feat(autoware_auto_perception_rviz_plugin): improve rviz performance #2780

lexavtanke · 2023-01-30T08:18:27Z

Description

This PR add ability to choose between different types of DetectedObjects visualization: 3d polygon, 2d polygon, no polygon.
Here is video showing this.

There is also small performance improvement with big amount of objects (1-2 fps).
Here are 250 detected objects.
Here are 500.

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codecov · 2023-01-30T08:48:49Z

Codecov Report

Base: 11.63% // Head: 11.60% // Decreases project coverage by -0.03% ⚠️

Coverage data is based on head (b9446f5) compared to base (5940ba7).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2780      +/-   ##
==========================================
- Coverage   11.63%   11.60%   -0.03%     
==========================================
  Files        1317     1317              
  Lines       91819    92029     +210     
  Branches    24371    24371              
==========================================
  Hits        10679    10679              
- Misses      69990    70200     +210     
  Partials    11150    11150

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`11.63% <0.00%> (ø)`		Carriedforward from 0bbde6f

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

Impacted Files	Coverage Δ
...include/object_detection/object_polygon_detail.hpp	`0.00% <ø> (ø)`
...e/object_detection/object_polygon_display_base.hpp	`0.00% <0.00%> (ø)`
...gin/src/object_detection/object_polygon_detail.cpp	`0.00% <0.00%> (ø)`

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taikitanaka3 · 2023-01-30T08:55:55Z

@yukkysaito
Can you review this PR?

common/autoware_auto_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp

yukkysaito · 2023-01-30T09:25:52Z

@lexavtanke Thank you for PR 👍 I reviewed the code

common/autoware_auto_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp

…etected objects Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

…working Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

…aunch and revert testing modification. Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

yukkysaito

LGTM

…utowarefoundation#2780) * add choose box element to control type of visualization polygon for detected objects Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * WIP: add switching logic and defininition for 2d poligons functions, working Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * add function for making 2d polygon from cylinder shape Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * add code to make 2d polygones from unknown objects Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * wip, add creation of milty dummy objects by one click Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * modificate empty_objects_publisher for testing purpose Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * feat/2d_obj_rviz: cleaning for pull request. Remove dummy_empty_obj.launch and revert testing modification. Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * feat/2d-obj-rviz refactor, update names of functions to more meaningfull, remove unnecessary code which was drawing additional lines on circle, remove TODO Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * style(pre-commit): autofix * feat/2d-obj-rviz correct spelling mistakes Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> --------- Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat(autoware_auto_perception_rviz_plugin): improve rviz performance (autowarefoundation#2780) * add choose box element to control type of visualization polygon for detected objects Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * WIP: add switching logic and defininition for 2d poligons functions, working Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * add function for making 2d polygon from cylinder shape Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * add code to make 2d polygones from unknown objects Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * wip, add creation of milty dummy objects by one click Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * modificate empty_objects_publisher for testing purpose Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * feat/2d_obj_rviz: cleaning for pull request. Remove dummy_empty_obj.launch and revert testing modification. Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * feat/2d-obj-rviz refactor, update names of functions to more meaningfull, remove unnecessary code which was drawing additional lines on circle, remove TODO Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * style(pre-commit): autofix * feat/2d-obj-rviz correct spelling mistakes Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> --------- Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(autoware_auto_perception_rviz_plugin): add simple visualize mode (autowarefoundation#2814) * feat(autoware_auto_perception_rviz_plugin): add simple visualize mode Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix typo Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> --------- Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> --------- Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…utowarefoundation#2780) * add choose box element to control type of visualization polygon for detected objects Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * WIP: add switching logic and defininition for 2d poligons functions, working Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * add function for making 2d polygon from cylinder shape Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * add code to make 2d polygones from unknown objects Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * wip, add creation of milty dummy objects by one click Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * modificate empty_objects_publisher for testing purpose Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * feat/2d_obj_rviz: cleaning for pull request. Remove dummy_empty_obj.launch and revert testing modification. Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * feat/2d-obj-rviz refactor, update names of functions to more meaningfull, remove unnecessary code which was drawing additional lines on circle, remove TODO Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> * style(pre-commit): autofix * feat/2d-obj-rviz correct spelling mistakes Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> --------- Signed-off-by: Alexey Panferov <lexavtanke@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

lexavtanke requested review from scepter914, taikitanaka3 and a team as code owners January 30, 2023 08:18

github-actions bot added the component:common Common packages from the autoware-common repository. (auto-assigned) label Jan 30, 2023

taikitanaka3 requested a review from yukkysaito January 30, 2023 08:56

yukkysaito reviewed Jan 30, 2023

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lexavtanke added 7 commits January 31, 2023 15:35

add choose box element to control type of visualization polygon for d…

bd24832

…etected objects Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

WIP: add switching logic and defininition for 2d poligons functions, …

1b58f21

…working Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

add function for making 2d polygon from cylinder shape

e603fe5

Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

add code to make 2d polygones from unknown objects

3202dbf

Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

wip, add creation of milty dummy objects by one click

2a930fa

Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

modificate empty_objects_publisher for testing purpose

ba4aadc

Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

feat/2d_obj_rviz: cleaning for pull request. Remove dummy_empty_obj.l…

c696b48

…aunch and revert testing modification. Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

lexavtanke force-pushed the feat/2d-obj-rviz branch from 7e04b4c to b219830 Compare January 31, 2023 07:36

lexavtanke requested review from mkuri, TakaHoribe, 1222-takeshi, tkimura4, asana17, ito-san, kenji-miyake, YamatoAndo, kosuke55 and takayuki5168 as code owners January 31, 2023 07:36

pre-commit-ci bot and others added 3 commits January 31, 2023 10:03

style(pre-commit): autofix

9cccfe3

Merge branch 'main' into feat/2d-obj-rviz

0bbde6f

feat/2d-obj-rviz correct spelling mistakes

b9446f5

Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

lexavtanke removed request for IshitaTakeshi, RyuYamamoto, h-ohta, TomohitoAndo, yukke42, soblin, kyoichi-sugahara, shmpwk, mitsudome-r, isamu-takagi, kminoda, satoshi-ota and maxime-clem January 31, 2023 12:27

yukkysaito approved these changes Jan 31, 2023

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tkimura4 enabled auto-merge (squash) February 3, 2023 09:23

tkimura4 disabled auto-merge February 3, 2023 09:33

tkimura4 merged commit 3bc370c into autowarefoundation:main Feb 3, 2023

tier4-autoware-public-bot bot mentioned this pull request Feb 4, 2023

chore: sync upstream tier4/autoware.universe#261

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tkimura4 mentioned this pull request Feb 6, 2023

feat(autoware_auto_perception_rviz_plugin): add simple visualize mode (autowarefoundation#2814) tier4/autoware.universe#271

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lexavtanke mentioned this pull request Feb 10, 2023

feat Improve visualization of the perception module #2860

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feat(autoware_auto_perception_rviz_plugin): improve rviz performance #2780

feat(autoware_auto_perception_rviz_plugin): improve rviz performance #2780

lexavtanke commented Jan 30, 2023 •

edited by xmfcx

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taikitanaka3 commented Jan 30, 2023

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feat(autoware_auto_perception_rviz_plugin): improve rviz performance #2780

feat(autoware_auto_perception_rviz_plugin): improve rviz performance #2780

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lexavtanke commented Jan 30, 2023 • edited by xmfcx Loading

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lexavtanke commented Jan 30, 2023 •

edited by xmfcx

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