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feat(tier4_perception_launch): added bevfusion to the launchers #10541

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Merged
knzo25 merged 3 commits into from
Apr 23, 2025
Merged

feat(tier4_perception_launch): added bevfusion to the launchers #10541

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198125c
feat: added bevfusion to the launchers
knzo25 Apr 23, 2025
73e95c7
chore: in case that no model is selected for bevfusion, we should use…
knzo25 Apr 23, 2025
1ab6eb3
chore: forgot to add the dep
knzo25 Apr 23, 2025
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21 changes: 19 additions & 2 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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Expand Up @@ -5,8 +5,25 @@

<!-- Pipeline junctions -->
<arg name="mode" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
<arg name="lidar_detection_model_type" description="options: `transfusion`, `centerpoint`, `pointpainting`, `apollo`, `clustering`"/>
<arg name="lidar_detection_model_name" description="options: `transfusion`, `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`, `pointpainting`"/>

<arg name="lidar_detection_model_type">
<choice value="bevfusion"/>
<choice value="centerpoint"/>
<choice value="pointpainting"/>
<choice value="transfusion"/>
<choice value="apollo"/>
<choice value="clustering"/>
</arg>
<arg name="lidar_detection_model_name">
<choice value="bevfusion_lidar"/>
<choice value="centerpoint"/>
<choice value="centerpoint_tiny"/>
<choice value="centerpoint_sigma"/>
<choice value="pointpainting"/>
<choice value="transfusion"/>
<choice value=""/>
</arg>

<arg name="use_object_filter" description="use object filter"/>
<arg name="objects_filter_method" description="options: `lanelet_filter` or `position_filter`"/>
<arg name="use_pointcloud_map" description="use pointcloud map filter"/>
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19 changes: 17 additions & 2 deletions ...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
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Expand Up @@ -4,8 +4,23 @@
<arg name="ns" description="current namespace"/>

<!-- Lidar + Camera detector parameters -->
<arg name="lidar_detection_model_type" description="options: `transfusion`, `centerpoint`, `pointpainting`, `apollo`, `clustering`"/>
<arg name="lidar_detection_model_name" description="options: `transfusion`, `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`, `pointpainting`"/>
<arg name="lidar_detection_model_type">
<choice value="bevfusion"/>
<choice value="centerpoint"/>
<choice value="pointpainting"/>
<choice value="transfusion"/>
<choice value="apollo"/>
<choice value="clustering"/>
</arg>
<arg name="lidar_detection_model_name">
<choice value="bevfusion_lidar"/>
<choice value="centerpoint"/>
<choice value="centerpoint_tiny"/>
<choice value="centerpoint_sigma"/>
<choice value="pointpainting"/>
<choice value="transfusion"/>
<choice value=""/>
</arg>
<arg name="use_low_intensity_cluster_filter"/>
<arg name="use_image_segmentation_based_filter"/>

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44 changes: 42 additions & 2 deletions ...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
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@@ -1,9 +1,26 @@
<?xml version="1.0"?>
<launch>
<!-- Lidar parameters -->
<arg name="lidar_detection_model_type" description="options: `transfusion`, `centerpoint`, `pointpainting`, `apollo`, `clustering`"/>
<arg name="lidar_detection_model_name" description="options: `transfusion`, `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`, `pointpainting`"/>
<arg name="lidar_detection_model_type">
<choice value="bevfusion"/>
<choice value="centerpoint"/>
<choice value="pointpainting"/>
<choice value="transfusion"/>
<choice value="apollo"/>
<choice value="clustering"/>
</arg>
<arg name="lidar_detection_model_name">
<choice value="bevfusion_lidar"/>
<choice value="centerpoint"/>
<choice value="centerpoint_tiny"/>
<choice value="centerpoint_sigma"/>
<choice value="pointpainting"/>
<choice value="transfusion"/>
<choice value=""/>
</arg>

<!-- Lidar detector parameters -->
<arg name="bevfusion_model_path" default="$(var data_path)/bevfusion"/>
<arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
<arg name="transfusion_model_path" default="$(var data_path)/lidar_transfusion"/>

Expand All @@ -12,6 +29,29 @@
<arg name="input/pointcloud"/>
<arg name="output/objects"/>

<!-- BEVFusion -->
<group if="$(eval &quot;'$(var lidar_detection_model_type)'=='bevfusion'&quot;)">
<let name="lidar_detection_model_name" value="$(eval &quot;'bevfusion_lidar' if ''=='$(var lidar_detection_model_name)' else '$(var lidar_detection_model_name)'&quot;)"/>
<push-ros-namespace namespace="bevfusion"/>
<arg name="lidar_model_param_path" default="$(find-pkg-share autoware_bevfusion)/config"/>

<group>
<include file="$(find-pkg-share autoware_bevfusion)/launch/bevfusion.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="$(var output/objects)"/>
<arg name="model_name" value="$(var lidar_detection_model_name)"/>
<arg name="model_path" value="$(var bevfusion_model_path)"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model_name).param.yaml"/>
<arg name="ml_package_param_path" value="$(var bevfusion_model_path)/ml_package_$(var lidar_detection_model_name).param.yaml"/>
<arg name="class_remapper_param_path" value="$(var bevfusion_model_path)/detection_class_remapper.param.yaml"/>
<arg name="common_param_path" value="$(var lidar_model_param_path)/bevfusion_common.param.yaml"/>

<arg name="use_pointcloud_container" value="true"/>
<arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
</include>
</group>
</group>

<!-- TransFusion -->
<group if="$(eval &quot;'$(var lidar_detection_model_type)'=='transfusion'&quot;)">
<let name="lidar_detection_model_name" value="$(eval &quot;'transfusion' if ''=='$(var lidar_detection_model_name)' else '$(var lidar_detection_model_name)'&quot;)"/>
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20 changes: 18 additions & 2 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -49,6 +49,7 @@
<!-- ML model parameters -->
<arg name="lidar_detection_model_type" default="$(eval &quot;'$(var lidar_detection_model)'.split('/')[0]&quot;)"/>
<arg name="lidar_detection_model_name" default="$(eval &quot;'$(var lidar_detection_model)'.split('/')[1] if '/' in '$(var lidar_detection_model)' else ''&quot;)"/>
<arg name="bevfusion_model_path" default="$(var data_path)/bevfusion"/>
<arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
<arg name="transfusion_model_path" default="$(var data_path)/lidar_transfusion"/>
<arg name="pointpainting_model_path" default="$(var data_path)/image_projection_based_fusion"/>
Expand All @@ -57,8 +58,23 @@
<arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
<arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
<arg name="lidar_detection_model_type" default="$(var lidar_detection_model_type)" description="options: `transfusion`, `centerpoint`, `pointpainting`, `apollo`, `clustering`"/>
<arg name="lidar_detection_model_name" default="$(var lidar_detection_model_name)" description="options: `transfusion`, `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`, `pointpainting`"/>
<arg name="lidar_detection_model_type" default="$(var lidar_detection_model_type)">
<choice value="bevfusion"/>
<choice value="centerpoint"/>
<choice value="pointpainting"/>
<choice value="transfusion"/>
<choice value="apollo"/>
<choice value="clustering"/>
</arg>
<arg name="lidar_detection_model_name" default="$(var lidar_detection_model_name)">
<choice value="bevfusion_lidar"/>
<choice value="centerpoint"/>
<choice value="centerpoint_tiny"/>
<choice value="centerpoint_sigma"/>
<choice value="pointpainting"/>
<choice value="transfusion"/>
<choice value=""/>
</arg>
<arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
<arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
<arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
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1 change: 1 addition & 0 deletions launch/tier4_perception_launch/package.xml
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Expand Up @@ -14,6 +14,7 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<exec_depend>autoware_bevfusion</exec_depend>
<exec_depend>autoware_cluster_merger</exec_depend>
<exec_depend>autoware_compare_map_segmentation</exec_depend>
<exec_depend>autoware_crosswalk_traffic_light_estimator</exec_depend>
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