fix(image_projection_based_fusion): segmentation pointcloud fusion param update #7858

badai-nguyen · 2024-07-05T01:02:32Z

Description

To change the parameter declaration to avoid unintentional error.
Related to issue Add a new pointcloud filter based on image semantic segmentation #5594

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

github-actions · 2024-07-05T01:02:48Z

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github-actions · 2024-07-05T01:29:45Z

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-7858/
Modified URLs:

https://autowarefoundation.github.io/autoware.universe/pr-7858/perception/image_projection_based_fusion/segmentation-pointcloud-fusion/

codecov · 2024-07-05T01:34:01Z

Codecov Report

Attention: Patch coverage is 0% with 6 lines in your changes missing coverage. Please review.

Project coverage is 28.65%. Comparing base (7cbf2f5) to head (7e13702).
Report is 6 commits behind head on main.

Files	Patch %	Lines
...fusion/src/segmentation_pointcloud_fusion/node.cpp	0.00%	6 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #7858      +/-   ##
==========================================
- Coverage   28.66%   28.65%   -0.01%     
==========================================
  Files        1588     1589       +1     
  Lines      116375   116398      +23     
  Branches    49688    49693       +5     
==========================================
  Hits        33357    33357              
- Misses      73907    73930      +23     
  Partials     9111     9111

Flag	Coverage Δ		*Carryforward flag
differential	`2.67% <0.00%> (?)`
total	`28.66% <ø> (+<0.01%)`	⬆️	Carriedforward from 9a3607b

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Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

badai-nguyen · 2024-07-05T02:20:53Z

@YoshiRi @miursh Could I ask your review on this PR?

YoshiRi · 2024-07-05T02:47:31Z

perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml

-    filter_scope_max_y: 100.0
-    filter_scope_min_z: -100.0
-    filter_scope_max_z: 100.0
+    # the maximum distance of pointcloud to be applied filter


I can not get what distance means until reading the code.
It means maximum z depth, so how about change its explanation?

Suggested change

# the maximum distance of pointcloud to be applied filter

# the maximum depth of pointcloud to be applied filter

YoshiRi

LGTM with trivial comments

…ram update (autowarefoundation#7858) Signed-off-by: palas21 <palas21@itu.edu.tr>

…ram update (autowarefoundation#7858)

…ram update (#7858)

…ram update (autowarefoundation#7858)

….29.0 (#1526) * feat(tensorrt yolox): inference and publish mask image from yolox model with semantic segmentation header (autowarefoundation#5553) * add segmentation model Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> fix: add multitask for segment Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: publish mask Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * feat: publish colorized mask Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: resize yolox mask Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: add memory allocate operations Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp> * refactor: remove underscore for a local variable Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp> * chore: add condition to check the number of subscriber for newly added topics Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp> * chore: pre-commit Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: add roi overlapping segment Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: roi overlay segment Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactor Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update readme Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: update model name Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: add utils into tensorrt_yolox Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: launch file Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: remove unnecessary depend Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: fix yaml file Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: remove duplicated param in launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: semantic class Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update readme Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: update default param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: add processing time topic Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * chore: fix cspell error Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: yolox default param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: rename debug topics Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: rename debug topics Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update model description Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix: launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * refactor: unpublish mask for single task Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> * style(pre-commit): autofix * docs: update reamde Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix: skip mask size as yolox output Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp> Co-authored-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> * fix(tensorrt_yolox): add run length encoding for sematic segmentation mask (autowarefoundation#7905) * fix: add rle compress Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: rle compress Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: move rle into utils Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: pre-commit Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * Update perception/autoware_tensorrt_yolox/src/utils.cpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * fix: remove unused variable Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * Update perception/autoware_tensorrt_yolox/src/utils.cpp Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> * style(pre-commit): autofix * feat: add unit test for utils Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix: unit test Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: change to explicit index Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix: cuda cmake Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: separate unit test into different PR Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * refactor(tensorrt_yolox): move utils into perception_utils (autowarefoundation#8435) * chore(tensorrt_yolo): refactor utils Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix: tensorrt_yolox Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(perception_utils): install library after build (autowarefoundation#8501) Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp> * fix(image_projection_based_fusion): resize sematic segmentation mask as input image size (autowarefoundation#7635) Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix(image_projection_based_fusion): segmentation pointcloud fusion param update (autowarefoundation#7858) * fix(image_projection_based_fusion): add run length decoding for segmentation_pointcloud_fusion (autowarefoundation#7909) * fix: add rle decompress Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix: use rld in tensorrt utils Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: rebase error Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: dependency Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: skip publish debug mask Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * Update perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> * style(pre-commit): autofix * Revert "fix: skip publish debug mask" This reverts commit 30fa9ae. --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> * feat(tier4_perception_launch): add image segmentation based pointcloud filter (autowarefoundation#7225) * feat(tier4_perception_launch): add image segmentation based pointcloud filter Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: detection launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: add maintainer Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * Revert "chore: add maintainer" This reverts commit 5adfef6. --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix(autoware_image_projection_based_fusion): resolve issue with segmentation pointcloud fusion node failing with multiple mask inputs (autowarefoundation#8769) --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp> Co-authored-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com>

badai-nguyen added 3 commits July 5, 2024 09:49

fix: update param declare

c5d5fa3

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

chore: remove unnecessary params

cb865a0

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

fix: pre-commit

9a3607b

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:perception Advanced sensor data processing and environment understanding. (auto-assigned) labels Jul 5, 2024

badai-nguyen added run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) labels Jul 5, 2024

fix: cspell error

7e13702

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

badai-nguyen marked this pull request as ready for review July 5, 2024 02:20

badai-nguyen requested review from kminoda, ktro2828, miursh, tzhong518, YoshiRi and yukkysaito as code owners July 5, 2024 02:20

YoshiRi reviewed Jul 5, 2024

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YoshiRi approved these changes Jul 5, 2024

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badai-nguyen merged commit 5eb577e into autowarefoundation:main Jul 5, 2024
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palas21 pushed a commit to palas21/autoware.universe that referenced this pull request Jul 12, 2024

fix(image_projection_based_fusion): segmentation pointcloud fusion pa…

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…ram update (autowarefoundation#7858) 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

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…ram update (autowarefoundation#7858)

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…ram update (#7858)

Ariiees pushed a commit to Ariiees/autoware.universe that referenced this pull request Jul 22, 2024

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…ram update (autowarefoundation#7858)

badai-nguyen added a commit to tier4/autoware_universe that referenced this pull request Aug 1, 2024

fix(image_projection_based_fusion): segmentation pointcloud fusion pa…

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…ram update (autowarefoundation#7858)

badai-nguyen added a commit to tier4/autoware_universe that referenced this pull request Aug 5, 2024

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…ram update (autowarefoundation#7858)

badai-nguyen added a commit to tier4/autoware_universe that referenced this pull request Aug 26, 2024

fix(image_projection_based_fusion): segmentation pointcloud fusion pa…

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…ram update (autowarefoundation#7858)

badai-nguyen added a commit to tier4/autoware_universe that referenced this pull request Sep 2, 2024

fix(image_projection_based_fusion): segmentation pointcloud fusion pa…

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…ram update (autowarefoundation#7858)

badai-nguyen added a commit to tier4/autoware_universe that referenced this pull request Sep 2, 2024

fix(image_projection_based_fusion): segmentation pointcloud fusion pa…

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…ram update (autowarefoundation#7858)

badai-nguyen added a commit to tier4/autoware_universe that referenced this pull request Sep 2, 2024

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fix(image_projection_based_fusion): segmentation pointcloud fusion param update #7858

fix(image_projection_based_fusion): segmentation pointcloud fusion param update #7858

badai-nguyen commented Jul 5, 2024 •

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badai-nguyen commented Jul 5, 2024

YoshiRi Jul 5, 2024

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	# the maximum distance of pointcloud to be applied filter
	# the maximum depth of pointcloud to be applied filter

fix(image_projection_based_fusion): segmentation pointcloud fusion param update #7858

fix(image_projection_based_fusion): segmentation pointcloud fusion param update #7858

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badai-nguyen commented Jul 5, 2024 • edited Loading

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