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feat(tier4_perception_launch): enable multi channel tracker merger #7459

Merged
merged 13 commits into from
Jun 26, 2024
Merged

feat(tier4_perception_launch): enable multi channel tracker merger #7459

merged 13 commits into from
Jun 26, 2024

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technolojin
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@technolojin technolojin commented Jun 12, 2024 •
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Description

Add an perception option use_multi_channel_tracker_merger.
This option replaces object merge pipeline to the multi-object-tracker multi input functionality.

The new pipeline will be tested.

This work is based on the perception launcher refactoring #7194

Tests performed

  • perception_mode:=camera_lidar_radar_fusion lidar_detection_model:=pointpainting
  • perception_mode:=camera_lidar_radar_fusion lidar_detection_model:=centerpoint
  • perception_mode:=camera_lidar_fusion lidar_detection_model:=pointpainting
  • perception_mode:=camera_lidar_fusion lidar_detection_model:=centerpoint
  • perception_mode:=camera_lidar_fusion lidar_detection_model:=apollo
  • perception_mode:=lidar_radar_fusion lidar_detection_model:=centerpoint
  • perception_mode:=radar
  • perception_mode:=lidar lidar_detection_model:=centerpoint
  • use_multi_channel_tracker_merger:=true perception_mode:=camera_lidar_radar_fusion lidar_detection_model:=pointpainting
  • use_multi_channel_tracker_merger:=true perception_mode:=camera_lidar_fusion lidar_detection_model:=centerpoint
  • use_multi_channel_tracker_merger:=true perception_mode:=lidar_radar_fusion lidar_detection_model:=centerpoint
  • use_multi_channel_tracker_merger:=true perception_mode:=lidar lidar_detection_model:=centerpoint
  • use_multi_channel_tracker_merger:=true perception_mode:=radar
  • use_multi_channel_tracker_merger:=true perception_mode:=camera_lidar_fusion use_detection_by_tracker:=false

Effects on system behavior

Expected to get benefit of the new multi channel tracker merger.

Interface changes

The new argument use_multi_channel_tracker_merger will be added. Default value will be false that works as previous pipeline.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

  • There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

@github-actions github-actions bot added the component:launch Launch files, scripts and initialization tools. (auto-assigned) label Jun 12, 2024
@technolojin technolojin linked an issue Jun 12, 2024 that may be closed by this pull request
Replace serialized detected object mergers to reduce complexity #6958
Closed
3 tasks
@technolojin technolojin changed the title feat(): enable multi channel tracker merger feat(tier4_perception_launch): enable multi channel tracker merger Jun 12, 2024
@technolojin technolojin force-pushed the feat/enable_multi_channel_tracker_merger branch 6 times, most recently from fc9775d to 814f95f Compare June 19, 2024 08:32
@technolojin technolojin self-assigned this Jun 20, 2024
@technolojin technolojin force-pushed the feat/enable_multi_channel_tracker_merger branch from e5ad3eb to 90025b2 Compare June 20, 2024 06:31
technolojin and others added 13 commits June 20, 2024 17:23
@technolojin
feat: introduce multi channel tracker merger
81c1f40 
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

feat: separate filters

feat: filtering camera lidar fusion

fix: object validator to modular
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

fix: add missing config

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

fix: radar only mode for both fusion mode

fix

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

style(pre-commit): autofix

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@technolojin
fix: implement merger switching
33c744e 
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@technolojin
chore: move pointcloud filter from detection to filter group
ff60d3f 
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@technolojin
chore: define external and internal interfaces
6c7255e 
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@technolojin
fix: set output of camera-lidar in absolute path
53b34c7 
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@technolojin
chore: explicit object detection output
a858040 
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@pre-commit-ci @technolojin
style(pre-commit): autofix
11d66f9 
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@technolojin
chore: update object detection input paths
3a86ce8 
fix radar output

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@technolojin
chore: update object detection input paths
487aedc 
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@technolojin
fix: radar pipeline output
344b863 
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@technolojin
chore: update object detection input paths
46db2ef 
This commit updates the input paths for object detection. It ensures that the correct paths are used for the detection process.

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@pre-commit-ci @technolojin
style(pre-commit): autofix
32099c5 
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@technolojin
fix: group to avoid argument mixture
be8318f 
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@technolojin technolojin force-pushed the feat/enable_multi_channel_tracker_merger branch from f806b2e to be8318f Compare June 20, 2024 08:24
@technolojin technolojin marked this pull request as ready for review June 20, 2024 08:24
@technolojin technolojin added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jun 20, 2024
YoshiRi
YoshiRi approved these changes Jun 26, 2024
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LGTM

@technolojin technolojin merged commit ec88fc5 into autowarefoundation:main Jun 26, 2024
34 checks passed
@tkimura4 tkimura4 mentioned this pull request Jun 26, 2024
Merged
simon-eisenmann-driveblocks pushed a commit to simon-eisenmann-driveblocks/autoware.universe that referenced this pull request Jun 26, 2024
@technolojin @pre-commit-ci @simon-eisenmann-driveblocks
feat(tier4_perception_launch): enable multi channel tracker merger (a…
0556a82 
…utowarefoundation#7459)

* feat: introduce multi channel tracker merger

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

feat: separate filters

feat: filtering camera lidar fusion

fix: object validator to modular
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

fix: add missing config

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

fix: radar only mode for both fusion mode

fix

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

style(pre-commit): autofix

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

* fix: implement merger switching

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

* chore: move pointcloud filter from detection to filter group

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

* chore: define external and internal interfaces

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

* fix: set output of camera-lidar in absolute path

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

* chore: explicit object detection output

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

* style(pre-commit): autofix

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

* chore: update object detection input paths

fix radar output

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

* chore: update object detection input paths

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

* fix: radar pipeline output

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

* chore: update object detection input paths

This commit updates the input paths for object detection. It ensures that the correct paths are used for the detection process.

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

* style(pre-commit): autofix

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

* fix: group to avoid argument mixture

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

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
mitukou1109 pushed a commit to mitukou1109/autoware.universe that referenced this pull request Jul 2, 2024
@technolojin @pre-commit-ci @mitukou1109
feat(tier4_perception_launch): enable multi channel tracker merger (a…
53be2c4 
…utowarefoundation#7459)

* feat: introduce multi channel tracker merger

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

feat: separate filters

feat: filtering camera lidar fusion

fix: object validator to modular
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

fix: add missing config

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

fix: radar only mode for both fusion mode

fix

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

style(pre-commit): autofix

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

* fix: implement merger switching

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

* chore: move pointcloud filter from detection to filter group

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

* chore: define external and internal interfaces

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

* fix: set output of camera-lidar in absolute path

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

* chore: explicit object detection output

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

* style(pre-commit): autofix

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

* chore: update object detection input paths

fix radar output

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

* chore: update object detection input paths

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

* fix: radar pipeline output

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

* chore: update object detection input paths

This commit updates the input paths for object detection. It ensures that the correct paths are used for the detection process.

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

* style(pre-commit): autofix

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

* fix: group to avoid argument mixture

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

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
palas21 pushed a commit to palas21/autoware.universe that referenced this pull request Jul 12, 2024
@technolojin @pre-commit-ci @palas21
feat(tier4_perception_launch): enable multi channel tracker merger (a…
82121dd 
…utowarefoundation#7459)

* feat: introduce multi channel tracker merger

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

feat: separate filters

feat: filtering camera lidar fusion

fix: object validator to modular
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

fix: add missing config

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

fix: radar only mode for both fusion mode

fix

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

style(pre-commit): autofix

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

* fix: implement merger switching

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

* chore: move pointcloud filter from detection to filter group

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

* chore: define external and internal interfaces

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

* fix: set output of camera-lidar in absolute path

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

* chore: explicit object detection output

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

* style(pre-commit): autofix

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

* chore: update object detection input paths

fix radar output

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

* chore: update object detection input paths

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

* fix: radar pipeline output

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

* chore: update object detection input paths

This commit updates the input paths for object detection. It ensures that the correct paths are used for the detection process.

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

* style(pre-commit): autofix

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

* fix: group to avoid argument mixture

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

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: palas21 <palas21@itu.edu.tr>
tby-udel pushed a commit to tby-udel/autoware.universe that referenced this pull request Jul 14, 2024
@technolojin @pre-commit-ci @tby-udel
feat(tier4_perception_launch): enable multi channel tracker merger (a…
20bdba6 
…utowarefoundation#7459)

* feat: introduce multi channel tracker merger

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

feat: separate filters

feat: filtering camera lidar fusion

fix: object validator to modular
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

fix: add missing config

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

fix: radar only mode for both fusion mode

fix

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

style(pre-commit): autofix

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

* fix: implement merger switching

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

* chore: move pointcloud filter from detection to filter group

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

* chore: define external and internal interfaces

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

* fix: set output of camera-lidar in absolute path

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

* chore: explicit object detection output

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

* style(pre-commit): autofix

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

* chore: update object detection input paths

fix radar output

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

* chore: update object detection input paths

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

* fix: radar pipeline output

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

* chore: update object detection input paths

This commit updates the input paths for object detection. It ensures that the correct paths are used for the detection process.

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

* style(pre-commit): autofix

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

* fix: group to avoid argument mixture

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

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
KhalilSelyan pushed a commit that referenced this pull request Jul 22, 2024
@technolojin @pre-commit-ci
feat(tier4_perception_launch): enable multi channel tracker merger (#…
d9f8f47 
…7459)

* feat: introduce multi channel tracker merger

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

feat: separate filters

feat: filtering camera lidar fusion

fix: object validator to modular
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

fix: add missing config

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

fix: radar only mode for both fusion mode

fix

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

style(pre-commit): autofix

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

* fix: implement merger switching

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

* chore: move pointcloud filter from detection to filter group

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

* chore: define external and internal interfaces

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

* fix: set output of camera-lidar in absolute path

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

* chore: explicit object detection output

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

* style(pre-commit): autofix

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

* chore: update object detection input paths

fix radar output

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

* chore: update object detection input paths

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

* fix: radar pipeline output

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

* chore: update object detection input paths

This commit updates the input paths for object detection. It ensures that the correct paths are used for the detection process.

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

* style(pre-commit): autofix

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

* fix: group to avoid argument mixture

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

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
@technolojin technolojin deleted the feat/enable_multi_channel_tracker_merger branch July 26, 2024 02:21
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@YoshiRi YoshiRi YoshiRi approved these changes

@miursh miursh Awaiting requested review from miursh

@yukkysaito yukkysaito Awaiting requested review from yukkysaito yukkysaito is a code owner

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@technolojin technolojin

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Replace serialized detected object mergers to reduce complexity
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