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feat(autoware_auto_perception_rviz_plugin): indicate object orientation, parameter adjustments, bugfix #6469

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technolojin
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Description

Current bounding box orientation marker (triangle on the front side) is only visible when the object's orientation_availability is AVAILABLE.
In the tracker development process, there was necessity to know object orientation even the orientation_availability is SIGN_UNKNOWN.

orientation_availability==SIGN_UNKNOWN
Screenshot from 2024-02-21 15-34-58

orientation_availability==AVAILABLE & orientation_availability==SIGN_UNKNOWN
Screenshot from 2024-02-21 15-34-38

  • Minor changes
    • marker lifetime is adjusted to have same, so that there is no residual
    • the marker lifetime is shorten to 0.15 second
    • (bugfix) yaw rate marker of predicted object was remained inappropriately, now it is fixed.
    • twist covariance marker color is adjusted

Tests performed

The visualization in rviz2 was confirmed.

Effects on system behavior

Not applicable.

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Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…indication

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…dicator

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…ed object

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@technolojin technolojin self-assigned this Feb 21, 2024
@github-actions github-actions bot added the component:common Common packages from the autoware-common repository. (auto-assigned) label Feb 21, 2024
@technolojin technolojin marked this pull request as ready for review February 21, 2024 07:23
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@YoshiRi YoshiRi left a comment

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LGTM

marker_ptr->color.r = 1.0;
marker_ptr->color.g = 0.2;
marker_ptr->color.b = 0.4;
marker_ptr->color.r = 0.2;
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[imo, you can ignore this] If possible, I prefer there are some comments about color description because we can't image color from rgb values :)

@YoshiRi YoshiRi added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Feb 21, 2024
@technolojin technolojin enabled auto-merge (squash) February 21, 2024 08:58
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codecov bot commented Feb 21, 2024

Codecov Report

Attention: 78 lines in your changes are missing coverage. Please review.

Comparison is base (82864fb) 15.11% compared to head (3fcf897) 15.11%.
Report is 13 commits behind head on main.

Files Patch % Lines
...gin/src/object_detection/object_polygon_detail.cpp 0.00% 77 Missing ⚠️
...src/object_detection/predicted_objects_display.cpp 0.00% 1 Missing ⚠️
Additional details and impacted files
@@            Coverage Diff             @@
##             main    #6469      +/-   ##
==========================================
- Coverage   15.11%   15.11%   -0.01%     
==========================================
  Files        1821     1821              
  Lines      126147   126177      +30     
  Branches    38180    38180              
==========================================
  Hits        19073    19073              
- Misses      85686    85716      +30     
  Partials    21388    21388              
Flag Coverage Δ *Carryforward flag
differential 0.00% <0.00%> (?)
total 15.12% <ø> (+<0.01%) ⬆️ Carriedforward from 82864fb

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

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@technolojin technolojin merged commit 86b4335 into autowarefoundation:main Feb 21, 2024
31 of 34 checks passed
StepTurtle pushed a commit to StepTurtle/autoware.universe that referenced this pull request Feb 28, 2024
…on, parameter adjustments, bugfix (autowarefoundation#6469)

* fix(autoware_auto_perception_rviz_plugin): align marker lifetime

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat(autoware_auto_perception_rviz_plugin): bounding box orientation indication

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix(autoware_auto_perception_rviz_plugin): adjust twist covariance color

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix(autoware_auto_perception_rviz_plugin): adjust bbox orientation indicator

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix(autoware_auto_perception_rviz_plugin): yaw rate marker in predicted object

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
HansRobo pushed a commit that referenced this pull request Mar 12, 2024
…on, parameter adjustments, bugfix (#6469)

* fix(autoware_auto_perception_rviz_plugin): align marker lifetime

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat(autoware_auto_perception_rviz_plugin): bounding box orientation indication

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix(autoware_auto_perception_rviz_plugin): adjust twist covariance color

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix(autoware_auto_perception_rviz_plugin): adjust bbox orientation indicator

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix(autoware_auto_perception_rviz_plugin): yaw rate marker in predicted object

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
…on, parameter adjustments, bugfix (autowarefoundation#6469)

* fix(autoware_auto_perception_rviz_plugin): align marker lifetime

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat(autoware_auto_perception_rviz_plugin): bounding box orientation indication

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix(autoware_auto_perception_rviz_plugin): adjust twist covariance color

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix(autoware_auto_perception_rviz_plugin): adjust bbox orientation indicator

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix(autoware_auto_perception_rviz_plugin): yaw rate marker in predicted object

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@technolojin technolojin deleted the feat/perception_rviz_plugin_marker_adjust branch July 26, 2024 02:20
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2 participants