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feat: init image_projection_based_fusion package
Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>
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Mar 24, 2022
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| @@ -0,0 +1,51 @@ | ||
| cmake_minimum_required(VERSION 3.8) | ||
| project(image_projection_based_fusion) | ||
|
|
||
| if (NOT CMAKE_CXX_STANDARD) | ||
| set(CMAKE_CXX_STANDARD 14) | ||
| endif() | ||
| if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
| add_compile_options(-Wall -Wextra -Wpedantic) | ||
| endif() | ||
|
|
||
| # find dependencies | ||
| find_package(ament_lint_auto REQUIRED) | ||
| find_package(ament_cmake_auto REQUIRED) | ||
| find_package(OpenCV REQUIRED) | ||
| find_package(Eigen3 REQUIRED) | ||
|
|
||
| ament_auto_find_build_dependencies() | ||
|
|
||
| include_directories( | ||
| include | ||
| ${OpenCV_INCLUDE_DIRS} | ||
| ${EIGEN3_INCLUDE_DIRS} | ||
| ) | ||
|
|
||
| ament_auto_add_library(${PROJECT_NAME} SHARED | ||
| src/fusion_node.cpp | ||
| src/roi_cluster_fusion/node.cpp | ||
| src/roi_detected_object_fusion/node.cpp | ||
| ) | ||
| target_link_libraries(${PROJECT_NAME} | ||
| ${OpenCV_LIBRARIES} | ||
| ${EIGEN3_LIBRARIES} | ||
| ) | ||
|
|
||
| rclcpp_components_register_node(${PROJECT_NAME} | ||
| PLUGIN "image_projection_based_fusion::RoiClusterFusionNode" | ||
| EXECUTABLE roi_cluster_fusion_node | ||
| ) | ||
|
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||
| rclcpp_components_register_node(${PROJECT_NAME} | ||
| PLUGIN "image_projection_based_fusion::RoiDetectedObjectFusionNode" | ||
| EXECUTABLE roi_detected_object_fusion_node | ||
| ) | ||
|
|
||
| if(BUILD_TESTING) | ||
| find_package(ament_lint_auto REQUIRED) | ||
| endif() | ||
|
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| ament_auto_package(INSTALL_TO_SHARE | ||
| launch | ||
| ) |
102 changes: 102 additions & 0 deletions
102
...ption/image_projection_based_fusion/include/image_projection_based_fusion/fusion_node.hpp
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| // Copyright 2021 Tier IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #ifndef IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_ | ||
| #define IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_ | ||
|
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||
| #include <rclcpp/rclcpp.hpp> | ||
|
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||
| #include <autoware_auto_perception_msgs/msg/detected_objects.hpp> | ||
| #include <sensor_msgs/msg/camera_info.hpp> | ||
| #include <tier4_perception_msgs/msg/detected_objects_with_feature.hpp> | ||
|
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||
| #include <message_filters/pass_through.h> | ||
| #include <message_filters/subscriber.h> | ||
| #include <message_filters/sync_policies/approximate_time.h> | ||
| #include <message_filters/synchronizer.h> | ||
| #include <tf2_ros/buffer.h> | ||
| #include <tf2_ros/transform_listener.h> | ||
|
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| #include <map> | ||
| #include <memory> | ||
| #include <string> | ||
| #include <vector> | ||
|
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| namespace image_projection_based_fusion | ||
| { | ||
|
|
||
| using autoware_auto_perception_msgs::msg::DetectedObjects; | ||
| using tier4_perception_msgs::msg::DetectedObjectsWithFeature; | ||
|
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| template <class T> | ||
| using SyncPolicy = message_filters::sync_policies::ApproximateTime< | ||
| T, DetectedObjectsWithFeature, DetectedObjectsWithFeature, DetectedObjectsWithFeature, | ||
| DetectedObjectsWithFeature, DetectedObjectsWithFeature, DetectedObjectsWithFeature, | ||
| DetectedObjectsWithFeature, DetectedObjectsWithFeature>; | ||
| template <class T> | ||
| using Sync = message_filters::Synchronizer<SyncPolicy<T>>; | ||
|
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| template <class Msg> | ||
| class FusionNode : public rclcpp::Node | ||
| { | ||
| public: | ||
| explicit FusionNode(const std::string & node_name, const rclcpp::NodeOptions & options); | ||
|
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||
| protected: | ||
| void cameraInfoCallback( | ||
| const sensor_msgs::msg::CameraInfo::ConstSharedPtr input_camera_info_msg, const int camera_id); | ||
|
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| void fusionCallback( | ||
| typename Msg::ConstSharedPtr input_obstacle_msg, | ||
| DetectedObjectsWithFeature::ConstSharedPtr input_roi0_msg, | ||
| DetectedObjectsWithFeature::ConstSharedPtr input_roi1_msg, | ||
| DetectedObjectsWithFeature::ConstSharedPtr input_roi2_msg, | ||
| DetectedObjectsWithFeature::ConstSharedPtr input_roi3_msg, | ||
| DetectedObjectsWithFeature::ConstSharedPtr input_roi4_msg, | ||
| DetectedObjectsWithFeature::ConstSharedPtr input_roi5_msg, | ||
| DetectedObjectsWithFeature::ConstSharedPtr input_roi6_msg, | ||
| DetectedObjectsWithFeature::ConstSharedPtr input_roi7_msg); | ||
|
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| virtual void fusionOnSingleImage(const DetectedObjectsWithFeature & input_roi_msg) = 0; | ||
|
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| void publish(); | ||
|
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| int rois_number_{0}; | ||
| tf2_ros::Buffer tf_buffer_; | ||
| tf2_ros::TransformListener tf_listener_; | ||
|
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| // camera_info | ||
| std::map<int, sensor_msgs::msg::CameraInfo> camera_info_map_; | ||
| std::vector<rclcpp::Subscription<sensor_msgs::msg::CameraInfo>::SharedPtr> camera_info_subs_; | ||
|
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| // fusion | ||
| typename message_filters::Subscriber<Msg> sub_; | ||
| message_filters::PassThrough<DetectedObjectsWithFeature> passthrough_; | ||
| std::vector<std::shared_ptr<message_filters::Subscriber<DetectedObjectsWithFeature>>> rois_subs_; | ||
| inline void dummyCallback(DetectedObjectsWithFeature::ConstSharedPtr input) | ||
| { | ||
| passthrough_.add(input); | ||
| } | ||
| typename std::shared_ptr<Sync<Msg>> sync_ptr_; | ||
|
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| // output | ||
| // if the type of output message isn't Msg, | ||
| // overwrite output_msg_ and pub_ptr_ in derived class. | ||
| Msg output_msg_; | ||
| typename rclcpp::Publisher<Msg>::SharedPtr pub_ptr_; | ||
| }; | ||
|
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| } // namespace image_projection_based_fusion | ||
|
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| #endif // IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_ |
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36
...projection_based_fusion/include/image_projection_based_fusion/roi_cluster_fusion/node.hpp
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| // Copyright 2020 Tier IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #ifndef IMAGE_PROJECTION_BASED_FUSION__ROI_CLUSTER_FUSION__NODE_HPP_ | ||
| #define IMAGE_PROJECTION_BASED_FUSION__ROI_CLUSTER_FUSION__NODE_HPP_ | ||
|
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| #include "image_projection_based_fusion/fusion_node.hpp" | ||
|
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| #include <memory> | ||
|
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| namespace image_projection_based_fusion | ||
| { | ||
|
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| class RoiClusterFusionNode : public FusionNode<DetectedObjectsWithFeature> | ||
| { | ||
| public: | ||
| explicit RoiClusterFusionNode(const rclcpp::NodeOptions & options); | ||
|
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||
| protected: | ||
| void fusionOnSingleImage(const DetectedObjectsWithFeature & input_roi_msg) override; | ||
| }; | ||
|
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| } // namespace image_projection_based_fusion | ||
|
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| #endif // IMAGE_PROJECTION_BASED_FUSION__ROI_CLUSTER_FUSION__NODE_HPP_ |
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36
...on_based_fusion/include/image_projection_based_fusion/roi_detected_object_fusion/node.hpp
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| // Copyright 2022 Tier IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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||
| #ifndef IMAGE_PROJECTION_BASED_FUSION__ROI_DETECTED_OBJECT_FUSION__NODE_HPP_ | ||
| #define IMAGE_PROJECTION_BASED_FUSION__ROI_DETECTED_OBJECT_FUSION__NODE_HPP_ | ||
|
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| #include "image_projection_based_fusion/fusion_node.hpp" | ||
|
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| #include <memory> | ||
|
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| namespace image_projection_based_fusion | ||
| { | ||
|
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| class RoiDetectedObjectFusionNode : public FusionNode<DetectedObjects> | ||
| { | ||
| public: | ||
| explicit RoiDetectedObjectFusionNode(const rclcpp::NodeOptions & options); | ||
|
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| protected: | ||
| void fusionOnSingleImage(const DetectedObjectsWithFeature & input_roi_msg) override; | ||
| }; | ||
|
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| } // namespace image_projection_based_fusion | ||
|
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| #endif // IMAGE_PROJECTION_BASED_FUSION__ROI_DETECTED_OBJECT_FUSION__NODE_HPP_ |
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71
perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml
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| <launch> | ||
| <arg name="input/rois_number" default="1"/> | ||
| <arg name="input/rois0" default="rois0"/> | ||
| <arg name="input/camera_info0" default="/camera_info0"/> | ||
| <arg name="input/rois1" default="rois1"/> | ||
| <arg name="input/camera_info1" default="/camera_info1"/> | ||
| <arg name="input/rois2" default="rois2"/> | ||
| <arg name="input/camera_info2" default="/camera_info2"/> | ||
| <arg name="input/rois3" default="rois3"/> | ||
| <arg name="input/camera_info3" default="/camera_info3"/> | ||
| <arg name="input/rois4" default="rois4"/> | ||
| <arg name="input/camera_info4" default="/camera_info4"/> | ||
| <arg name="input/rois5" default="rois5"/> | ||
| <arg name="input/camera_info5" default="/camera_info5"/> | ||
| <arg name="input/rois6" default="rois6"/> | ||
| <arg name="input/camera_info6" default="/camera_info6"/> | ||
| <arg name="input/rois7" default="rois7"/> | ||
| <arg name="input/camera_info7" default="/camera_info7"/> | ||
| <arg name="input/clusters" default="clusters"/> | ||
| <arg name="output/clusters" default="labeled_clusters"/> | ||
|
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| <!-- for eval variable--> | ||
| <arg name="input_rois_number" default="$(var input/rois_number)"/> | ||
|
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| <!-- debug --> | ||
| <arg name="debug_mode" default="false"/> | ||
| <arg name="input/image0" default="/image_raw0"/> | ||
| <arg name="input/image1" default="/image_raw1"/> | ||
| <arg name="input/image2" default="/image_raw2"/> | ||
| <arg name="input/image3" default="/image_raw3"/> | ||
| <arg name="input/image4" default="/image_raw4"/> | ||
| <arg name="input/image5" default="/image_raw5"/> | ||
| <arg name="input/image6" default="/image_raw6"/> | ||
| <arg name="input/image7" default="/image_raw7"/> | ||
| <group> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '1' ")" from="input/rois0" to="$(var input/rois0)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '1' ")" from="input/camera_info0" to="$(var input/camera_info0)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '2' ")" from="input/rois1" to="$(var input/rois1)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '2' ")" from="input/camera_info1" to="$(var input/camera_info1)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '3' ")" from="input/rois2" to="$(var input/rois2)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '3' ")" from="input/camera_info2" to="$(var input/camera_info2)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '4' ")" from="input/rois3" to="$(var input/rois3)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '4' ")" from="input/camera_info3" to="$(var input/camera_info3)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '5' ")" from="input/rois4" to="$(var input/rois4)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '5' ")" from="input/camera_info4" to="$(var input/camera_info4)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '6' ")" from="input/rois5" to="$(var input/rois5)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '6' ")" from="input/camera_info5" to="$(var input/camera_info5)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '7' ")" from="input/rois6" to="$(var input/rois6)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '7' ")" from="input/camera_info6" to="$(var input/camera_info6)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '8' ")" from="input/rois7" to="$(var input/rois7)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '8' ")" from="input/camera_info7" to="$(var input/camera_info7)"/> | ||
|
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||
| <set_remap if="$(eval " '$(var input_rois_number)' >= '1' ")" from="input/image_raw0" to="$(var input/image0)"/> | ||
| <set_remap if="$(eval " '$(var input_rois_number)' >= '2' ")" from="input/image_raw1" to="$(var input/image1)"/> | ||
| <set_remap if="$(eval " '$(var input_rois_number)' >= '3' ")" from="input/image_raw2" to="$(var input/image2)"/> | ||
| <set_remap if="$(eval " '$(var input_rois_number)' >= '4' ")" from="input/image_raw3" to="$(var input/image3)"/> | ||
| <set_remap if="$(eval " '$(var input_rois_number)' >= '5' ")" from="input/image_raw4" to="$(var input/image4)"/> | ||
| <set_remap if="$(eval " '$(var input_rois_number)' >= '6' ")" from="input/image_raw5" to="$(var input/image5)"/> | ||
| <set_remap if="$(eval " '$(var input_rois_number)' >= '7' ")" from="input/image_raw6" to="$(var input/image6)"/> | ||
| <set_remap if="$(eval " '$(var input_rois_number)' >= '8' ")" from="input/image_raw7" to="$(var input/image7)"/> | ||
|
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| <node pkg="image_projection_based_fusion" exec="roi_cluster_fusion_node" name="roi_cluster_fusion" output="screen"> | ||
| <param name="rois_number" value="$(var input/rois_number)" /> | ||
| <remap from="input/obstacle" to="$(var input/clusters)"/> | ||
| <remap from="output/obstacle" to="$(var output/clusters)"/> | ||
|
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| <!-- debug --> | ||
| <param name="debug_mode" value="$(var debug_mode)"/> | ||
| </node> | ||
| </group> | ||
| </launch> |
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73
perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml
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| <launch> | ||
| <arg name="input/rois_number" default="1"/> | ||
| <arg name="input/rois0" default="rois0"/> | ||
| <arg name="input/camera_info0" default="/camera_info0"/> | ||
| <arg name="input/rois1" default="rois1"/> | ||
| <arg name="input/camera_info1" default="/camera_info1"/> | ||
| <arg name="input/rois2" default="rois2"/> | ||
| <arg name="input/camera_info2" default="/camera_info2"/> | ||
| <arg name="input/rois3" default="rois3"/> | ||
| <arg name="input/camera_info3" default="/camera_info3"/> | ||
| <arg name="input/rois4" default="rois4"/> | ||
| <arg name="input/camera_info4" default="/camera_info4"/> | ||
| <arg name="input/rois5" default="rois5"/> | ||
| <arg name="input/camera_info5" default="/camera_info5"/> | ||
| <arg name="input/rois6" default="rois6"/> | ||
| <arg name="input/camera_info6" default="/camera_info6"/> | ||
| <arg name="input/rois7" default="rois7"/> | ||
| <arg name="input/camera_info7" default="/camera_info7"/> | ||
| <arg name="input/objects" default="objects"/> | ||
| <arg name="output/objects" default="fused_objects"/> | ||
|
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| <!-- for eval variable--> | ||
| <arg name="input_rois_number" default="$(var input/rois_number)"/> | ||
|
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| <!-- debug --> | ||
| <arg name="debug_mode" default="false"/> | ||
| <arg name="input/image0" default="/image_raw0"/> | ||
| <arg name="input/image1" default="/image_raw1"/> | ||
| <arg name="input/image2" default="/image_raw2"/> | ||
| <arg name="input/image3" default="/image_raw3"/> | ||
| <arg name="input/image4" default="/image_raw4"/> | ||
| <arg name="input/image5" default="/image_raw5"/> | ||
| <arg name="input/image6" default="/image_raw6"/> | ||
| <arg name="input/image7" default="/image_raw7"/> | ||
| <group> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '1' ")" from="input/rois0" to="$(var input/rois0)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '1' ")" from="input/camera_info0" to="$(var input/camera_info0)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '2' ")" from="input/rois1" to="$(var input/rois1)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '2' ")" from="input/camera_info1" to="$(var input/camera_info1)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '3' ")" from="input/rois2" to="$(var input/rois2)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '3' ")" from="input/camera_info2" to="$(var input/camera_info2)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '4' ")" from="input/rois3" to="$(var input/rois3)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '4' ")" from="input/camera_info3" to="$(var input/camera_info3)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '5' ")" from="input/rois4" to="$(var input/rois4)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '5' ")" from="input/camera_info4" to="$(var input/camera_info4)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '6' ")" from="input/rois5" to="$(var input/rois5)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '6' ")" from="input/camera_info5" to="$(var input/camera_info5)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '7' ")" from="input/rois6" to="$(var input/rois6)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '7' ")" from="input/camera_info6" to="$(var input/camera_info6)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '8' ")" from="input/rois7" to="$(var input/rois7)"/> | ||
| <set_remap if="$(eval "'$(var input_rois_number)' >= '8' ")" from="input/camera_info7" to="$(var input/camera_info7)"/> | ||
|
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||
| <set_remap if="$(eval " '$(var input_rois_number)' >= '1' ")" from="input/image_raw0" to="$(var input/image0)"/> | ||
| <set_remap if="$(eval " '$(var input_rois_number)' >= '2' ")" from="input/image_raw1" to="$(var input/image1)"/> | ||
| <set_remap if="$(eval " '$(var input_rois_number)' >= '3' ")" from="input/image_raw2" to="$(var input/image2)"/> | ||
| <set_remap if="$(eval " '$(var input_rois_number)' >= '4' ")" from="input/image_raw3" to="$(var input/image3)"/> | ||
| <set_remap if="$(eval " '$(var input_rois_number)' >= '5' ")" from="input/image_raw4" to="$(var input/image4)"/> | ||
| <set_remap if="$(eval " '$(var input_rois_number)' >= '6' ")" from="input/image_raw5" to="$(var input/image5)"/> | ||
| <set_remap if="$(eval " '$(var input_rois_number)' >= '7' ")" from="input/image_raw6" to="$(var input/image6)"/> | ||
| <set_remap if="$(eval " '$(var input_rois_number)' >= '8' ")" from="input/image_raw7" to="$(var input/image7)"/> | ||
|
|
||
| <node pkg="image_projection_based_fusion" exec="roi_detected_object_fusion_node" name="roi_detected_object_fusion" output="screen"> | ||
| <!-- <param name="use_iou" value="true"/> --> | ||
| <!-- <param name="iou_threshold" value="0.35"/> --> | ||
| <param name="rois_number" value="$(var input/rois_number)" /> | ||
| <remap from="input/obstacle" to="$(var input/objects)"/> | ||
| <remap from="output/obstacle" to="$(var output/objects)"/> | ||
|
|
||
| <!-- debug --> | ||
| <param name="debug_mode" value="$(var debug_mode)"/> | ||
| </node> | ||
| </group> | ||
| </launch> |
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