feat: perception objects pointcloud better visualization #7095
Conversation
…d scripts Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…o_perception_plugin subscription to pointclouds and publishing pointclouds Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…ts_pointcloud_publisher
…message templated plugins, builds, but not woking correctly . Add rviz lauch file for debugging. modify package.xml Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…ts_pointcloud_publisher
…ntcloud_publisher' into feat/add_perception_objects_pointcloud_publisher
…o_rviz plugin to publish pointclouds Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…use objectsCallback to update objects Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…ts_pointcloud_publisher
…back to plugin hardcoded topic names, one color for all classes of objects Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…ntcloud_publisher' into feat/add_perception_objects_pointcloud_publisher
…rent object classes Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…/disable publish poincloud Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…input pointcloud Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…and config Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…ts_pointcloud_publisher
… pr error Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…ntcloud_publisher' into feat/add_perception_objects_pointcloud_publisher
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…ntcloud_publisher' into feat/add_perception_objects_pointcloud_publisher
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
KhalilSelyan
changed the title
github-actions
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component:perception
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Very cool! Thank you for the PR. Let us assign one reviewer from TIER IV 🙏 |
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@KhalilSelyan Would you first fix the CI, especially the pre-commit CI? |
common/autoware_auto_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp
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common/autoware_auto_perception_rviz_plugin/src/object_detection/tracked_objects_display.cpp
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…on/predicted_objects_display.cpp Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>
…on/tracked_objects_display.cpp Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>
Signed-off-by: KhalilSelyan <khalil@leodrive.ai>
Signed-off-by: KhalilSelyan <khalil@leodrive.ai>
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Cool 👍 |
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@KhalilSelyan Sorry for keep you waiting. @ktro2828 will review your PR, thanks! |
ktro2828
changed the title
...nclude/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp
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common/autoware_auto_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp
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common/autoware_auto_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp
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Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> Signed-off-by: KhalilSelyan <khalil@leodrive.ai>
…ottom line list Signed-off-by: KhalilSelyan <khalil@leodrive.ai>
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@ktro2828 Have you had a chance to actually test the code in this PR ? It is still crashing rviz and haven't been able to debug the pointcloud implementation (i believe that's where the crashing comes from after some testing) Some help with that would be very appreciated |
I'm testing now, but I've not encountered crashing yet. |
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FYI |
…zation Signed-off-by: KhalilSelyan <khalil@leodrive.ai>
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Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
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Signed-off-by: KhalilSelyan <khalil@leodrive.ai>
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Since no one was working on this PR, I'm closing it. |
Description
This PR adding new function to autoware_auto_perception_rviz_plugin. Now it has ability to publish point cloud of detected objects. It improve visualization of perception pipeline.
This feature can be enabled/disabled in control panel of the plugin by toggling Publish Objects Pointcloud property.
New point cloud plugin should be added to autoware config to visualize output of the plugin. Like it's shown in this video.
Output topics for point clouds:
/rviz2/output/predicted_objects_pointcloud
/rviz2/output/detected_objects_pointcloud
/rviz2/output/tracked_objects_pointcloud
Video demo with predicted objects from autoware demo bagfile.
Related links
This feature was discussed here #2860.
Tests performed
This feature was tested manually against sample rosbag from Rosbag replay simulation demo. I didn't find any reduces in performance.
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