feat(multi_object_tracker): increase max-area for truck and trailer #1710

yukke42 · 2022-08-28T14:15:04Z

Signed-off-by: yukke42 yusuke.muramatsu@tier4.jp

Description

There are trucks about 18 m length and they are filtered by the max-area gate of multi-object-tracker. I have changed not to filtered large vehicles, and the 70 value is 20 m (large vehicle length with a margin) x 3.5 m (maximum width of general road in Japan).

Blue: /perception/object_recognition/detection/objects
Red: /perception/object_recognition/tracking/objects

before:

max_area_gate_before_.mp4

after:

max_area_gate_after_.mp4

Tests performed

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codecov · 2022-08-28T14:28:03Z

Codecov Report

Base: 10.42% // Head: 10.28% // Decreases project coverage by -0.13% ⚠️

Coverage data is based on head (cd57bba) compared to base (9bc8556).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

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total	`10.26% <0.00%> (-0.14%)`	⬇️	Carriedforward from 51e6d54

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yukkysaito · 2022-08-28T15:28:03Z

@yukke42 I have two questions.

Can you show the size data? because the large truck size is defined as within 12m x 2.5m in Japan.
Is it a trailer, not a truck?

yukke42 · 2022-08-28T16:00:40Z

A single grid is 1 m long. The longest vehicle is a trailer, but others are truck, but our model classifies truck and trailer as a same label.

trailer: less than 18 m x more than 3.0 m
truck on the top: less than 11 m x more than 3.0
truck on the middle: 8 m x 3 m
truck on the bottom: 12 m x 3 m

These objects are filtered when max-area of truck is 19.75. (19.75 is smaller than 12 x 2.5 ...)

yukke42 · 2022-08-28T16:14:55Z

Is it better for the model to classify these vehicles as trailer and should I change data-association matrix of the trailer?

yukkysaito · 2022-08-29T12:44:32Z

I think it is better to make a trailer for anything over 12m in post-process of CenterPoint and apollo instance segmentation.

Also, about width, 2.5m maybe too strict, it seems to be good to 3.0m

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

yukke42 · 2022-08-29T14:44:11Z

@yukkysaito
I have changed the params of truck and trailer in 1298693.

And I'll make a package to change the classification label by the size of objects in another PR.

yukke42 · 2022-08-30T03:06:44Z

@yukkysaito
1298693
updated max-area matrix values as you advised.

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

yukke42 · 2022-09-14T06:13:58Z

@yukkysaito Sorry for the late, I have updated the params as you said.

yukkysaito

LGTM

Now we do not map cars to buses no mather the size Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

…he detections shape (#1876) * Implemented a small package to remap detection classes depending on their shape Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/detection_class_adapter/include/detection_class_adapter/detection_class_adapter.hpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Removed the hardcoded mapping from centerpoint and pointfusion. Fixed the description of the config file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Deleted the new package and moved the logic to centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_adapter.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> * Changed: adapter->remapper * Update perception/lidar_centerpoint/lib/detection_class_remapper.cpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Delted duplicated file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Modified the parameters to match #1710 Now we do not map cars to buses no mather the size Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_remapper.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com>

…utowarefoundation#1710) * feat(multi_object_tracker): increase max-area for truck Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: change truck and trailer max-area gate params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: change trailer params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

…he detections shape (autowarefoundation#1876) * Implemented a small package to remap detection classes depending on their shape Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/detection_class_adapter/include/detection_class_adapter/detection_class_adapter.hpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Removed the hardcoded mapping from centerpoint and pointfusion. Fixed the description of the config file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Deleted the new package and moved the logic to centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_adapter.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> * Changed: adapter->remapper * Update perception/lidar_centerpoint/lib/detection_class_remapper.cpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Delted duplicated file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Modified the parameters to match autowarefoundation#1710 Now we do not map cars to buses no mather the size Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_remapper.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com>

…utowarefoundation#1710) * feat(multi_object_tracker): increase max-area for truck Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: change truck and trailer max-area gate params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: change trailer params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

…he detections shape (autowarefoundation#1876) * Implemented a small package to remap detection classes depending on their shape Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/detection_class_adapter/include/detection_class_adapter/detection_class_adapter.hpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Removed the hardcoded mapping from centerpoint and pointfusion. Fixed the description of the config file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Deleted the new package and moved the logic to centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_adapter.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> * Changed: adapter->remapper * Update perception/lidar_centerpoint/lib/detection_class_remapper.cpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Delted duplicated file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Modified the parameters to match autowarefoundation#1710 Now we do not map cars to buses no mather the size Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_remapper.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com>

…utowarefoundation#1710) * feat(multi_object_tracker): increase max-area for truck Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: change truck and trailer max-area gate params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: change trailer params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

…he detections shape (autowarefoundation#1876) * Implemented a small package to remap detection classes depending on their shape Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/detection_class_adapter/include/detection_class_adapter/detection_class_adapter.hpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Removed the hardcoded mapping from centerpoint and pointfusion. Fixed the description of the config file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Deleted the new package and moved the logic to centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_adapter.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> * Changed: adapter->remapper * Update perception/lidar_centerpoint/lib/detection_class_remapper.cpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Delted duplicated file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Modified the parameters to match autowarefoundation#1710 Now we do not map cars to buses no mather the size Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_remapper.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com>

…utowarefoundation#1710) * feat(multi_object_tracker): increase max-area for truck Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: change truck and trailer max-area gate params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: change trailer params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

…he detections shape (autowarefoundation#1876) * Implemented a small package to remap detection classes depending on their shape Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/detection_class_adapter/include/detection_class_adapter/detection_class_adapter.hpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Removed the hardcoded mapping from centerpoint and pointfusion. Fixed the description of the config file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Deleted the new package and moved the logic to centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_adapter.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> * Changed: adapter->remapper * Update perception/lidar_centerpoint/lib/detection_class_remapper.cpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Delted duplicated file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Modified the parameters to match autowarefoundation#1710 Now we do not map cars to buses no mather the size Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_remapper.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

…utowarefoundation#1710) * feat(multi_object_tracker): increase max-area for truck Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: change truck and trailer max-area gate params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: change trailer params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

…he detections shape (autowarefoundation#1876) * Implemented a small package to remap detection classes depending on their shape Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/detection_class_adapter/include/detection_class_adapter/detection_class_adapter.hpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Removed the hardcoded mapping from centerpoint and pointfusion. Fixed the description of the config file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Deleted the new package and moved the logic to centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_adapter.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> * Changed: adapter->remapper * Update perception/lidar_centerpoint/lib/detection_class_remapper.cpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Delted duplicated file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Modified the parameters to match autowarefoundation#1710 Now we do not map cars to buses no mather the size Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_remapper.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix(lidar_centerpoint): fix function sigmoid() (#1555) fix(lidar_centerpoint): fix function sigmoid() (#1545) Signed-off-by: WfHit <33973397+WfHit@users.noreply.github.com> * feat(lidar_centerpoint): add score threshold parameter to center point (autowarefoundation#1699) Signed-off-by: scepter914 <scepter914@gmail.com> Signed-off-by: scepter914 <scepter914@gmail.com> * feat(behavior_path_planner): add new turn signal algorithm (autowarefoundation#1964) * clean code Signed-off-by: yutaka <purewater0901@gmail.com> * clean format Signed-off-by: yutaka <purewater0901@gmail.com> * udpate Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * add test Signed-off-by: yutaka <purewater0901@gmail.com> * add test * add test Signed-off-by: yutaka <purewater0901@gmail.com> * fix(avoidance): use new turn signal algorithm Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): fix desired_start_point position Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * change policy Signed-off-by: yutaka <purewater0901@gmail.com> * feat(behavior_path_planner): update pull_over for new blinker logic Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * feat(behavior_path_planner): update pull_out for new blinker logic * tmp: install flask via pip Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat(lane_change): added lane change point * fix start_point and non backward driving turn signal Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * get 3 second during constructing lane change path Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix pull over desired start point Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * delete Signed-off-by: yutaka <purewater0901@gmail.com> * Update Readme * Update planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * Update planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * fix format Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix(lidar_centerpoint): include zero in range of yaw_norm_threshold (autowarefoundation#1830) Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> * feat(multi_object_tracker): increase max-area for truck and trailer (autowarefoundation#1710) * feat(multi_object_tracker): increase max-area for truck Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: change truck and trailer max-area gate params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: change trailer params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * feat(multi_object_tracker): update bus size (autowarefoundation#1887) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * fix(multi_object_tracker): add missing trailer tracker (autowarefoundation#1885) Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat(lidar_centerpoint): implemented a class remapping according to the detections shape (autowarefoundation#1876) * Implemented a small package to remap detection classes depending on their shape Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/detection_class_adapter/include/detection_class_adapter/detection_class_adapter.hpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Removed the hardcoded mapping from centerpoint and pointfusion. Fixed the description of the config file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Deleted the new package and moved the logic to centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_adapter.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> * Changed: adapter->remapper * Update perception/lidar_centerpoint/lib/detection_class_remapper.cpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Delted duplicated file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Modified the parameters to match autowarefoundation#1710 Now we do not map cars to buses no mather the size Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_remapper.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * feat(lidar_centerpoint): add IoU-based NMS (autowarefoundation#1935) * feat(lidar_centerpoint): add IoU-based NMS Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: add magic number name Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: remove unnecessary headers Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * fix: typo Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * fix: typo Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * feat(lidar_centerpoint): enabled per class yaw norm threshold (autowarefoundation#1962) * feat(lidar_centerpoint): enabled per class yaw norm threshold Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Updated thresholds Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Moved the yaw threshold parameters to gpu memory Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Moved the thresholds as a member variable Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix(lidar_centeproint): fix cmake Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * revert(lidar_centerpoint): "fix(lidar_centeproint): fix cmake" This reverts commit 2efc31d. Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * chore(lidar_centerpoint): add trained model of centerpoint (#1202) * chore(lidar_centerpoint): add trained model of centerpoint Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * docs: add description of models Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: WfHit <33973397+WfHit@users.noreply.github.com> Signed-off-by: scepter914 <scepter914@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: WfHit <33973397+WfHit@users.noreply.github.com> Co-authored-by: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: yukke42 <yusuke.muramatsu@tier4.jp>

…he detections shape (autowarefoundation#1876) * Implemented a small package to remap detection classes depending on their shape Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/detection_class_adapter/include/detection_class_adapter/detection_class_adapter.hpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Removed the hardcoded mapping from centerpoint and pointfusion. Fixed the description of the config file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Deleted the new package and moved the logic to centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_adapter.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> * Changed: adapter->remapper * Update perception/lidar_centerpoint/lib/detection_class_remapper.cpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Delted duplicated file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Modified the parameters to match autowarefoundation#1710 Now we do not map cars to buses no mather the size Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_remapper.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com>

…utowarefoundation#1710) * feat(multi_object_tracker): increase max-area for truck Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: change truck and trailer max-area gate params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: change trailer params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

…he detections shape (autowarefoundation#1876) * Implemented a small package to remap detection classes depending on their shape Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/detection_class_adapter/include/detection_class_adapter/detection_class_adapter.hpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Removed the hardcoded mapping from centerpoint and pointfusion. Fixed the description of the config file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Deleted the new package and moved the logic to centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_adapter.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> * Changed: adapter->remapper * Update perception/lidar_centerpoint/lib/detection_class_remapper.cpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Delted duplicated file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Modified the parameters to match autowarefoundation#1710 Now we do not map cars to buses no mather the size Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_remapper.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com>

* fix(lidar_centerpoint): fix function sigmoid() (autowarefoundation#1555) fix(lidar_centerpoint): fix function sigmoid() (autowarefoundation#1545) Signed-off-by: WfHit <33973397+WfHit@users.noreply.github.com> * feat(lidar_centerpoint): add score threshold parameter to center point (autowarefoundation#1699) Signed-off-by: scepter914 <scepter914@gmail.com> Signed-off-by: scepter914 <scepter914@gmail.com> * feat(behavior_path_planner): add new turn signal algorithm (autowarefoundation#1964) * clean code Signed-off-by: yutaka <purewater0901@gmail.com> * clean format Signed-off-by: yutaka <purewater0901@gmail.com> * udpate Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * add test Signed-off-by: yutaka <purewater0901@gmail.com> * add test * add test Signed-off-by: yutaka <purewater0901@gmail.com> * fix(avoidance): use new turn signal algorithm Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): fix desired_start_point position Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * change policy Signed-off-by: yutaka <purewater0901@gmail.com> * feat(behavior_path_planner): update pull_over for new blinker logic Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * feat(behavior_path_planner): update pull_out for new blinker logic * tmp: install flask via pip Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat(lane_change): added lane change point * fix start_point and non backward driving turn signal Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * get 3 second during constructing lane change path Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix pull over desired start point Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * delete Signed-off-by: yutaka <purewater0901@gmail.com> * Update Readme * Update planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * Update planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * fix format Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix(lidar_centerpoint): include zero in range of yaw_norm_threshold (autowarefoundation#1830) Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> * feat(multi_object_tracker): increase max-area for truck and trailer (autowarefoundation#1710) * feat(multi_object_tracker): increase max-area for truck Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: change truck and trailer max-area gate params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: change trailer params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * feat(multi_object_tracker): update bus size (autowarefoundation#1887) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * fix(multi_object_tracker): add missing trailer tracker (autowarefoundation#1885) Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat(lidar_centerpoint): implemented a class remapping according to the detections shape (autowarefoundation#1876) * Implemented a small package to remap detection classes depending on their shape Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/detection_class_adapter/include/detection_class_adapter/detection_class_adapter.hpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Removed the hardcoded mapping from centerpoint and pointfusion. Fixed the description of the config file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Deleted the new package and moved the logic to centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_adapter.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> * Changed: adapter->remapper * Update perception/lidar_centerpoint/lib/detection_class_remapper.cpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Delted duplicated file Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Modified the parameters to match autowarefoundation#1710 Now we do not map cars to buses no mather the size Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/config/detection_class_remapper.param.yaml Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * feat(lidar_centerpoint): add IoU-based NMS (autowarefoundation#1935) * feat(lidar_centerpoint): add IoU-based NMS Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: add magic number name Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: remove unnecessary headers Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * fix: typo Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * fix: typo Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * feat(lidar_centerpoint): enabled per class yaw norm threshold (autowarefoundation#1962) * feat(lidar_centerpoint): enabled per class yaw norm threshold Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Updated thresholds Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Moved the yaw threshold parameters to gpu memory Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Moved the thresholds as a member variable Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix(lidar_centeproint): fix cmake Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * revert(lidar_centerpoint): "fix(lidar_centeproint): fix cmake" This reverts commit 2efc31d. Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * chore(lidar_centerpoint): add trained model of centerpoint (autowarefoundation#1202) * chore(lidar_centerpoint): add trained model of centerpoint Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * docs: add description of models Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: WfHit <33973397+WfHit@users.noreply.github.com> Signed-off-by: scepter914 <scepter914@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: WfHit <33973397+WfHit@users.noreply.github.com> Co-authored-by: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: yukke42 <yusuke.muramatsu@tier4.jp>

yukke42 requested review from yukkysaito and miursh August 28, 2022 14:15

yukke42 force-pushed the chage-max-area-gate-of-truck branch from 77ebca1 to 1f10666 Compare August 28, 2022 14:18

yukke42 changed the title ~~feat(multi_object_tracking): increase max-area for truck~~ feat(multi_object_tracker): increase max-area for truck Aug 28, 2022

feat(multi_object_tracker): increase max-area for truck

3d2e1ab

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

yukke42 force-pushed the chage-max-area-gate-of-truck branch from 1f10666 to 86aa161 Compare August 29, 2022 14:43

yukke42 force-pushed the chage-max-area-gate-of-truck branch from 86aa161 to 0bc663e Compare August 30, 2022 03:04

yukke42 changed the title ~~feat(multi_object_tracker): increase max-area for truck~~ feat(multi_object_tracker): increase max-area for truck and trailer Aug 30, 2022

yukke42 force-pushed the chage-max-area-gate-of-truck branch from 0bc663e to ebe8e5e Compare August 30, 2022 03:07

feat: change truck and trailer max-area gate params

1298693

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

yukke42 force-pushed the chage-max-area-gate-of-truck branch from ebe8e5e to 1298693 Compare August 30, 2022 03:09

yukke42 added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Aug 30, 2022

feat: change trailer params

51e6d54

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

yukke42 force-pushed the chage-max-area-gate-of-truck branch from 616369c to 51e6d54 Compare August 31, 2022 02:28

yukkysaito approved these changes Sep 14, 2022

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Merge branch 'main' into chage-max-area-gate-of-truck

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yukke42 merged commit b402b2c into autowarefoundation:main Sep 14, 2022

yukke42 deleted the chage-max-area-gate-of-truck branch September 14, 2022 07:40

tier4-autoware-public-bot bot mentioned this pull request Sep 15, 2022

chore: sync upstream tier4/autoware.universe#124

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tkimura4 mentioned this pull request Sep 20, 2022

feat(perception_launch): update tracking parameter tier4/autoware_launch-old#488

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yukke42 mentioned this pull request Sep 20, 2022

feat(lidar_centerpoint): implemented a class remapping according to the detections shape #1876

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knzo25 added a commit to knzo25/autoware.universe that referenced this pull request Sep 20, 2022

Modified the parameters to match autowarefoundation#1710

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Now we do not map cars to buses no mather the size Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

tkimura4 mentioned this pull request Oct 7, 2022

feat(centerpoint): update ceterpoint tier4/autoware.universe#145

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feat(multi_object_tracker): increase max-area for truck and trailer #1710

feat(multi_object_tracker): increase max-area for truck and trailer #1710

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feat(multi_object_tracker): increase max-area for truck and trailer #1710

feat(multi_object_tracker): increase max-area for truck and trailer #1710

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