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fix: ml detector buffer capacity and parameterization #7936

Merged
merged 6 commits into from
Jul 17, 2024
Merged

fix: ml detector buffer capacity and parameterization #7936

merged 6 commits into from
Jul 17, 2024

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knzo25
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@knzo25 knzo25 commented Jul 10, 2024 •
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Description

In some vehicle setups, the current 1M points was not enough in the ML object detectors.
In this PR I increased it to 2M while also making it a parameter so that users can adapt it to their use cases

Related links

How was this PR tested?

Launcher autoware and verified that the parameter was loaded correctly

Notes for reviewers

This PR must be merged with its autoware_launch companion (autowarefoundation/autoware_launch#1067)
None.

Interface changes

None.

Effects on system behavior

None.

knzo25 added 2 commits July 10, 2024 16:43
@knzo25
fix: increased the buffer capacity in ML-based detectors (1M -> 2M du…
fb2ee53 
…e to new models) but parameterized to users can adapt it to their use cases

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
@knzo25
chore: added schema parts
3372344 
Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
@knzo25 knzo25 self-assigned this Jul 10, 2024
@github-actions github-actions bot added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Jul 10, 2024
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github-actions bot commented Jul 10, 2024 •
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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:

This was referenced Jul 10, 2024
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Merged
@knzo25
Merge branch 'main' into fix/centerpoint_buffer
4bd4a55 
Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
@knzo25 knzo25 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jul 10, 2024
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codecov bot commented Jul 10, 2024 •
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Codecov Report

Attention: Patch coverage is 0% with 12 lines in your changes missing coverage. Please review.

Project coverage is 28.95%. Comparing base (074a717) to head (83e6a6b).

Files Patch % Lines
...n/lidar_transfusion/src/lidar_transfusion_node.cpp 0.00% 3 Missing ⚠️
...ion_based_fusion/src/pointpainting_fusion/node.cpp 0.00% 2 Missing ⚠️
...rception/lidar_centerpoint/lib/centerpoint_trt.cpp 0.00% 2 Missing ⚠️
perception/lidar_centerpoint/src/node.cpp 0.00% 2 Missing ⚠️
...t/include/lidar_centerpoint/centerpoint_config.hpp 0.00% 1 Missing ⚠️
...dar_centerpoint/lib/preprocess/voxel_generator.cpp 0.00% 1 Missing ⚠️
...n/include/lidar_transfusion/transfusion_config.hpp 0.00% 1 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #7936      +/-   ##
==========================================
- Coverage   28.95%   28.95%   -0.01%     
==========================================
  Files        1606     1607       +1     
  Lines      117597   117617      +20     
  Branches    50602    50605       +3     
==========================================
+ Hits        34048    34051       +3     
- Misses      74299    74316      +17     
  Partials     9250     9250
Flag Coverage Δ *Carryforward flag
differential 10.43% <0.00%> (?)
total 28.95% <ø> (+<0.01%) ⬆️ Carriedforward from 074a717

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

amadeuszsz
amadeuszsz requested changes Jul 10, 2024
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Thanks for your PR! Apart of tiny typos it looks good!

@knzo25
chore: points are countable !
fa1abeb 
Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
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knzo25 commented Jul 17, 2024 •
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@kminoda @tzhong518
friendly ping (as maintainers for centerpoint & pointpainting)

kminoda
kminoda approved these changes Jul 17, 2024
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LGTM

@knzo25 knzo25 merged commit f0efe85 into autowarefoundation:main Jul 17, 2024
29 of 30 checks passed
yhisaki pushed a commit to yhisaki/autoware.universe that referenced this pull request Jul 19, 2024
@knzo25 @yhisaki
fix: ml detector buffer capacity and parameterization (autowarefounda…
f8fb53e 
…tion#7936)

* fix: increased the buffer capacity in ML-based detectors (1M -> 2M due to new models) but parameterized to users can adapt it to their use cases

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: added schema parts

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: points are countable !

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

---------

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
Ariiees pushed a commit to Ariiees/autoware.universe that referenced this pull request Jul 22, 2024
@knzo25 @Ariiees
fix: ml detector buffer capacity and parameterization (autowarefounda…
c20f984 
…tion#7936)

* fix: increased the buffer capacity in ML-based detectors (1M -> 2M due to new models) but parameterized to users can adapt it to their use cases

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: added schema parts

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: points are countable !

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

---------

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
chihungtzeng pushed a commit to chihungtzeng/autoware.universe that referenced this pull request Jul 23, 2024
@knzo25
fix: ml detector buffer capacity and parameterization (autowarefounda…
35b0c47 
…tion#7936)

* fix: increased the buffer capacity in ML-based detectors (1M -> 2M due to new models) but parameterized to users can adapt it to their use cases

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: added schema parts

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: points are countable !

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

---------

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Signed-off-by: chtseng <chtseng@itri.org.tw>
TomohitoAndo pushed a commit to tier4/autoware.universe that referenced this pull request Sep 19, 2024
@knzo25 @TomohitoAndo
fix: ml detector buffer capacity and parameterization (autowarefounda…
d9b1d87 
…tion#7936)

* fix: increased the buffer capacity in ML-based detectors (1M -> 2M due to new models) but parameterized to users can adapt it to their use cases

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: added schema parts

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: points are countable !

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

---------

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
TomohitoAndo pushed a commit to tier4/autoware.universe that referenced this pull request Sep 19, 2024
@knzo25 @TomohitoAndo
fix: ml detector buffer capacity and parameterization (autowarefounda…
5d5d2c6 
…tion#7936)

* fix: increased the buffer capacity in ML-based detectors (1M -> 2M due to new models) but parameterized to users can adapt it to their use cases

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: added schema parts

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: points are countable !

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

---------

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
This was referenced Sep 19, 2024
Merged
Merged
knzo25 added a commit to tier4/autoware.universe that referenced this pull request Dec 16, 2024
@knzo25
fix: fixed compilation errors after cherrypicks
2c763b8 
fix: ml detector buffer capacity and parameterization (autowarefoundation#7936)

* fix: increased the buffer capacity in ML-based detectors (1M -> 2M due to new models) but parameterized to users can adapt it to their use cases

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: added schema parts

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: points are countable !

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

---------

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
@knzo25 knzo25 mentioned this pull request Dec 16, 2024
Merged
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@amadeuszsz amadeuszsz amadeuszsz approved these changes

@kminoda kminoda kminoda approved these changes

@scepter914 scepter914 Awaiting requested review from scepter914

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