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fix(lidar_centerpoint): fix has_twist condition #1753

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Sep 2, 2022
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fix(lidar_centerpoint): fix has_twist condition #1753

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2 changes: 2 additions & 0 deletions perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
<arg name="model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
<arg name="model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var model_name).param.yaml"/>
<arg name="score_threshold" default="0.45"/>
<arg name="has_twist" default="false"/>

<node pkg="lidar_centerpoint" exec="lidar_centerpoint_node" name="lidar_centerpoint" output="screen">
<remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
Expand All @@ -14,6 +15,7 @@
<param name="densification_world_frame_id" value="map"/>
<param name="densification_num_past_frames" value="1"/>
<param name="trt_precision" value="fp16"/>
<param name="has_twist" value="$(var has_twist)"/>
<param name="encoder_onnx_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"/>
<param name="encoder_engine_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).engine"/>
<param name="head_onnx_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"/>
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16 changes: 9 additions & 7 deletions perception/lidar_centerpoint/lib/ros_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,13 +71,15 @@ void box3DToDetectedObject(
tier4_autoware_utils::createTranslation(box3d.length, box3d.width, box3d.height);

// twist
float vel_x = box3d.vel_x;
float vel_y = box3d.vel_y;
geometry_msgs::msg::Twist twist;
twist.linear.x = std::sqrt(std::pow(vel_x, 2) + std::pow(vel_y, 2));
twist.angular.z = 2 * (std::atan2(vel_y, vel_x) - yaw);
obj.kinematics.twist_with_covariance.twist = twist;
obj.kinematics.has_twist = has_twist;
if (has_twist) {
float vel_x = box3d.vel_x;
float vel_y = box3d.vel_y;
geometry_msgs::msg::Twist twist;
twist.linear.x = std::sqrt(std::pow(vel_x, 2) + std::pow(vel_y, 2));
twist.angular.z = 2 * (std::atan2(vel_y, vel_x) - yaw);
obj.kinematics.twist_with_covariance.twist = twist;
obj.kinematics.has_twist = has_twist;
}
}

uint8_t getSemanticType(const std::string & class_name)
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