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

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merged 5 commits into from
Feb 21, 2024
Merged

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

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5338c42
fix(autoware_auto_perception_rviz_plugin): align marker lifetime
technolojin Feb 20, 2024
da5646b
feat(autoware_auto_perception_rviz_plugin): bounding box orientation …
technolojin Feb 20, 2024
9801aa0
fix(autoware_auto_perception_rviz_plugin): adjust twist covariance color
technolojin Feb 20, 2024
a3f10c6
fix(autoware_auto_perception_rviz_plugin): adjust bbox orientation in…
technolojin Feb 21, 2024
3fcf897
fix(autoware_auto_perception_rviz_plugin): yaw rate marker in predict…
technolojin Feb 21, 2024
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8 changes: 8 additions & 0 deletions ...n/include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_detail.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -186,6 +186,10 @@ AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_bounding_box_direction_lin
const autoware_auto_perception_msgs::msg::Shape & shape,
std::vector<geometry_msgs::msg::Point> & points);

AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_bounding_box_orientation_line_list(
const autoware_auto_perception_msgs::msg::Shape & shape,
std::vector<geometry_msgs::msg::Point> & points);

AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_2d_bounding_box_bottom_line_list(
const autoware_auto_perception_msgs::msg::Shape & shape,
std::vector<geometry_msgs::msg::Point> & points);
Expand All @@ -194,6 +198,10 @@ AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_2d_bounding_box_bottom_dir
const autoware_auto_perception_msgs::msg::Shape & shape,
std::vector<geometry_msgs::msg::Point> & points);

AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_2d_bounding_box_bottom_orientation_line_list(
const autoware_auto_perception_msgs::msg::Shape & shape,
std::vector<geometry_msgs::msg::Point> & points);

AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC void calc_cylinder_line_list(
const autoware_auto_perception_msgs::msg::Shape & shape,
std::vector<geometry_msgs::msg::Point> & points);
Expand Down
148 changes: 101 additions & 47 deletions common/autoware_auto_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021 Apex.AI, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Primitive Obsession 

The ratio of primitive types in function arguments decreases from 33.33% to 31.91%, threshold = 30.0%. The functions in this file have too many primitive types (e.g. int, double, float) in their function argument lists. Using many primitive types lead to the code smell Primitive Obsession. Avoid adding more primitive arguments.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -57,7 +57,7 @@
marker_ptr->type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
marker_ptr->ns = std::string("path confidence");
marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15);

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marker_ptr->scale.x = 0.5;
marker_ptr->scale.y = 0.5;
marker_ptr->scale.z = 0.5;
Expand All @@ -78,14 +78,14 @@
marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
marker_ptr->ns = std::string("path");
marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15);

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marker_ptr->pose = initPose();
marker_ptr->color = predicted_path_color;
marker_ptr->color.a = 0.6;
marker_ptr->scale.x = 0.015;
calc_path_line_list(predicted_path, marker_ptr->points, is_simple);
for (size_t k = 0; k < marker_ptr->points.size(); ++k) {
marker_ptr->points.at(k).z -= shape.dimensions.z / 2.0;
marker_ptr->points.at(k).z -= shape.dimensions.z * 0.5;

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}
return marker_ptr;
}
Expand All @@ -112,7 +112,7 @@
point.z = twist_with_covariance.twist.linear.z;
marker_ptr->points.push_back(point);

marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15);

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marker_ptr->color.a = 0.999;
marker_ptr->color.r = 1.0;
marker_ptr->color.g = 0.0;
Expand Down Expand Up @@ -160,19 +160,19 @@
// ellipse orientation
marker_ptr->pose.orientation.x = 0.0;
marker_ptr->pose.orientation.y = 0.0;
marker_ptr->pose.orientation.z = std::sin(phi / 2.0);
marker_ptr->pose.orientation.w = std::cos(phi / 2.0);
marker_ptr->pose.orientation.z = std::sin(phi * 0.5);
marker_ptr->pose.orientation.w = std::cos(phi * 0.5);

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// ellipse size
marker_ptr->scale.x = sigma1 * confidence_interval_coefficient;
marker_ptr->scale.y = sigma2 * confidence_interval_coefficient;
marker_ptr->scale.z = 0.05;

marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15);

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marker_ptr->color.a = alpha;
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 :)

marker_ptr->color.g = 0.4;
marker_ptr->color.b = 0.9;

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return marker_ptr;
}
Expand Down Expand Up @@ -213,7 +213,7 @@
point.z = 0;
marker_ptr->points.push_back(point);

marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15);

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marker_ptr->color.a = 0.9;
marker_ptr->color.r = 1.0;
marker_ptr->color.g = 0.0;
Expand Down Expand Up @@ -274,7 +274,7 @@
};
calc_line_list_from_points(point_list, point_pairs, 4, marker_ptr->points);

marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15);

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marker_ptr->color.a = 0.9;
marker_ptr->color.r = 1.0;
marker_ptr->color.g = 0.2;
Expand All @@ -299,7 +299,7 @@
marker_ptr->text = std::to_string(static_cast<int>(vel * 3.6)) + std::string("[km/h]");
marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
marker_ptr->pose.position = vis_pos;
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15);

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marker_ptr->color = color_rgba;
return marker_ptr;
}
Expand All @@ -320,7 +320,7 @@
marker_ptr->text = getRoundedDoubleString(acc) + std::string("[m/s^2]");
marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
marker_ptr->pose.position = vis_pos;
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15);

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marker_ptr->color = color_rgba;
return marker_ptr;
}
Expand Down Expand Up @@ -378,8 +378,8 @@
// ellipse orientation
marker_ptr->pose.orientation.x = 0.0;
marker_ptr->pose.orientation.y = 0.0;
marker_ptr->pose.orientation.z = std::sin(yaw / 2.0);
marker_ptr->pose.orientation.w = std::cos(yaw / 2.0);
marker_ptr->pose.orientation.z = std::sin(yaw * 0.5);
marker_ptr->pose.orientation.w = std::cos(yaw * 0.5);

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// ellipse size
marker_ptr->scale.x = sigma1 * confidence_interval_coefficient;
Expand All @@ -392,11 +392,11 @@
alpha = std::max(0.1, alpha);

// marker configuration
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15);

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marker_ptr->color.a = alpha;
marker_ptr->color.r = 1.0;
marker_ptr->color.g = 1.0;
marker_ptr->color.b = 1.0;
marker_ptr->color.r = 0.8;
marker_ptr->color.g = 0.8;
marker_ptr->color.b = 0.8;

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return marker_ptr;
}

Expand Down Expand Up @@ -434,7 +434,7 @@
marker_ptr->points.push_back(point);

// marker configuration
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15);

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marker_ptr->color.a = 0.9;
marker_ptr->color.r = 1.0;
marker_ptr->color.g = 1.0;
Expand Down Expand Up @@ -469,7 +469,7 @@
marker_ptr->text = label;
marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
marker_ptr->pose = marker_ptr->pose = to_pose(centroid, orientation);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15);

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marker_ptr->color = color_rgba;
return marker_ptr;
}
Expand All @@ -486,7 +486,7 @@
marker_ptr->text = std::to_string(existence_probability);
marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
marker_ptr->pose = marker_ptr->pose = to_pose(centroid, orientation);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15);

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marker_ptr->color = color_rgba;
return marker_ptr;
}
Expand All @@ -506,6 +506,8 @@
calc_bounding_box_line_list(shape_msg, marker_ptr->points);
if (is_orientation_available) {
calc_bounding_box_direction_line_list(shape_msg, marker_ptr->points);
} else {
calc_bounding_box_orientation_line_list(shape_msg, marker_ptr->points);

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}
} else if (shape_msg.type == Shape::CYLINDER) {
marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
Expand All @@ -520,7 +522,7 @@

marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
marker_ptr->pose = to_pose(centroid, orientation);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15);

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marker_ptr->scale.x = line_width;
marker_ptr->color = color_rgba;

Expand All @@ -542,6 +544,8 @@
calc_2d_bounding_box_bottom_line_list(shape_msg, marker_ptr->points);
if (is_orientation_available) {
calc_2d_bounding_box_bottom_direction_line_list(shape_msg, marker_ptr->points);
} else {
calc_2d_bounding_box_bottom_orientation_line_list(shape_msg, marker_ptr->points);

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}
} else if (shape_msg.type == Shape::CYLINDER) {
marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
Expand All @@ -556,7 +560,7 @@

marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
marker_ptr->pose = to_pose(centroid, orientation);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15);

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marker_ptr->scale.x = line_width;
marker_ptr->color = color_rgba;

Expand Down Expand Up @@ -584,9 +588,9 @@
const autoware_auto_perception_msgs::msg::Shape & shape,
std::vector<geometry_msgs::msg::Point> & points)
{
const double length_half = shape.dimensions.x / 2.0;
const double width_half = shape.dimensions.y / 2.0;
const double height_half = shape.dimensions.z / 2.0;
const double length_half = shape.dimensions.x * 0.5;
const double width_half = shape.dimensions.y * 0.5;
const double height_half = shape.dimensions.z * 0.5;

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geometry_msgs::msg::Point point;

// bounding box corner points
Expand All @@ -608,10 +612,10 @@
std::vector<geometry_msgs::msg::Point> & points)
{
// direction triangle
const double length_half = shape.dimensions.x / 2.0;
const double width_half = shape.dimensions.y / 2.0;
const double height_half = shape.dimensions.z / 2.0;
const double triangle_size_half = shape.dimensions.y / 1.4;
const double length_half = shape.dimensions.x * 0.5;
const double width_half = shape.dimensions.y * 0.5;
const double height_half = shape.dimensions.z * 0.5;
const double triangle_size_half = std::min(width_half * 1.4, shape.dimensions.x);

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geometry_msgs::msg::Point point;

// triangle-shaped direction indicator
Expand All @@ -629,13 +633,38 @@
calc_line_list_from_points(point_list, point_pairs, 5, points);
}

void calc_bounding_box_orientation_line_list(

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const autoware_auto_perception_msgs::msg::Shape & shape,
std::vector<geometry_msgs::msg::Point> & points)
{
const double length_half = shape.dimensions.x * 0.5;
const double width_half = shape.dimensions.y * 0.5;
const double height_half = shape.dimensions.z * 0.5;
const double tick_width = width_half * 0.5;
const double tick_length = std::min(tick_width, length_half);

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geometry_msgs::msg::Point point;

// front corner cuts for orientation
const double point_list[4][3] = {
{length_half, width_half - tick_width, height_half},
{length_half - tick_length, width_half, height_half},
{length_half, -width_half + tick_width, height_half},
{length_half - tick_length, -width_half, height_half},
};
const int point_pairs[2][2] = {

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{0, 1},
{2, 3},
};
calc_line_list_from_points(point_list, point_pairs, 2, points);
}

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void calc_2d_bounding_box_bottom_line_list(
const autoware_auto_perception_msgs::msg::Shape & shape,
std::vector<geometry_msgs::msg::Point> & points)
{
const double length_half = shape.dimensions.x / 2.0;
const double width_half = shape.dimensions.y / 2.0;
const double height_half = shape.dimensions.z / 2.0;
const double length_half = shape.dimensions.x * 0.5;
const double width_half = shape.dimensions.y * 0.5;
const double height_half = shape.dimensions.z * 0.5;

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❌ Getting worse: Code Duplication 

introduced similar code in: calc_2d_bounding_box_bottom_orientation_line_list,calc_bounding_box_orientation_line_list. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.

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geometry_msgs::msg::Point point;

// bounding box corner points
Expand All @@ -659,10 +688,10 @@
const autoware_auto_perception_msgs::msg::Shape & shape,
std::vector<geometry_msgs::msg::Point> & points)
{
const double length_half = shape.dimensions.x / 2.0;
const double width_half = shape.dimensions.y / 2.0;
const double height_half = shape.dimensions.z / 2.0;
const double triangle_size_half = shape.dimensions.y / 1.4;
const double length_half = shape.dimensions.x * 0.5;
const double width_half = shape.dimensions.y * 0.5;
const double height_half = shape.dimensions.z * 0.5;
const double triangle_size_half = std::min(width_half * 1.4, shape.dimensions.x);

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geometry_msgs::msg::Point point;

// triangle-shaped direction indicator
Expand All @@ -679,6 +708,31 @@
calc_line_list_from_points(point_list, point_pairs, 3, points);
}

void calc_2d_bounding_box_bottom_orientation_line_list(

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const autoware_auto_perception_msgs::msg::Shape & shape,
std::vector<geometry_msgs::msg::Point> & points)
{
const double length_half = shape.dimensions.x * 0.5;
const double width_half = shape.dimensions.y * 0.5;
const double height_half = shape.dimensions.z * 0.5;
const double tick_width = width_half * 0.5;
const double tick_length = std::min(tick_width, length_half);

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geometry_msgs::msg::Point point;

// front corner cuts for orientation
const double point_list[4][3] = {
{length_half, width_half - tick_width, height_half},
{length_half - tick_length, width_half, height_half},
{length_half, -width_half + tick_width, height_half},
{length_half - tick_length, -width_half, height_half},
};
const int point_pairs[2][2] = {

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{0, 1},
{2, 3},
};
calc_line_list_from_points(point_list, point_pairs, 2, points);
}

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void calc_cylinder_line_list(
const autoware_auto_perception_msgs::msg::Shape & shape,
std::vector<geometry_msgs::msg::Point> & points)
Expand Down Expand Up @@ -784,41 +838,41 @@
geometry_msgs::msg::Point point;
point.x = shape.footprint.points.at(i).x;
point.y = shape.footprint.points.at(i).y;
point.z = shape.dimensions.z / 2.0;
point.z = shape.dimensions.z * 0.5;

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points.push_back(point);
point.x = shape.footprint.points
.at(static_cast<int>(i + 1) % static_cast<int>(shape.footprint.points.size()))
.x;
point.y = shape.footprint.points
.at(static_cast<int>(i + 1) % static_cast<int>(shape.footprint.points.size()))
.y;
point.z = shape.dimensions.z / 2.0;
point.z = shape.dimensions.z * 0.5;

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points.push_back(point);
}
for (size_t i = 0; i < shape.footprint.points.size(); ++i) {
geometry_msgs::msg::Point point;
point.x = shape.footprint.points.at(i).x;
point.y = shape.footprint.points.at(i).y;
point.z = -shape.dimensions.z / 2.0;
point.z = -shape.dimensions.z * 0.5;

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points.push_back(point);
point.x = shape.footprint.points
.at(static_cast<int>(i + 1) % static_cast<int>(shape.footprint.points.size()))
.x;
point.y = shape.footprint.points
.at(static_cast<int>(i + 1) % static_cast<int>(shape.footprint.points.size()))
.y;
point.z = -shape.dimensions.z / 2.0;
point.z = -shape.dimensions.z * 0.5;

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points.push_back(point);
}
for (size_t i = 0; i < shape.footprint.points.size(); ++i) {
geometry_msgs::msg::Point point;
point.x = shape.footprint.points.at(i).x;
point.y = shape.footprint.points.at(i).y;
point.z = shape.dimensions.z / 2.0;
point.z = shape.dimensions.z * 0.5;

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points.push_back(point);
point.x = shape.footprint.points.at(i).x;
point.y = shape.footprint.points.at(i).y;
point.z = -shape.dimensions.z / 2.0;
point.z = -shape.dimensions.z * 0.5;

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points.push_back(point);
}
}
Expand All @@ -837,15 +891,15 @@
geometry_msgs::msg::Point point;
point.x = shape.footprint.points.at(i).x;
point.y = shape.footprint.points.at(i).y;
point.z = -shape.dimensions.z / 2.0;
point.z = -shape.dimensions.z * 0.5;

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points.push_back(point);
point.x = shape.footprint.points
.at(static_cast<int>(i + 1) % static_cast<int>(shape.footprint.points.size()))
.x;
point.y = shape.footprint.points
.at(static_cast<int>(i + 1) % static_cast<int>(shape.footprint.points.size()))
.y;
point.z = -shape.dimensions.z / 2.0;
point.z = -shape.dimensions.z * 0.5;

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points.push_back(point);
}
}
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