_W * pc_lidar_y + pc_lidar_x] = 1; - } -} - -void livox_detection::preprocess(const pcl::PointCloud::Ptr &in_pcl_pc_ptr, pcl::PointCloud::Ptr &out_pcl_pc_ptr, float *out_points_array) -{ - std::cout << "livox detect preprocess start" << std::endl; - - float theta = 0; - - Eigen::Affine3f transform = Eigen::Affine3f::Identity(); - transform.rotate(Eigen::AngleAxisf(theta, Eigen::Vector3f::UnitX())); //同理，UnitX(),绕X轴；UnitY(),绕Y轴 - transform.translation() << 0.0, 0.0, offset_ground; // 三个数分别对应X轴、Y轴、Z轴方向上的平移 - - pcl::transformPointCloud(*in_pcl_pc_ptr, *out_pcl_pc_ptr, transform); - - mask_points_out_of_range(out_pcl_pc_ptr); - - pclToArray(out_pcl_pc_ptr, out_points_array); - - std::cout << "livox detect preprocess finish" << std::endl; -} - -void livox_detection::postprocess(const float *rpn_all_output, std::vector &predResult) -{ - PostprocessCuda postprococess(NUM_ANCHOR, NUM_CLASS_, NUM_OUTPUT_BOX_FEATURE); - - checkRuntime(cudaMallocHost(&dev_filtered_box_, NUM_ANCHOR_ * NUM_OUTPUT_BOX_FEATURE * sizeof(float))); - checkRuntime(cudaMallocHost(&dev_filtered_score_, NUM_ANCHOR_ * sizeof(float))); - checkRuntime(cudaMallocHost(&dev_filtered_label_, NUM_ANCHOR_ * sizeof(int))); - checkRuntime(cudaMallocHost(&dev_keep_data_, NUM_ANCHOR_ * sizeof(long))); - - dev_filter_count_ = 0; - for (int i = 0; i < NUM_ANCHOR_; i++) - { - float box_px = rpn_all_output[i * 9 + 0]; - float box_py = rpn_all_output[i * 9 + 1]; - float box_pz = rpn_all_output[i * 9 + 2]; - float box_dx = rpn_all_output[i * 9 + 3]; - float box_dy = rpn_all_output[i * 9 + 4]; - float box_dz = rpn_all_output[i * 9 + 5]; - float box_theta = rpn_all_output[i * 9 + 6]; - float box_score = rpn_all_output[i * 9 + 7]; - int box_cls = rpn_all_output[i * 9 + 8]; - - dev_filtered_box_[dev_filter_count_ * NUM_OUTPUT_BOX_FEATURE + 0] = box_px; - dev_filtered_box_[dev_filter_count_ * NUM_OUTPUT_BOX_FEATURE + 1] = box_py; - dev_filtered_box_[dev_filter_count_ * NUM_OUTPUT_BOX_FEATURE + 2] = box_pz; - dev_filtered_box_[dev_filter_count_ * NUM_OUTPUT_BOX_FEATURE + 3] = box_dx; - dev_filtered_box_[dev_filter_count_ * NUM_OUTPUT_BOX_FEATURE + 4] = box_dy; - dev_filtered_box_[dev_filter_count_ * NUM_OUTPUT_BOX_FEATURE + 5] = box_dz; - dev_filtered_box_[dev_filter_count_ * NUM_OUTPUT_BOX_FEATURE + 6] = box_theta; - - dev_filtered_score_[dev_filter_count_] = box_score; - dev_filtered_label_[dev_filter_count_] = box_cls; - - dev_filter_count_++; - } - - postprococess.doPostprocessCuda(rpn_all_output, dev_filtered_box_, dev_filtered_score_, dev_filtered_label_, dev_filter_count_, dev_keep_data_, predResult); - checkRuntime(cudaFreeHost(dev_filtered_box_)); - checkRuntime(cudaFreeHost(dev_filtered_score_)); - checkRuntime(cudaFreeHost(dev_filtered_label_)); - checkRuntime(cudaFreeHost(dev_keep_data_)); -} - -void livox_detection::doprocess(const pcl::PointCloud::Ptr &in_pcl_pc_ptr) -{ - TRTLogger logger; - auto engine_data = load_file(engine_Path.c_str()); - auto runtime = make_nvshared(nvinfer1::createInferRuntime(logger)); - auto engine = make_nvshared(runtime->deserializeCudaEngine(engine_data.data(), engine_data.size())); - if (engine == nullptr) - { - printf("Deserialize cuda engine failed.\n"); - runtime->destroy(); - return; - } - - cudaStream_t stream = nullptr; - checkRuntime(cudaStreamCreate(&stream)); - auto execution_context = make_nvshared(engine->createExecutionContext()); - - int input_batch = 1; - int input_numel = input_batch * BEV_C * BEV_H * BEV_W; - float *input_data_host; - float *input_data_device; - - pcl::PointCloud::Ptr transformed_cloud_ptr(new pcl::PointCloud); - - checkRuntime(cudaMallocHost(&input_data_host, input_numel * sizeof(float))); - checkRuntime(cudaMalloc(&input_data_device, input_numel * sizeof(float))); - - clock_t start = clock(); - - preprocess(in_pcl_pc_ptr, transformed_cloud_ptr, input_data_host); - - /////////////////////////////////////////////////// - // image to float - - /////////////////////////////////////////////////// - checkRuntime(cudaMemcpyAsync(input_data_device, input_data_host, input_numel * sizeof(float), cudaMemcpyHostToDevice, stream)); - - // 3x3输入，对应3x3输出 - float *output_data_host; - float *output_data_device; - checkRuntime(cudaMallocHost(&output_data_host, OUTPUT_SIZE * sizeof(float))); - checkRuntime(cudaMalloc(&output_data_device, OUTPUT_SIZE * sizeof(float))); - - // 明确当前推理时，使用的数据输入大小 - auto input_dims = execution_context->getBindingDimensions(0); - input_dims.d[0] = input_batch; - - // 设置当前推理时，input大小 - execution_context->setBindingDimensions(0, input_dims); - float *bindings[] = {input_data_device, output_data_device}; - bool success = execution_context->enqueueV2((void **)bindings, stream, nullptr); - checkRuntime(cudaMemcpyAsync(output_data_host, output_data_device, OUTPUT_SIZE * sizeof(float), cudaMemcpyDeviceToHost, stream)); - checkRuntime(cudaStreamSynchronize(stream)); - - clock_t end = clock(); - printf("Total time: %lf s \n", (double)(end - start) / CLOCKS_PER_SEC); - - std::vector Box_Vehicle; - - postprocess(output_data_host, Box_Vehicle); - - checkRuntime(cudaStreamDestroy(stream)); - - std::cout << "livox detect infer finish" << std::endl; - - checkRuntime(cudaFreeHost(input_data_host)); - checkRuntime(cudaFreeHost(output_data_host)); - checkRuntime(cudaFree(input_data_device)); - checkRuntime(cudaFree(output_data_device)); - - boost::shared_ptr viewer(new pcl::visualization::PCLVisualizer("cloud")); - viewer->addPointCloud(transformed_cloud_ptr, "sample cloud"); - viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud"); - viewer->addCoordinateSystem(1.0); - viewer->initCameraParameters(); - - viewer->setBackgroundColor(0, 0, 0); - - for (int i = 0; i < Box_Vehicle.size(); i++) - { - std::string name = "Vehicle" + std::to_string(i); - viewer->addCube(float(Box_Vehicle[i].x) - Box_Vehicle[i].dx / 2, Box_Vehicle[i].x + Box_Vehicle[i].dx / 2, float(Box_Vehicle[i].y) - Box_Vehicle[i].dy / 2, Box_Vehicle[i].y + Box_Vehicle[i].dy / 2, float(Box_Vehicle[i].z) - Box_Vehicle[i].dz / 2, Box_Vehicle[i].z + Box_Vehicle[i].dz / 2, 1.0, 1.0, 1.0, name); - viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1, 0, 0, name); //绿框 - viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_WIREFRAME, name); - - viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, 0.1, name); - viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 3, name); - } - - while (!viewer->wasStopped()) - { - viewer->spinOnce(100); - boost::this_thread::sleep(boost::posix_time::microseconds(100000)); - } -} - -livox_detection::~livox_detection() -{ -} diff --git a/src/main.cpp b/src/main.cpp deleted file mode 100755 index 7fa6033..0000000 --- a/src/main.cpp +++ /dev/null @@ -1,61 +0,0 @@ -// 自己定义的头文件 -#include "livox_detection.hpp" - -// tensorRT include -// 编译用的头文件 -#include - -// onnx解析器的头文件 -#include - -// 推理用的运行时头文件 -#include - -// cuda include -#include - -// system include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include //必须引用 -#include -#include - -#include - -#include -#include -#include -#include - -void inference() -{ - std::string data_path = "/home/jjho/code/my_project/livox_detect/data/livox.pcd"; - pcl::PointCloud::Ptr input_cloud(new pcl::PointCloud); - if (pcl::io::loadPCDFile(data_path, *input_cloud) == -1) - { - std::cerr << "open failed!" << std::endl; - } - - livox_detection livox; - - livox.doprocess(input_cloud); -} - -int main() -{ - if (!build_model()) - { - return -1; - } - inference(); - return 0; -} \ No newline at end of file diff --git a/src/visualization/decision_maker_panel/CHANGELOG.rst b/src/visualization/decision_maker_panel/CHANGELOG.rst new file mode 100755 index 0000000..d751938 --- /dev/null +++ b/src/visualization/decision_maker_panel/CHANGELOG.rst @@ -0,0 +1,8 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package decision_maker_panel +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.11.0 (2019-03-21) +------------------- +* [Feature] Rebuild decision maker (`#1609 `_) +* Contributors: s-azumi diff --git a/src/visualization/decision_maker_panel/CMakeLists.txt b/src/visualization/decision_maker_panel/CMakeLists.txt new file mode 100755 index 0000000..29bf010 --- /dev/null +++ b/src/visualization/decision_maker_panel/CMakeLists.txt @@ -0,0 +1,50 @@ +cmake_minimum_required(VERSION 2.8.3) +project(decision_maker_panel) + +# find_package(autoware_build_flags REQUIRED) +find_package(catkin REQUIRED COMPONENTS + autoware_msgs + rviz + std_msgs +) + +if(rviz_QT_VERSION VERSION_LESS "5") + message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") + find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui) + ## pull in all required include dirs, define QT_LIBRARIES, etc. + include(${QT_USE_FILE}) +else() + message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") + find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) + ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies + set(QT_LIBRARIES Qt5::Widgets) +endif() + +catkin_package( + DEPENDS rviz +) + +include_directories( + ${catkin_INCLUDE_DIRS} +) +SET(CMAKE_CXX_FLAGS "-O2 -g -Wall -Wno-unused-result -DROS ${CMAKE_CXX_FLAGS}") + +add_definitions(-DQT_NO_KEYWORDS -g) + +set(CMAKE_AUTOMOC ON) +set(SOURCE_FILES + src/decision_maker_panel.cpp +) + +add_library(decision_maker_panel ${SOURCE_FILES} ${UIC_FILES}) +target_link_libraries(decision_maker_panel ${QT_LIBRARIES} ${catkin_LIBRARIES} ${rviz_DEFAULT_PLUGIN_LIBRARIES}) + +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(FILES plugin_description.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/src/visualization/decision_maker_panel/package.xml b/src/visualization/decision_maker_panel/package.xml new file mode 100755 index 0000000..e5123e2 --- /dev/null +++ b/src/visualization/decision_maker_panel/package.xml @@ -0,0 +1,25 @@ + + + decision_maker_panel + 1.12.0 + The decision_maker_panel package + Azumi Suzuki + Yusuke FUJII + h_ohta + Apache 2 + + autoware_build_flags + catkin + + autoware_msgs + qtbase5-dev + rviz + std_msgs + + libqt5-core + libqt5-widgets + + + + + diff --git a/src/visualization/decision_maker_panel/plugin_description.xml b/src/visualization/decision_maker_panel/plugin_description.xml new file mode 100755 index 0000000..9feeb6b --- /dev/null +++ b/src/visualization/decision_maker_panel/plugin_description.xml @@ -0,0 +1,9 @@ + + + + A panel widget to order state_cmd for decision_maekr. + + + diff --git a/src/visualization/decision_maker_panel/src/decision_maker_panel.cpp b/src/visualization/decision_maker_panel/src/decision_maker_panel.cpp new file mode 100755 index 0000000..4bfa897 --- /dev/null +++ b/src/visualization/decision_maker_panel/src/decision_maker_panel.cpp @@ -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("wait")); + 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 behavior & motion + QGridLayout* extra_layout_drive = new QGridLayout; + extra_layout_drive->addWidget(new QLabel("state Behavior & Motion"), 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/src/visualization/decision_maker_panel/src/decision_maker_panel.h b/src/visualization/decision_maker_panel/src/decision_maker_panel.h new file mode 100755 index 0000000..a6aacdd --- /dev/null +++ b/src/visualization/decision_maker_panel/src/decision_maker_panel.h @@ -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 diff --git a/src/visualization/detected_objects_visualizer/CHANGELOG.rst b/src/visualization/detected_objects_visualizer/CHANGELOG.rst new file mode 100755 index 0000000..750bb2d --- /dev/null +++ b/src/visualization/detected_objects_visualizer/CHANGELOG.rst @@ -0,0 +1,53 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package detected_objects_visualizer +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.11.0 (2019-03-21) +------------------- +* [fix] Install commands for all the packages (`#1861 `_) + * Initial fixes to detection, sensing, semantics and utils + * fixing wrong filename on install command + * Fixes to install commands + * Hokuyo fix name + * Fix obj db + * Obj db include fixes + * End of final cleaning sweep + * Incorrect command order in runtime manager + * Param tempfile not required by runtime_manager + * * Fixes to runtime manager install commands + * Remove devel directory from catkin, if any + * Updated launch files for robosense + * Updated robosense + * Fix/add missing install (`#1977 `_) + * Added launch install to lidar_kf_contour_track + * Added install to op_global_planner + * Added install to way_planner + * Added install to op_local_planner + * Added install to op_simulation_package + * Added install to op_utilities + * Added install to sync + * * Improved installation script for pointgrey packages + * Fixed nodelet error for gmsl cameras + * USe install space in catkin as well + * add install to catkin + * Fix install directives (`#1990 `_) + * Fixed installation path + * Fixed params installation path + * Fixed cfg installation path + * Delete cache on colcon_release +* * Fixed launch file link on rtm + * display boxes when pose is reliable +* Contributors: Abraham Monrroy Cano, amc-nu + +1.10.0 (2019-01-17) +------------------- +* Switch to Apache 2 license (develop branch) (`#1741 `_) + * Switch to Apache 2 + * Replace BSD-3 license header with Apache 2 and reassign copyright to the + Autoware Foundation. + * Update license on Python files + * Update copyright years + * Add #ifndef/define _POINTS_IMAGE_H\_ + * Updated license comment +* change package name to detected_objects_visualizer +* Contributors: Esteve Fernandez, Yukihiro SAITO diff --git a/src/visualization/detected_objects_visualizer/CMakeLists.txt b/src/visualization/detected_objects_visualizer/CMakeLists.txt new file mode 100755 index 0000000..275b161 --- /dev/null +++ b/src/visualization/detected_objects_visualizer/CMakeLists.txt @@ -0,0 +1,88 @@ +cmake_minimum_required(VERSION 2.8.3) +project(detected_objects_visualizer) + +# find_package(autoware_build_flags REQUIRED) +find_package(catkin REQUIRED COMPONENTS + autoware_msgs + cv_bridge + geometry_msgs + image_transport + roscpp + sensor_msgs + tf + visualization_msgs +) + +catkin_package() + +find_package(OpenCV 3 REQUIRED) + +find_package(Eigen3 QUIET) + +if(NOT EIGEN3_FOUND) + find_package(cmake_modules REQUIRED) + find_package(Eigen REQUIRED) + set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) + set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) +else() + set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) +endif() + +#Rviz Marker visualization +add_executable(visualize_detected_objects + include/visualize_detected_objects.h + src/visualize_detected_objects_main.cpp + src/visualize_detected_objects.cpp +) + +target_include_directories(visualize_detected_objects PRIVATE + include + ${OpenCV_INCLUDE_DIR} + ${catkin_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} +) + +target_link_libraries(visualize_detected_objects + ${OpenCV_LIBRARIES} + ${EIGEN3_LIBRARIES} + ${catkin_LIBRARIES} +) + +add_dependencies(visualize_detected_objects + ${catkin_EXPORTED_TARGETS} +) + +#Image Rect Visualization +add_executable(visualize_rects + include/visualize_rects.h + src/visualize_rects_main.cpp + src/visualize_rects.cpp +) + +target_include_directories(visualize_rects PRIVATE + include + ${OpenCV_INCLUDE_DIR} + ${catkin_INCLUDE_DIRS} +) + +target_link_libraries(visualize_rects + ${OpenCV_LIBRARIES} + ${catkin_LIBRARIES} +) + +add_dependencies(visualize_rects + ${catkin_EXPORTED_TARGETS} +) + +install( + TARGETS + visualize_detected_objects + visualize_rects + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) +install(DIRECTORY models/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/models +) diff --git a/src/visualization/detected_objects_visualizer/README.md b/src/visualization/detected_objects_visualizer/README.md new file mode 100755 index 0000000..2acb4df --- /dev/null +++ b/src/visualization/detected_objects_visualizer/README.md @@ -0,0 +1,55 @@ +# Detected Object Visualizer + +This node interprets the output of each of the perception nodes and creates the corresponding rviz visualization. + +## Parameters + +Launch file available parameters: + +|Parameter| Type| Description| +----------|-----|-------- +|`marker_display_duration`|*Double*|Time in ms to display the marker. Default `0.1`.| +|`object_speed_threshold`|*Double* |Speed threshold to display. Default `0.1`.| +|`arrow_speed_threshold`|*Double*|Arrow speed threshold to display. Default `0.25`.| +|`label_color`|*Array*|Four double values (RGBA), representing the color of the object. Default `[255,255,255,1]`.| +|`arrow_color`|*Array*|Four double values (RGBA), representing the color of the object. Default `[0,255,0,1,0.8]`.| +|`hull_color`|*Array*|Four double values (RGBA), representing the color of the object. Default `[51,204,51,0.8]`.| +|`box_color`|*Array*|Four double values (RGBA), representing the color of the object. Default `[51,128,204,0.8]`.| +|`centroid_color`|*Array*|Four double values (RGBA), representing the color of the object. Default `[77,121,255,0.8]`.| + + +### Subscribed topics + +|Topic|Type|Objective| +------|----|--------- +|`ROS_NAMESPACE/objects`|`autoware_msgs/DetectedObjectArray`|Objects Array topic to visualize| + +### Published topics + +|Topic|Type|Objective| +------|----|---------| +|`ROS_NAMESPACE/objects_markers`|visualization_msgs::MarkerArray|A Label indicating the class and info of the object| + +The message includes each of the following namespaces: + +|Namespace|Objective| +|------|---------| +|`ROS_NAMESPACE/objects_arrows`|An arrow indicating the direction (`Marker::ARROW`)| +|`ROS_NAMESPACE/objects_hulls`|Convex Hull, the containing polygon (`Marker::LINE_STRIP`)| +|`ROS_NAMESPACE/objects_boxes`|Bounding box containing the object (`Marker::CUBE`)| +|`ROS_NAMESPACE/objects_centroids`|Sphere representing the centroid of the object in space (`Marker::SPHERE`)| +|`ROS_NAMESPACE/objects_mdoels`|Model representing the object in space (`Marker::MESH_RESOURCE`)| + +## Notes +This node is already included in the perception nodes' launch file. + +If you need to use it manually, be sure to add the `ROS_NAMESPACE` if using `rosrun`. + +For launch files, add the following line to your launch file: +```xml + +``` + +i.e. to visualize the output of the `lidar tracker` use `ROS_NAMESPACE=/detection/lidar_tracker` in rosrun or +`ns="/detection/lidar_tracker"` in the launch file. \ No newline at end of file diff --git a/src/visualization/detected_objects_visualizer/include/visualize_detected_objects.h b/src/visualization/detected_objects_visualizer/include/visualize_detected_objects.h new file mode 100755 index 0000000..43f0f3a --- /dev/null +++ b/src/visualization/detected_objects_visualizer/include/visualize_detected_objects.h @@ -0,0 +1,91 @@ +/* + * 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. + * + ******************** + * v1.0: amc-nu (abrahammonrroy@yahoo.com) + */ + +#ifndef _VISUALIZEDETECTEDOBJECTS_H +#define _VISUALIZEDETECTEDOBJECTS_H + +#include +#include +#include +#include +#include + +#include +#include + +#include + +#include +#include + +#include "autoware_msgs/DetectedObject.h" +#include "autoware_msgs/DetectedObjectArray.h" + +#define __APP_NAME__ "visualize_detected_objects" + +class VisualizeDetectedObjects +{ +private: + const double arrow_height_; + const double label_height_; + const double object_max_linear_size_ = 50.; + double object_speed_threshold_; + double arrow_speed_threshold_; + double marker_display_duration_; + + int marker_id_; + + std_msgs::ColorRGBA label_color_, box_color_, hull_color_, arrow_color_, centroid_color_, model_color_; + + std::string input_topic_, ros_namespace_; + + ros::NodeHandle node_handle_; + ros::Subscriber subscriber_detected_objects_; + + ros::Publisher publisher_markers_; + + visualization_msgs::MarkerArray ObjectsToLabels(const autoware_msgs::DetectedObjectArray &in_objects); + + visualization_msgs::MarkerArray ObjectsToArrows(const autoware_msgs::DetectedObjectArray &in_objects); + + visualization_msgs::MarkerArray ObjectsToBoxes(const autoware_msgs::DetectedObjectArray &in_objects); + + visualization_msgs::MarkerArray ObjectsToModels(const autoware_msgs::DetectedObjectArray &in_objects); + + visualization_msgs::MarkerArray ObjectsToHulls(const autoware_msgs::DetectedObjectArray &in_objects); + + visualization_msgs::MarkerArray ObjectsToCentroids(const autoware_msgs::DetectedObjectArray &in_objects); + + std::string ColorToString(const std_msgs::ColorRGBA &in_color); + + void DetectedObjectsCallback(const autoware_msgs::DetectedObjectArray &in_objects); + + bool IsObjectValid(const autoware_msgs::DetectedObject &in_object); + + float CheckColor(double value); + + float CheckAlpha(double value); + + std_msgs::ColorRGBA ParseColor(const std::vector &in_color); + +public: + VisualizeDetectedObjects(); +}; + +#endif // _VISUALIZEDETECTEDOBJECTS_H diff --git a/src/visualization/detected_objects_visualizer/include/visualize_rects.h b/src/visualization/detected_objects_visualizer/include/visualize_rects.h new file mode 100755 index 0000000..a912248 --- /dev/null +++ b/src/visualization/detected_objects_visualizer/include/visualize_rects.h @@ -0,0 +1,85 @@ +/* + * 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. + * + ******************** + * v1.0: amc-nu (abrahammonrroy@yahoo.com) + */ + +#ifndef _VISUALIZERECTS_H +#define _VISUALIZERECTS_H + +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include + +#include +#include +#include + +#include "autoware_msgs/DetectedObject.h" +#include "autoware_msgs/DetectedObjectArray.h" + +#define __APP_NAME__ "visualize_rects" +// #define CV_AA cv::LINE_AA +// #define CV_FILLED cv::FILLED + +class VisualizeRects +{ +private: + std::string input_topic_; + + ros::NodeHandle node_handle_; + ros::Subscriber subscriber_detected_objects_; + image_transport::Subscriber subscriber_image_; + + message_filters::Subscriber *detection_filter_subscriber_; + message_filters::Subscriber *image_filter_subscriber_; + + ros::Publisher publisher_image_; + + cv::Mat image_; + std_msgs::Header image_header_; + + typedef + message_filters::sync_policies::ApproximateTime SyncPolicyT; + + message_filters::Synchronizer + *detections_synchronizer_; + + void + SyncedDetectionsCallback( + const sensor_msgs::Image::ConstPtr &in_image_msg, + const autoware_msgs::DetectedObjectArray::ConstPtr &in_range_detections); + + bool IsObjectValid(const autoware_msgs::DetectedObject &in_object); + + cv::Mat ObjectsToRects(cv::Mat in_image, const autoware_msgs::DetectedObjectArray::ConstPtr &in_objects); + +public: + VisualizeRects(); +}; + +#endif // _VISUALIZERECTS_H diff --git a/src/visualization/detected_objects_visualizer/models/bike.dae b/src/visualization/detected_objects_visualizer/models/bike.dae new file mode 100755 index 0000000..f2e4bac --- /dev/null +++ b/src/visualization/detected_objects_visualizer/models/bike.dae @@ -0,0 +1,56 @@ + + + + + VCGLab + VCGLib | MeshLab + + 金 12月 7 02:43:37 2018 GMT + 金 12月 7 02:43:37 2018 GMT + Y_UP + + + + + + -0.237627 0.0711625 0.276906 -0.243158 0.0711625 0.331292 -0.259523 0.0711625 0.383452 -0.286053 0.0711625 0.43125 -0.321662 0.0711625 0.472729 -0.364891 0.0711625 0.506191 -0.413972 0.0711625 0.530266 -0.466894 0.0711625 0.543969 -0.521491 0.0711625 0.546738 -0.575527 0.0711625 0.538459 -0.626791 0.0711625 0.519473 -0.673184 0.0711625 0.490556 -0.712807 0.0711625 0.452893 -0.744036 0.0711625 0.408024 -0.765594 0.0711625 0.357787 -0.776599 0.0711625 0.304239 -0.776599 0.0711625 0.249572 -0.765594 0.0711625 0.196024 -0.744036 0.0711625 0.145787 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+ + + + + + + + + + + + + + + diff --git a/src/visualization/detected_objects_visualizer/package.xml b/src/visualization/detected_objects_visualizer/package.xml new file mode 100755 index 0000000..d6fa6f3 --- /dev/null +++ b/src/visualization/detected_objects_visualizer/package.xml @@ -0,0 +1,22 @@ + + + detected_objects_visualizer + 1.12.0 + Visualization package for DetectedObjectArray + amc + Apache + + autoware_build_flags + catkin + + autoware_msgs + cv_bridge + geometry_msgs + image_transport + pcl_ros + roscpp + sensor_msgs + std_msgs + tf + visualization_msgs + diff --git a/src/visualization/detected_objects_visualizer/src/visualize_detected_objects.cpp b/src/visualization/detected_objects_visualizer/src/visualize_detected_objects.cpp new file mode 100755 index 0000000..8441235 --- /dev/null +++ b/src/visualization/detected_objects_visualizer/src/visualize_detected_objects.cpp @@ -0,0 +1,513 @@ +/* + * 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. + * + ******************** + * v1.0: amc-nu (abrahammonrroy@yahoo.com) + */ + +#include "visualize_detected_objects.h" + +VisualizeDetectedObjects::VisualizeDetectedObjects() : arrow_height_(0.5), label_height_(1.0) +{ + ros::NodeHandle private_nh_("~"); + + ros_namespace_ = ros::this_node::getNamespace(); + if (ros_namespace_.substr(0, 2) == "//") + { + ros_namespace_.erase(ros_namespace_.begin()); + } + + std::string markers_out_topic = ros_namespace_ + "/objects_markers"; + + std::string object_src_topic; + private_nh_.param("objects_src_topic", object_src_topic, "/objects"); + object_src_topic = ros_namespace_ + object_src_topic; + + ROS_INFO("[%s] objects_src_topic: %s", __APP_NAME__, object_src_topic.c_str()); + + private_nh_.param("object_speed_threshold", object_speed_threshold_, 0.1); + ROS_INFO("[%s] object_speed_threshold: %.2f", __APP_NAME__, object_speed_threshold_); + + private_nh_.param("arrow_speed_threshold", arrow_speed_threshold_, 0.25); + ROS_INFO("[%s] arrow_speed_threshold: %.2f", __APP_NAME__, arrow_speed_threshold_); + + private_nh_.param("marker_display_duration", marker_display_duration_, 0.2); + ROS_INFO("[%s] marker_display_duration: %.2f", __APP_NAME__, marker_display_duration_); + + std::vector color; + private_nh_.param>("label_color", color, {0.,255.,0.,1.0}); + label_color_ = ParseColor(color); + ROS_INFO("[%s] label_color: %s", __APP_NAME__, ColorToString(label_color_).c_str()); + + private_nh_.param>("arrow_color", color, {0.,255.,0.,0.8}); + arrow_color_ = ParseColor(color); + ROS_INFO("[%s] arrow_color: %s", __APP_NAME__, ColorToString(arrow_color_).c_str()); + + private_nh_.param>("hull_color", color, {51.,204.,51.,0.8}); + hull_color_ = ParseColor(color); + ROS_INFO("[%s] hull_color: %s", __APP_NAME__, ColorToString(hull_color_).c_str()); + + private_nh_.param>("box_color", color, {0.,0.,255.,1.0}); + box_color_ = ParseColor(color); + ROS_INFO("[%s] box_color: %s", __APP_NAME__, ColorToString(box_color_).c_str()); + + private_nh_.param>("model_color", color, {0.,255.,0.,0.5}); + model_color_ = ParseColor(color); + ROS_INFO("[%s] model_color: %s", __APP_NAME__, ColorToString(model_color_).c_str()); + + private_nh_.param>("centroid_color", color, {77.,121.,255.,0.8}); + centroid_color_ = ParseColor(color); + ROS_INFO("[%s] centroid_color: %s", __APP_NAME__, ColorToString(centroid_color_).c_str()); + + subscriber_detected_objects_ = + node_handle_.subscribe(object_src_topic, 1, + &VisualizeDetectedObjects::DetectedObjectsCallback, this); + ROS_INFO("[%s] object_src_topic: %s", __APP_NAME__, object_src_topic.c_str()); + + publisher_markers_ = node_handle_.advertise( + markers_out_topic, 1); + ROS_INFO("[%s] markers_out_topic: %s", __APP_NAME__, markers_out_topic.c_str()); + +} + +std::string VisualizeDetectedObjects::ColorToString(const std_msgs::ColorRGBA &in_color) +{ + std::stringstream stream; + + stream << "{R:" << std::fixed << std::setprecision(1) << in_color.r*255 << ", "; + stream << "G:" << std::fixed << std::setprecision(1) << in_color.g*255 << ", "; + stream << "B:" << std::fixed << std::setprecision(1) << in_color.b*255 << ", "; + stream << "A:" << std::fixed << std::setprecision(1) << in_color.a << "}"; + return stream.str(); +} + +float VisualizeDetectedObjects::CheckColor(double value) +{ + float final_value; + if (value > 255.) + final_value = 1.f; + else if (value < 0) + final_value = 0.f; + else + final_value = value/255.f; + return final_value; +} + +float VisualizeDetectedObjects::CheckAlpha(double value) +{ + float final_value; + if (value > 1.) + final_value = 1.f; + else if (value < 0.1) + final_value = 0.1f; + else + final_value = value; + return final_value; +} + +std_msgs::ColorRGBA VisualizeDetectedObjects::ParseColor(const std::vector &in_color) +{ + std_msgs::ColorRGBA color; + float r,g,b,a; + if (in_color.size() == 4) //r,g,b,a + { + color.r = CheckColor(in_color[0]); + color.g = CheckColor(in_color[1]); + color.b = CheckColor(in_color[2]); + color.a = CheckAlpha(in_color[3]); + } + return color; +} + +void VisualizeDetectedObjects::DetectedObjectsCallback(const autoware_msgs::DetectedObjectArray &in_objects) +{ + visualization_msgs::MarkerArray label_markers, arrow_markers, centroid_markers, polygon_hulls, bounding_boxes, + object_models; + + visualization_msgs::MarkerArray visualization_markers; + + marker_id_ = 0; + + label_markers = ObjectsToLabels(in_objects); + arrow_markers = ObjectsToArrows(in_objects); + polygon_hulls = ObjectsToHulls(in_objects); + bounding_boxes = ObjectsToBoxes(in_objects); + object_models = ObjectsToModels(in_objects); + centroid_markers = ObjectsToCentroids(in_objects); + + visualization_markers.markers.insert(visualization_markers.markers.end(), + label_markers.markers.begin(), label_markers.markers.end()); + visualization_markers.markers.insert(visualization_markers.markers.end(), + arrow_markers.markers.begin(), arrow_markers.markers.end()); + visualization_markers.markers.insert(visualization_markers.markers.end(), + polygon_hulls.markers.begin(), polygon_hulls.markers.end()); + visualization_markers.markers.insert(visualization_markers.markers.end(), + bounding_boxes.markers.begin(), bounding_boxes.markers.end()); + visualization_markers.markers.insert(visualization_markers.markers.end(), + object_models.markers.begin(), object_models.markers.end()); + visualization_markers.markers.insert(visualization_markers.markers.end(), + centroid_markers.markers.begin(), centroid_markers.markers.end()); + + publisher_markers_.publish(visualization_markers); +} + +visualization_msgs::MarkerArray +VisualizeDetectedObjects::ObjectsToCentroids(const autoware_msgs::DetectedObjectArray &in_objects) +{ + visualization_msgs::MarkerArray centroid_markers; + for (auto const &object: in_objects.objects) + { + if (IsObjectValid(object)) + { + visualization_msgs::Marker centroid_marker; + centroid_marker.lifetime = ros::Duration(marker_display_duration_); + + centroid_marker.header = in_objects.header; + centroid_marker.type = visualization_msgs::Marker::SPHERE; + centroid_marker.action = visualization_msgs::Marker::ADD; + centroid_marker.pose = object.pose; + centroid_marker.ns = ros_namespace_ + "/centroid_markers"; + + centroid_marker.scale.x = 0.5; + centroid_marker.scale.y = 0.5; + centroid_marker.scale.z = 0.5; + + if (object.color.a == 0) + { + centroid_marker.color = centroid_color_; + } + else + { + centroid_marker.color = object.color; + } + centroid_marker.id = marker_id_++; + centroid_markers.markers.push_back(centroid_marker); + } + } + return centroid_markers; +}//ObjectsToCentroids + +visualization_msgs::MarkerArray +VisualizeDetectedObjects::ObjectsToBoxes(const autoware_msgs::DetectedObjectArray &in_objects) +{ + visualization_msgs::MarkerArray object_boxes; + + for (auto const &object: in_objects.objects) + { + if (IsObjectValid(object) && + (object.pose_reliable || object.label != "unknown") && + (object.dimensions.x + object.dimensions.y + object.dimensions.z) < object_max_linear_size_) + { + visualization_msgs::Marker box; + + box.lifetime = ros::Duration(marker_display_duration_); + box.header = in_objects.header; + box.type = visualization_msgs::Marker::CUBE; + box.action = visualization_msgs::Marker::ADD; + box.ns = ros_namespace_ + "/box_markers"; + box.id = marker_id_++; + box.scale = object.dimensions; + box.pose.position = object.pose.position; + + if (object.pose_reliable) + box.pose.orientation = object.pose.orientation; + + if (object.color.a == 0) + { + box.color = box_color_; + } + else + { + box.color = object.color; + } + + object_boxes.markers.push_back(box); + } + } + return object_boxes; +}//ObjectsToBoxes + +visualization_msgs::MarkerArray +VisualizeDetectedObjects::ObjectsToModels(const autoware_msgs::DetectedObjectArray &in_objects) +{ + visualization_msgs::MarkerArray object_models; + + for (auto const &object: in_objects.objects) + { + if (IsObjectValid(object) && + object.label != "unknown" && + (object.dimensions.x + object.dimensions.y + object.dimensions.z) < object_max_linear_size_) + { + visualization_msgs::Marker model; + + model.lifetime = ros::Duration(marker_display_duration_); + model.header = in_objects.header; + model.type = visualization_msgs::Marker::MESH_RESOURCE; + model.action = visualization_msgs::Marker::ADD; + model.ns = ros_namespace_ + "/model_markers"; + model.mesh_use_embedded_materials = false; + model.color = model_color_; + if(object.label == "car") + { + model.mesh_resource = "package://detected_objects_visualizer/models/car.dae"; + } + else if (object.label == "person") + { + model.mesh_resource = "package://detected_objects_visualizer/models/person.dae"; + } + else if (object.label == "bicycle" || object.label == "bike") + { + model.mesh_resource = "package://detected_objects_visualizer/models/bike.dae"; + } + else if (object.label == "bus") + { + model.mesh_resource = "package://detected_objects_visualizer/models/bus.dae"; + } + else if(object.label == "truck") + { + model.mesh_resource = "package://detected_objects_visualizer/models/truck.dae"; + } + else + { + model.mesh_resource = "package://detected_objects_visualizer/models/box.dae"; + } + model.scale.x = 1; + model.scale.y = 1; + model.scale.z = 1; + model.id = marker_id_++; + model.pose.position = object.pose.position; + model.pose.position.z-= object.dimensions.z/2; + + if (object.pose_reliable) + model.pose.orientation = object.pose.orientation; + + object_models.markers.push_back(model); + } + } + return object_models; +}//ObjectsToModels + +visualization_msgs::MarkerArray +VisualizeDetectedObjects::ObjectsToHulls(const autoware_msgs::DetectedObjectArray &in_objects) +{ + visualization_msgs::MarkerArray polygon_hulls; + + for (auto const &object: in_objects.objects) + { + if (IsObjectValid(object) && !object.convex_hull.polygon.points.empty() && object.label == "unknown") + { + visualization_msgs::Marker hull; + hull.lifetime = ros::Duration(marker_display_duration_); + hull.header = in_objects.header; + hull.type = visualization_msgs::Marker::LINE_STRIP; + hull.action = visualization_msgs::Marker::ADD; + hull.ns = ros_namespace_ + "/hull_markers"; + hull.id = marker_id_++; + hull.scale.x = 0.2; + + for(auto const &point: object.convex_hull.polygon.points) + { + geometry_msgs::Point tmp_point; + tmp_point.x = point.x; + tmp_point.y = point.y; + tmp_point.z = point.z; + hull.points.push_back(tmp_point); + } + + if (object.color.a == 0) + { + hull.color = hull_color_; + } + else + { + hull.color = object.color; + } + + polygon_hulls.markers.push_back(hull); + } + } + return polygon_hulls; +} + +visualization_msgs::MarkerArray +VisualizeDetectedObjects::ObjectsToArrows(const autoware_msgs::DetectedObjectArray &in_objects) +{ + visualization_msgs::MarkerArray arrow_markers; + for (auto const &object: in_objects.objects) + { + if (IsObjectValid(object) && object.pose_reliable) + { + double velocity = object.velocity.linear.x; + + if (abs(velocity) >= arrow_speed_threshold_) + { + visualization_msgs::Marker arrow_marker; + arrow_marker.lifetime = ros::Duration(marker_display_duration_); + + tf::Quaternion q(object.pose.orientation.x, + object.pose.orientation.y, + object.pose.orientation.z, + object.pose.orientation.w); + double roll, pitch, yaw; + + tf::Matrix3x3(q).getRPY(roll, pitch, yaw); + + // in the case motion model fit opposite direction + if (velocity < -0.1) + { + yaw += M_PI; + // normalize angle + while (yaw > M_PI) + yaw -= 2. * M_PI; + while (yaw < -M_PI) + yaw += 2. * M_PI; + } + + tf::Matrix3x3 obs_mat; + tf::Quaternion q_tf; + + obs_mat.setEulerYPR(yaw, 0, 0); // yaw, pitch, roll + obs_mat.getRotation(q_tf); + + arrow_marker.header = in_objects.header; + arrow_marker.ns = ros_namespace_ + "/arrow_markers"; + arrow_marker.action = visualization_msgs::Marker::ADD; + arrow_marker.type = visualization_msgs::Marker::ARROW; + + // green + if (object.color.a == 0) + { + arrow_marker.color = arrow_color_; + } + else + { + arrow_marker.color = object.color; + } + arrow_marker.id = marker_id_++; + + // Set the pose of the marker. This is a full 6DOF pose relative to the frame/time specified in the header + arrow_marker.pose.position.x = object.pose.position.x; + arrow_marker.pose.position.y = object.pose.position.y; + arrow_marker.pose.position.z = arrow_height_; + + arrow_marker.pose.orientation.x = q_tf.getX(); + arrow_marker.pose.orientation.y = q_tf.getY(); + arrow_marker.pose.orientation.z = q_tf.getZ(); + arrow_marker.pose.orientation.w = q_tf.getW(); + + // Set the scale of the arrow -- 1x1x1 here means 1m on a side + arrow_marker.scale.x = 3; + arrow_marker.scale.y = 0.1; + arrow_marker.scale.z = 0.1; + + arrow_markers.markers.push_back(arrow_marker); + }//velocity threshold + }//valid object + }//end for + return arrow_markers; +}//ObjectsToArrows + +visualization_msgs::MarkerArray +VisualizeDetectedObjects::ObjectsToLabels(const autoware_msgs::DetectedObjectArray &in_objects) +{ + visualization_msgs::MarkerArray label_markers; + for (auto const &object: in_objects.objects) + { + if (IsObjectValid(object)) + { + visualization_msgs::Marker label_marker; + + label_marker.lifetime = ros::Duration(marker_display_duration_); + label_marker.header = in_objects.header; + label_marker.ns = ros_namespace_ + "/label_markers"; + label_marker.action = visualization_msgs::Marker::ADD; + label_marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING; + label_marker.scale.x = 1.5; + label_marker.scale.y = 1.5; + label_marker.scale.z = 1.5; + + label_marker.color = label_color_; + + label_marker.id = marker_id_++; + + if(!object.label.empty() && object.label != "unknown") + label_marker.text = object.label + " "; //Object Class if available + + std::stringstream distance_stream; + distance_stream << std::fixed << std::setprecision(1) + << sqrt((object.pose.position.x * object.pose.position.x) + + (object.pose.position.y * object.pose.position.y)); + std::string distance_str = distance_stream.str() + " m"; + label_marker.text += distance_str; + + if (object.velocity_reliable) + { + double velocity = object.velocity.linear.x; + if (velocity < -0.1) + { + velocity *= -1; + } + + if (abs(velocity) < object_speed_threshold_) + { + velocity = 0.0; + } + + tf::Quaternion q(object.pose.orientation.x, object.pose.orientation.y, + object.pose.orientation.z, object.pose.orientation.w); + + double roll, pitch, yaw; + tf::Matrix3x3(q).getRPY(roll, pitch, yaw); + + // convert m/s to km/h + std::stringstream kmh_velocity_stream; + kmh_velocity_stream << std::fixed << std::setprecision(1) << (velocity * 3.6); + std::string text = "\n<" + std::to_string(object.id) + "> " + kmh_velocity_stream.str() + " km/h"; + label_marker.text += text; + } + + label_marker.pose.position.x = object.pose.position.x; + label_marker.pose.position.y = object.pose.position.y+1.5; + label_marker.pose.position.z = label_height_+0.1; + label_marker.scale.z = 0.8; + if (!label_marker.text.empty()) + label_markers.markers.push_back(label_marker); + } + } // end in_objects.objects loop + + return label_markers; +}//ObjectsToLabels + +bool VisualizeDetectedObjects::IsObjectValid(const autoware_msgs::DetectedObject &in_object) +{ + if (!in_object.valid || + std::isnan(in_object.pose.orientation.x) || + std::isnan(in_object.pose.orientation.y) || + std::isnan(in_object.pose.orientation.z) || + std::isnan(in_object.pose.orientation.w) || + std::isnan(in_object.pose.position.x) || + std::isnan(in_object.pose.position.y) || + std::isnan(in_object.pose.position.z) || + (in_object.pose.position.x == 0.) || + (in_object.pose.position.y == 0.) || + (in_object.dimensions.x <= 0.) || + (in_object.dimensions.y <= 0.) || + (in_object.dimensions.z <= 0.) + ) + { + return false; + } + return true; +}//end IsObjectValid \ No newline at end of file diff --git a/src/visualization/detected_objects_visualizer/src/visualize_detected_objects_main.cpp b/src/visualization/detected_objects_visualizer/src/visualize_detected_objects_main.cpp new file mode 100755 index 0000000..55995e0 --- /dev/null +++ b/src/visualization/detected_objects_visualizer/src/visualize_detected_objects_main.cpp @@ -0,0 +1,29 @@ +/* + * 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. + * + ******************** + * v1.0: amc-nu (abrahammonrroy@yahoo.com) + */ + +#include "visualize_detected_objects.h" + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "visualize_detected_objects"); + VisualizeDetectedObjects app; + ros::spin(); + + return 0; +} diff --git a/src/visualization/detected_objects_visualizer/src/visualize_rects.cpp b/src/visualization/detected_objects_visualizer/src/visualize_rects.cpp new file mode 100755 index 0000000..57941ee --- /dev/null +++ b/src/visualization/detected_objects_visualizer/src/visualize_rects.cpp @@ -0,0 +1,169 @@ +/* + * 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. + * + ******************** + * v1.0: amc-nu (abrahammonrroy@yahoo.com) + */ + +#include "visualize_rects.h" + +VisualizeRects::VisualizeRects() +{ + ros::NodeHandle private_nh_("~"); + + ros::NodeHandle nh; + + std::string image_src_topic; + std::string object_src_topic; + std::string image_out_topic; + + private_nh_.param("image_src", image_src_topic, "/image_raw"); + private_nh_.param("object_src", object_src_topic, "/detection/image_detector/objects"); + private_nh_.param("image_out", image_out_topic, "/image_rects"); + + //get namespace from topic + std::string ros_namespace = image_src_topic; + std::size_t found_pos = ros_namespace.rfind("/");//find last / from topic name to extract namespace + std::cout << ros_namespace << std::endl; + if (found_pos!=std::string::npos) + ros_namespace.erase(found_pos, ros_namespace.length()-found_pos); + std::cout << ros_namespace << std::endl; + image_out_topic = ros_namespace + image_out_topic; + + image_filter_subscriber_ = new message_filters::Subscriber(private_nh_, + image_src_topic, + 1); + ROS_INFO("[%s] image_src: %s", __APP_NAME__, image_src_topic.c_str()); + detection_filter_subscriber_ = new message_filters::Subscriber(private_nh_, + object_src_topic, + 1); + ROS_INFO("[%s] object_src: %s", __APP_NAME__, object_src_topic.c_str()); + + detections_synchronizer_ = + new message_filters::Synchronizer(SyncPolicyT(10), + *image_filter_subscriber_, + *detection_filter_subscriber_); + detections_synchronizer_->registerCallback( + boost::bind(&VisualizeRects::SyncedDetectionsCallback, this, _1, _2)); + + + publisher_image_ = node_handle_.advertise( + image_out_topic, 1); + ROS_INFO("[%s] image_out: %s", __APP_NAME__, image_out_topic.c_str()); + +} + +void +VisualizeRects::SyncedDetectionsCallback( + const sensor_msgs::Image::ConstPtr &in_image_msg, + const autoware_msgs::DetectedObjectArray::ConstPtr &in_objects) +{ + try + { + image_ = cv_bridge::toCvShare(in_image_msg, "bgr8")->image; + cv::Mat drawn_image; + drawn_image = ObjectsToRects(image_, in_objects); + sensor_msgs::ImagePtr drawn_msg = cv_bridge::CvImage(in_image_msg->header, "bgr8", drawn_image).toImageMsg(); + publisher_image_.publish(drawn_msg); + } + catch (cv_bridge::Exception& e) + { + ROS_ERROR("[%s] Could not convert from '%s' to 'bgr8'.", __APP_NAME__, in_image_msg->encoding.c_str()); + } +} + +cv::Mat +VisualizeRects::ObjectsToRects(cv::Mat in_image, const autoware_msgs::DetectedObjectArray::ConstPtr &in_objects) +{ + cv::Mat final_image = in_image.clone(); + for (auto const &object: in_objects->objects) + { + if (IsObjectValid(object)) + { + cv::Rect rect; + rect.x = object.x; + rect.y = object.y; + rect.width = object.width; + rect.height = object.height; + + if (rect.x+rect.width >= in_image.cols) + rect.width = in_image.cols -rect.x - 1; + + if (rect.y+rect.height >= in_image.rows) + rect.height = in_image.rows -rect.y - 1; + + //draw rectangle + cv::rectangle(final_image, + rect, + cv::Scalar(244,134,66), + 4, + CV_AA); + + //draw label + std::string label = ""; + if (!object.label.empty() && object.label != "unknown") + { + label = object.label; + } + int font_face = cv::FONT_HERSHEY_DUPLEX; + double font_scale = 1.5; + int thickness = 1; + + int baseline=0; + cv::Size text_size = cv::getTextSize(label, + font_face, + font_scale, + thickness, + &baseline); + baseline += thickness; + + cv::Point text_origin(object.x - text_size.height,object.y); + + cv::rectangle(final_image, + text_origin + cv::Point(0, baseline), + text_origin + cv::Point(text_size.width, -text_size.height), + cv::Scalar(0,0,0), + CV_FILLED, + CV_AA, + 0); + + cv::putText(final_image, + label, + text_origin, + font_face, + font_scale, + cv::Scalar::all(255), + thickness, + CV_AA, + false); + + } + } + return final_image; +}//ObjectsToBoxes + +bool VisualizeRects::IsObjectValid(const autoware_msgs::DetectedObject &in_object) +{ + if (!in_object.valid || + in_object.width < 0 || + in_object.height < 0 || + in_object.x < 0 || + in_object.y < 0 + ) + { + return false; + } + return true; +}//end IsObjectValid \ No newline at end of file diff --git a/src/visualization/detected_objects_visualizer/src/visualize_rects_main.cpp b/src/visualization/detected_objects_visualizer/src/visualize_rects_main.cpp new file mode 100755 index 0000000..0da1b4f --- /dev/null +++ b/src/visualization/detected_objects_visualizer/src/visualize_rects_main.cpp @@ -0,0 +1,29 @@ +/* + * 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. + * + ******************** + * v1.0: amc-nu (abrahammonrroy@yahoo.com) + */ + +#include "visualize_rects.h" + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "visualize_rects"); + VisualizeRects app; + ros::spin(); + + return 0; +}