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chore(image_projection_based_fusion): rework parameters (autowarefoundation#6169)
* chore(image_projection_based_fusion): use config Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * fix: revert build_only option Signed-off-by: kminoda <koji.minoda@tier4.jp> * docs: update readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * update component launcher as well Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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‎perception/image_projection_based_fusion/README.md

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@@ -53,6 +53,15 @@ The timeout threshold should be set according to the postprocessing time.
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E.g, if the postprocessing time is around 50ms, the timeout threshold should be set smaller than 50ms, so that the whole processing time could be less than 100ms.
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current default value at autoware.universe for XX1: - timeout_ms: 50.0
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#### The `build_only` option
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The `pointpainting_fusion` node has `build_only` option to build the TensorRT engine file from the ONNX file.
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Although it is preferred to move all the ROS parameters in `.param.yaml` file in Autoware Universe, the `build_only` option is not moved to the `.param.yaml` file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:
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```bash
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ros2 launch image_projection_based_fusion pointpainting_fusion.launch.xml model_name:=pointpainting model_path:=/home/autoware/autoware_data/image_projection_based_fusion model_param_path:=$(ros2 pkg prefix image_projection_based_fusion --share)/config/pointpainting.param.yaml build_only:=true
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```
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#### Known Limits
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The rclcpp::TimerBase timer could not break a for loop, therefore even if time is out when fusing a roi msg at the middle, the program will run until all msgs are fused.

‎perception/image_projection_based_fusion/config/pointpainting.param.yaml

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/**:
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ros__parameters:
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trt_precision: fp16
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encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
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encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
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head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
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head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
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model_params:
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class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
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paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]

‎perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml

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# this is selected based on semantic segmentation model accuracy,
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# calibration accuracy and unknown reaction distance
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filter_distance_threshold: 60.0
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# debug
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debug_mode: false
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filter_scope_minx: -100
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filter_scope_maxx: 100
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filter_scope_miny: -100
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filter_scope_maxy: 100
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filter_scope_minz: -100
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filter_scope_maxz: 100
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image_buffer_size: 15

‎perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml

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<composable_node pkg="image_projection_based_fusion" plugin="image_projection_based_fusion::PointPaintingFusionNode" name="pointpainting">
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<remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
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<remap from="~/output/objects" to="$(var output/objects)"/>
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<param name="trt_precision" value="fp16"/>
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<param name="encoder_onnx_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"/>
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<param name="encoder_engine_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).engine"/>
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<param name="head_onnx_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"/>
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<param name="head_engine_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"/>
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<param from="$(var model_param_path)"/>
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<param from="$(var model_param_path)" allow_substs="true"/>
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<param from="$(var sync_param_path)"/>
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<param from="$(var class_remapper_param_path)"/>
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<param name="rois_number" value="$(var input/rois_number)"/>
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<!-- This parameter shall NOT be included in param file. See the PR from the git blame for details. -->
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<param name="build_only" value="$(var build_only)"/>
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<!-- rois, camera and info -->
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<node pkg="image_projection_based_fusion" exec="pointpainting_fusion_node" name="pointpainting" output="screen">
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<remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
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<remap from="~/output/objects" to="$(var output/objects)"/>
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<param name="trt_precision" value="fp16"/>
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<param name="encoder_onnx_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"/>
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<param name="encoder_engine_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).engine"/>
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<param name="head_onnx_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"/>
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<param name="head_engine_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"/>
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<param from="$(var model_param_path)"/>
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<param from="$(var model_param_path)" allow_substs="true"/>
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<param from="$(var sync_param_path)"/>
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<param from="$(var class_remapper_param_path)"/>
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<param name="rois_number" value="$(var input/rois_number)"/>
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<!-- This parameter shall NOT be included in param file. See the PR from the git blame for details. -->
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<param name="build_only" value="$(var build_only)"/>
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<!-- rois, camera and info -->

‎perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml

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<arg name="output/pointcloud" default="output/pointcloud"/>
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<arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
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<arg name="semantic_segmentation_based_filter_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/segmentation_pointcloud_fusion.param.yaml"/>
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<!-- debug -->
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<!-- cspell: ignore minx, maxx, miny, maxy, minz, maxz -->
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<arg name="debug_mode" default="false"/>
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<arg name="filter_scope_minx" default="-100"/>
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<arg name="filter_scope_maxx" default="100"/>
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<arg name="filter_scope_miny" default="-100"/>
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<arg name="filter_scope_maxy" default="100"/>
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<arg name="filter_scope_minz" default="-100"/>
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<arg name="filter_scope_maxz" default="100"/>
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<arg name="image_buffer_size" default="15"/>
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<arg name="input/image0" default="/image_raw0"/>
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<arg name="input/image1" default="/image_raw1"/>
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<arg name="input/image2" default="/image_raw2"/>
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<param name="input/rois7" value="$(var input/mask7)"/>
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<param name="input/camera_info7" value="$(var input/camera_info7)"/>
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<param name="input/image7" value="$(var input/image7)"/>
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<!-- debug -->
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<param name="debug_mode" value="$(var debug_mode)"/>
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<param name="filter_scope_minx" value="$(var filter_scope_minx)"/>
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<param name="filter_scope_maxx" value="$(var filter_scope_maxx)"/>
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<param name="filter_scope_miny" value="$(var filter_scope_miny)"/>
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<param name="filter_scope_maxy" value="$(var filter_scope_maxy)"/>
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<param name="filter_scope_minz" value="$(var filter_scope_minz)"/>
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<param name="filter_scope_maxz" value="$(var filter_scope_maxz)"/>
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<param name="image_buffer_size" value="$(var image_buffer_size)"/>
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</node>
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</group>
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</launch>

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