feat: perception objects pointcloud better visualization #7095
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…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>
6 tasks
KhalilSelyan
requested review from
scepter914,
miursh,
taikitanaka3,
1222-takeshi and
YoshiRi
as code owners
KhalilSelyan
added
component:perception
KhalilSelyan
changed the title
github-actions
bot
removed
the
component:perception
|
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? |
kminoda
reviewed
May 23, 2024
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
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ktro2828
reviewed
May 29, 2024
...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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May 29, 2024
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 |
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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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