Merge branch 'autowarefoundation:main' into add-gtest-to-tensorrt-common

cyn-liu · web-flow · commit fe616bde8ea4 · 2023-09-28T20:34:36.000+08:00
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -47,6 +47,8 @@
   <!-- Radar parameters -->
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
   <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
+  <arg name="use_near_radar_fusion" default="false"/>
+  <arg name="far_object_merger_sync_queue_size" default="20"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
@@ -103,6 +105,48 @@
       </include>
     </group>
 
+    <!-- roi based clustering -->
+    <group>
+      <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
+        <arg name="input/camera_info0" value="$(var camera_info0)"/>
+        <arg name="input/rois0" value="$(var detection_rois0)"/>
+        <arg name="input/camera_info1" value="$(var camera_info1)"/>
+        <arg name="input/rois1" value="$(var detection_rois1)"/>
+        <arg name="input/camera_info2" value="$(var camera_info2)"/>
+        <arg name="input/rois2" value="$(var detection_rois2)"/>
+        <arg name="input/camera_info3" value="$(var camera_info3)"/>
+        <arg name="input/rois3" value="$(var detection_rois3)"/>
+        <arg name="input/camera_info4" value="$(var camera_info4)"/>
+        <arg name="input/rois4" value="$(var detection_rois4)"/>
+        <arg name="input/camera_info5" value="$(var camera_info5)"/>
+        <arg name="input/rois5" value="$(var detection_rois5)"/>
+        <arg name="input/camera_info6" value="$(var camera_info6)"/>
+        <arg name="input/rois6" value="$(var detection_rois6)"/>
+        <arg name="input/camera_info7" value="$(var camera_info7)"/>
+        <arg name="input/rois7" value="$(var detection_rois7)"/>
+        <arg name="input/rois_number" value="$(var image_number)"/>
+        <arg name="input/image0" value="$(var image_raw0)"/>
+        <arg name="input/image1" value="$(var image_raw1)"/>
+        <arg name="input/image2" value="$(var image_raw2)"/>
+        <arg name="input/image3" value="$(var image_raw3)"/>
+        <arg name="input/image4" value="$(var image_raw4)"/>
+        <arg name="input/image5" value="$(var image_raw5)"/>
+        <arg name="input/image6" value="$(var image_raw6)"/>
+        <arg name="input/image7" value="$(var image_raw7)"/>
+        <arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
+        <arg name="output_clusters" value="roi_cluster/clusters"/>
+      </include>
+    </group>
+
+    <!-- simple_cluster_merger -->
+    <group>
+      <include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
+        <arg name="input/cluster0" value="euclidean_cluster/clusters"/>
+        <arg name="input/cluster1" value="roi_cluster/clusters"/>
+        <arg name="output/clusters" value="clusters"/>
+      </include>
+    </group>
+
     <group>
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="input/objects" value="clusters"/>
@@ -114,6 +158,8 @@
       <let name="input/clustering" value="/perception/object_recognition/detection/clustering/clusters"/>
       <push-ros-namespace namespace="camera_lidar_fusion"/>
       <!-- Fusion camera-lidar to classify -->
+
+      <!-- euclidean clustering -->
       <group>
         <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
           <arg name="input/camera_info0" value="$(var camera_info0)"/>
@@ -142,54 +188,12 @@
           <arg name="input/image5" value="$(var image_raw5)"/>
           <arg name="input/image6" value="$(var image_raw6)"/>
           <arg name="input/image7" value="$(var image_raw7)"/>
-          <arg name="output/clusters" value="euclidean_cluster/clusters"/>
+          <arg name="output/clusters" value="clusters"/>
           <arg name="remove_unknown" value="$(var remove_unknown)"/>
           <arg name="trust_distance" value="$(var trust_distance)"/>
         </include>
       </group>
 
-      <!-- roi based clustering -->
-      <group>
-        <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
-          <arg name="input/camera_info0" value="$(var camera_info0)"/>
-          <arg name="input/rois0" value="$(var detection_rois0)"/>
-          <arg name="input/camera_info1" value="$(var camera_info1)"/>
-          <arg name="input/rois1" value="$(var detection_rois1)"/>
-          <arg name="input/camera_info2" value="$(var camera_info2)"/>
-          <arg name="input/rois2" value="$(var detection_rois2)"/>
-          <arg name="input/camera_info3" value="$(var camera_info3)"/>
-          <arg name="input/rois3" value="$(var detection_rois3)"/>
-          <arg name="input/camera_info4" value="$(var camera_info4)"/>
-          <arg name="input/rois4" value="$(var detection_rois4)"/>
-          <arg name="input/camera_info5" value="$(var camera_info5)"/>
-          <arg name="input/rois5" value="$(var detection_rois5)"/>
-          <arg name="input/camera_info6" value="$(var camera_info6)"/>
-          <arg name="input/rois6" value="$(var detection_rois6)"/>
-          <arg name="input/camera_info7" value="$(var camera_info7)"/>
-          <arg name="input/rois7" value="$(var detection_rois7)"/>
-          <arg name="input/rois_number" value="$(var image_number)"/>
-          <arg name="input/image0" value="$(var image_raw0)"/>
-          <arg name="input/image1" value="$(var image_raw1)"/>
-          <arg name="input/image2" value="$(var image_raw2)"/>
-          <arg name="input/image3" value="$(var image_raw3)"/>
-          <arg name="input/image4" value="$(var image_raw4)"/>
-          <arg name="input/image5" value="$(var image_raw5)"/>
-          <arg name="input/image6" value="$(var image_raw6)"/>
-          <arg name="input/image7" value="$(var image_raw7)"/>
-          <arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
-          <arg name="output_clusters" value="roi_cluster/clusters"/>
-        </include>
-      </group>
-
-      <!-- simple_cluster_merger -->
-      <group>
-        <include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
-          <arg name="input/cluster0" value="euclidean_cluster/clusters"/>
-          <arg name="input/cluster1" value="roi_cluster/clusters"/>
-          <arg name="output/clusters" value="clusters"/>
-        </include>
-      </group>
-
       <group>
         <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
           <arg name="input/objects" value="clusters"/>
@@ -293,7 +297,7 @@
 
   <!-- Radar fusion -->
   <group>
-    <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
+    <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml" if="$(var use_near_radar_fusion)">
       <arg name="input/objects" value="$(var lidar_detection_model)/objects"/>
       <arg name="input/radars" value="radar/noise_filtered_objects"/>
       <arg name="output/objects" value="radar_fusion/objects"/>
@@ -302,6 +306,9 @@
 
   <!-- Camera late fusion -->
   <group>
+    <let name="target_objects" value="radar_fusion/objects" if="$(var use_near_radar_fusion)"/>
+    <let name="target_objects" value="$(var lidar_detection_model)/objects" unless="$(var use_near_radar_fusion)"/>
+
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
       <arg name="input/camera_info0" value="$(var camera_info0)"/>
       <arg name="input/rois0" value="$(var detection_rois0)"/>
@@ -328,7 +335,7 @@
       <arg name="input/image5" value="$(var image_raw5)"/>
       <arg name="input/image6" value="$(var image_raw6)"/>
       <arg name="input/image7" value="$(var image_raw7)"/>
-      <arg name="input/objects" value="radar_fusion/objects"/>
+      <arg name="input/objects" value="$(var target_objects)"/>
       <arg name="output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
     </include>
   </group>
@@ -403,5 +410,6 @@
     <arg name="priority_mode" value="0"/>
     <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
     <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
+    <arg name="sync_queue_size" value="$(var far_object_merger_sync_queue_size)"/>
   </include>
 </launch>
diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
@@ -18,8 +18,9 @@
   <arg name="input/camera_info7" default="/camera_info7"/>
   <arg name="input/pointcloud" default="/sensing/lidar/top/rectified/pointcloud"/>
   <arg name="output/objects" default="objects"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="model_name" default="pointpainting" description="options: `pointpainting`"/>
-  <arg name="model_path" default="$(find-pkg-share image_projection_based_fusion)/data"/>
+  <arg name="model_path" default="$(var data_path)/image_projection_based_fusion"/>
   <arg name="model_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/$(var model_name).param.yaml"/>
   <arg name="class_remapper_param_path" default="$(find-pkg-share lidar_centerpoint)/config/detection_class_remapper.param.yaml"/>
   <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
diff --git a/perception/tensorrt_yolo/README.md b/perception/tensorrt_yolo/README.md
@@ -55,6 +55,7 @@ Jocher, G., et al. (2021). ultralytics/yolov5: v6.0 - YOLOv5n 'Nano' models, Rob
 
 | Name                    | Type   | Default Value | Description                                                        |
 | ----------------------- | ------ | ------------- | ------------------------------------------------------------------ |
+| `data_path`             | string | ""            | Packages data and artifacts directory path                         |
 | `onnx_file`             | string | ""            | The onnx file name for yolo model                                  |
 | `engine_file`           | string | ""            | The tensorrt engine file name for yolo model                       |
 | `label_file`            | string | ""            | The label file with label names for detected objects written on it |
@@ -71,7 +72,7 @@ This package includes multiple licenses.
 
 All YOLO ONNX models are converted from the officially trained model. If you need information about training datasets and conditions, please refer to the official repositories.
 
-All models are downloaded automatically when building. When launching the node with a model for the first time, the model is automatically converted to TensorRT, although this may take some time.
+All models are downloaded during env preparation by ansible (as mention in [installation](https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/)). It is also possible to download them manually, see [Manual downloading of artifacts](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/artifacts) . When launching the node with a model for the first time, the model is automatically converted to TensorRT, although this may take some time.
 
 ### YOLOv3
 
diff --git a/perception/tensorrt_yolo/launch/tensorrt_yolo.launch.xml b/perception/tensorrt_yolo/launch/tensorrt_yolo.launch.xml
@@ -3,19 +3,20 @@
   <arg name="label_file" default="coco.names"/>
   <arg name="input_topic" default="/image_raw"/>
   <arg name="output_topic" default="rois"/>
-  <arg name="engine_file" default="$(find-pkg-share tensorrt_yolo)/data/$(var yolo_type).engine"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+  <arg name="engine_file" default="$(var data_path)/tensorrt_yolo/$(var yolo_type).engine"/>
   <arg name="calib_image_directory" default="$(find-pkg-share tensorrt_yolo)/calib_image/"/>
   <arg name="mode" default="FP32"/>
   <arg name="gpu_id" default="0"/>
   <node pkg="tensorrt_yolo" exec="tensorrt_yolo_node" name="$(anon tensorrt_yolo)" output="screen">
     <remap from="in/image" to="$(var input_topic)"/>
     <remap from="out/objects" to="$(var output_topic)"/>
     <remap from="out/image" to="$(var output_topic)/debug/image"/>
-    <param name="onnx_file" type="str" value="$(find-pkg-share tensorrt_yolo)/data/$(var yolo_type).onnx"/>
+    <param name="onnx_file" type="str" value="$(var data_path)/tensorrt_yolo/$(var yolo_type).onnx"/>
     <param name="engine_file" type="str" value="$(var engine_file)"/>
-    <param name="label_file" type="str" value="$(find-pkg-share tensorrt_yolo)/data/$(var label_file)"/>
+    <param name="label_file" type="str" value="$(var data_path)/tensorrt_yolo/$(var label_file)"/>
     <param name="calib_image_directory" type="str" value="$(var calib_image_directory)"/>
-    <param name="calib_cache_file" type="str" value="$(find-pkg-share tensorrt_yolo)/data/$(var yolo_type).cache"/>
+    <param name="calib_cache_file" type="str" value="$(var data_path)/tensorrt_yolo/$(var yolo_type).cache"/>
     <param name="mode" type="str" value="$(var mode)"/>
     <param name="gpu_id" type="int" value="$(var gpu_id)"/>
     <param from="$(find-pkg-share tensorrt_yolo)/config/$(var yolo_type).param.yaml"/>
diff --git a/perception/traffic_light_classifier/README.md b/perception/traffic_light_classifier/README.md
@@ -55,6 +55,7 @@ These colors and shapes are assigned to the message as follows:
 | Name              | Type | Description                                 |
 | ----------------- | ---- | ------------------------------------------- |
 | `classifier_type` | int  | if the value is `1`, cnn_classifier is used |
+| `data_path`       | str  | packages data and artifacts directory path  |
 
 ### Core Parameters
 
diff --git a/perception/traffic_light_classifier/launch/traffic_light_classifier.launch.xml b/perception/traffic_light_classifier/launch/traffic_light_classifier.launch.xml
@@ -2,8 +2,9 @@
   <arg name="input/image" default="~/image_raw"/>
   <arg name="input/rois" default="~/rois"/>
   <arg name="output/traffic_signals" default="classified/traffic_signals"/>
-  <arg name="classifier_label_path" default="$(find-pkg-share traffic_light_classifier)/data/lamp_labels.txt" description="classifier label path"/>
-  <arg name="classifier_model_path" default="$(find-pkg-share traffic_light_classifier)/data/traffic_light_classifier_mobilenetv2_batch_6.onnx" description="classifier onnx model path"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+  <arg name="classifier_label_path" default="$(var data_path)/traffic_light_classifier/lamp_labels.txt" description="classifier label path"/>
+  <arg name="classifier_model_path" default="$(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx" description="classifier onnx model path"/>
   <arg name="classifier_precision" default="fp16"/>
 
   <arg name="use_gpu" default="true"/>
diff --git a/perception/traffic_light_fine_detector/README.md b/perception/traffic_light_fine_detector/README.md
@@ -50,12 +50,13 @@ Based on the camera image and the global ROI array detected by `map_based_detect
 
 ### Node Parameters
 
-| Name                       | Type   | Default Value | Description                                                        |
-| -------------------------- | ------ | ------------- | ------------------------------------------------------------------ |
-| `fine_detector_model_path` | string | ""            | The onnx file name for yolo model                                  |
-| `fine_detector_label_path` | string | ""            | The label file with label names for detected objects written on it |
-| `fine_detector_precision`  | string | "fp32"        | The inference mode: "fp32", "fp16"                                 |
-| `approximate_sync`         | bool   | false         | Flag for whether to ues approximate sync policy                    |
+| Name                       | Type   | Default Value               | Description                                                        |
+| -------------------------- | ------ | --------------------------- | ------------------------------------------------------------------ |
+| `data_path`                | string | "$(env HOME)/autoware_data" | packages data and artifacts directory path                         |
+| `fine_detector_model_path` | string | ""                          | The onnx file name for yolo model                                  |
+| `fine_detector_label_path` | string | ""                          | The label file with label names for detected objects written on it |
+| `fine_detector_precision`  | string | "fp32"                      | The inference mode: "fp32", "fp16"                                 |
+| `approximate_sync`         | bool   | false                       | Flag for whether to ues approximate sync policy                    |
 
 ## Assumptions / Known limits
 
diff --git a/perception/traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml b/perception/traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml
@@ -1,6 +1,7 @@
 <launch>
-  <arg name="fine_detector_label_path" default="$(find-pkg-share traffic_light_fine_detector)/data/tlr_labels.txt" description="fine detector label path"/>
-  <arg name="fine_detector_model_path" default="$(find-pkg-share traffic_light_fine_detector)/data/tlr_yolox_s_batch_6.onnx" description="fine detector onnx model path"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+  <arg name="fine_detector_label_path" default="$(var data_path)/traffic_light_fine_detector/tlr_labels.txt" description="fine detector label path"/>
+  <arg name="fine_detector_model_path" default="$(var data_path)/traffic_light_fine_detector/tlr_yolox_s_batch_6.onnx" description="fine detector onnx model path"/>
   <arg name="fine_detector_precision" default="fp16"/>
   <arg name="fine_detector_score_thresh" default="0.3"/>
   <arg name="fine_detector_nms_thresh" default="0.65"/>
diff --git a/perception/traffic_light_ssd_fine_detector/README.md b/perception/traffic_light_ssd_fine_detector/README.md
diff --git a/perception/traffic_light_ssd_fine_detector/launch/traffic_light_ssd_fine_detector.launch.xml b/perception/traffic_light_ssd_fine_detector/launch/traffic_light_ssd_fine_detector.launch.xml
