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feat(tier4_perception_launch): added bevfusion to the launchers (autowarefoundation#10541)
* feat: added bevfusion to the launchers Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: in case that no model is selected for bevfusion, we should use bevfusion_lidar instead of bevfusion as the model, since the later does not exist Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: forgot to add the dep Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
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‎launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml‎

Lines changed: 19 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -5,8 +5,25 @@
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<!-- Pipeline junctions -->
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<arg name="mode" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
8-
<arg name="lidar_detection_model_type" description="options: `transfusion`, `centerpoint`, `pointpainting`, `apollo`, `clustering`"/>
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<arg name="lidar_detection_model_name" description="options: `transfusion`, `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`, `pointpainting`"/>
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<arg name="lidar_detection_model_type">
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<choice value="bevfusion"/>
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<choice value="centerpoint"/>
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<choice value="pointpainting"/>
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<choice value="transfusion"/>
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<choice value="apollo"/>
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<choice value="clustering"/>
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</arg>
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<arg name="lidar_detection_model_name">
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<choice value="bevfusion_lidar"/>
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<choice value="centerpoint"/>
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<choice value="centerpoint_tiny"/>
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<choice value="centerpoint_sigma"/>
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<choice value="pointpainting"/>
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<choice value="transfusion"/>
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<choice value=""/>
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</arg>
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<arg name="use_object_filter" description="use object filter"/>
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<arg name="objects_filter_method" description="options: `lanelet_filter` or `position_filter`"/>
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<arg name="use_pointcloud_map" description="use pointcloud map filter"/>

‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml‎

Lines changed: 17 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -4,8 +4,23 @@
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<arg name="ns" description="current namespace"/>
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<!-- Lidar + Camera detector parameters -->
7-
<arg name="lidar_detection_model_type" description="options: `transfusion`, `centerpoint`, `pointpainting`, `apollo`, `clustering`"/>
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<arg name="lidar_detection_model_name" description="options: `transfusion`, `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`, `pointpainting`"/>
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<arg name="lidar_detection_model_type">
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<choice value="bevfusion"/>
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<choice value="centerpoint"/>
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<choice value="pointpainting"/>
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<choice value="transfusion"/>
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<choice value="apollo"/>
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<choice value="clustering"/>
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</arg>
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<arg name="lidar_detection_model_name">
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<choice value="bevfusion_lidar"/>
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<choice value="centerpoint"/>
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<choice value="centerpoint_tiny"/>
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<choice value="centerpoint_sigma"/>
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<choice value="pointpainting"/>
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<choice value="transfusion"/>
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<choice value=""/>
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</arg>
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<arg name="use_low_intensity_cluster_filter"/>
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<arg name="use_image_segmentation_based_filter"/>
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‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml‎

Lines changed: 42 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,26 @@
11
<?xml version="1.0"?>
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<launch>
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<!-- Lidar parameters -->
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<arg name="lidar_detection_model_type" description="options: `transfusion`, `centerpoint`, `pointpainting`, `apollo`, `clustering`"/>
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<arg name="lidar_detection_model_name" description="options: `transfusion`, `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`, `pointpainting`"/>
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<arg name="lidar_detection_model_type">
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<choice value="bevfusion"/>
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<choice value="centerpoint"/>
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<choice value="pointpainting"/>
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<choice value="transfusion"/>
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<choice value="apollo"/>
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<choice value="clustering"/>
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</arg>
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<arg name="lidar_detection_model_name">
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<choice value="bevfusion_lidar"/>
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<choice value="centerpoint"/>
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<choice value="centerpoint_tiny"/>
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<choice value="centerpoint_sigma"/>
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<choice value="pointpainting"/>
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<choice value="transfusion"/>
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<choice value=""/>
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</arg>
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<!-- Lidar detector parameters -->
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<arg name="bevfusion_model_path" default="$(var data_path)/bevfusion"/>
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<arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
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<arg name="transfusion_model_path" default="$(var data_path)/lidar_transfusion"/>
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@@ -12,6 +29,29 @@
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<arg name="input/pointcloud"/>
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<arg name="output/objects"/>
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<!-- BEVFusion -->
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<group if="$(eval &quot;'$(var lidar_detection_model_type)'=='bevfusion'&quot;)">
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<let name="lidar_detection_model_name" value="$(eval &quot;'bevfusion_lidar' if ''=='$(var lidar_detection_model_name)' else '$(var lidar_detection_model_name)'&quot;)"/>
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<push-ros-namespace namespace="bevfusion"/>
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<arg name="lidar_model_param_path" default="$(find-pkg-share autoware_bevfusion)/config"/>
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<group>
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<include file="$(find-pkg-share autoware_bevfusion)/launch/bevfusion.launch.xml">
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<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
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<arg name="output/objects" value="$(var output/objects)"/>
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<arg name="model_name" value="$(var lidar_detection_model_name)"/>
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<arg name="model_path" value="$(var bevfusion_model_path)"/>
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<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model_name).param.yaml"/>
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<arg name="ml_package_param_path" value="$(var bevfusion_model_path)/ml_package_$(var lidar_detection_model_name).param.yaml"/>
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<arg name="class_remapper_param_path" value="$(var bevfusion_model_path)/detection_class_remapper.param.yaml"/>
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<arg name="common_param_path" value="$(var lidar_model_param_path)/bevfusion_common.param.yaml"/>
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<arg name="use_pointcloud_container" value="true"/>
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<arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
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</include>
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</group>
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</group>
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<!-- TransFusion -->
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<group if="$(eval &quot;'$(var lidar_detection_model_type)'=='transfusion'&quot;)">
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<let name="lidar_detection_model_name" value="$(eval &quot;'transfusion' if ''=='$(var lidar_detection_model_name)' else '$(var lidar_detection_model_name)'&quot;)"/>

‎launch/tier4_perception_launch/launch/perception.launch.xml‎

Lines changed: 18 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -49,6 +49,7 @@
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<!-- ML model parameters -->
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<arg name="lidar_detection_model_type" default="$(eval &quot;'$(var lidar_detection_model)'.split('/')[0]&quot;)"/>
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<arg name="lidar_detection_model_name" default="$(eval &quot;'$(var lidar_detection_model)'.split('/')[1] if '/' in '$(var lidar_detection_model)' else ''&quot;)"/>
52+
<arg name="bevfusion_model_path" default="$(var data_path)/bevfusion"/>
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<arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
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<arg name="transfusion_model_path" default="$(var data_path)/lidar_transfusion"/>
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<arg name="pointpainting_model_path" default="$(var data_path)/image_projection_based_fusion"/>
@@ -57,8 +58,23 @@
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<arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
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<arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
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<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
60-
<arg name="lidar_detection_model_type" default="$(var lidar_detection_model_type)" description="options: `transfusion`, `centerpoint`, `pointpainting`, `apollo`, `clustering`"/>
61-
<arg name="lidar_detection_model_name" default="$(var lidar_detection_model_name)" description="options: `transfusion`, `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`, `pointpainting`"/>
61+
<arg name="lidar_detection_model_type" default="$(var lidar_detection_model_type)">
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<choice value="bevfusion"/>
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<choice value="centerpoint"/>
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<choice value="pointpainting"/>
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<choice value="transfusion"/>
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<choice value="apollo"/>
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<choice value="clustering"/>
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</arg>
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<arg name="lidar_detection_model_name" default="$(var lidar_detection_model_name)">
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<choice value="bevfusion_lidar"/>
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<choice value="centerpoint"/>
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<choice value="centerpoint_tiny"/>
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<choice value="centerpoint_sigma"/>
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<choice value="pointpainting"/>
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<choice value="transfusion"/>
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<choice value=""/>
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</arg>
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<arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
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<arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
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<arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>

‎launch/tier4_perception_launch/package.xml‎

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@@ -14,6 +14,7 @@
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<buildtool_depend>autoware_cmake</buildtool_depend>
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<exec_depend>autoware_bevfusion</exec_depend>
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<exec_depend>autoware_cluster_merger</exec_depend>
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<exec_depend>autoware_compare_map_segmentation</exec_depend>
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<exec_depend>autoware_crosswalk_traffic_light_estimator</exec_depend>

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