[pull] main from autowarefoundation:main

perception/radar_crossing_objects_noise_filter/CMakeLists.txt

@@ -17,9 +17,17 @@ rclcpp_components_register_node(radar_crossing_objects_noise_filter_node_compone
 
 # Tests
 if(BUILD_TESTING)
+  find_package(ament_cmake_ros REQUIRED)
   list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+
+  file(GLOB_RECURSE test_files test/**/*.cpp)
+  ament_add_ros_isolated_gtest(radar_crossing_objects_noise_filter ${test_files})
+
+  target_link_libraries(radar_crossing_objects_noise_filter
+    radar_crossing_objects_noise_filter_node_component
+  )
 endif()
 
 # Package

perception/radar_crossing_objects_noise_filter/include/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter_node.hpp

@@ -58,6 +58,7 @@ class RadarCrossingObjectsNoiseFilterNode : public rclcpp::Node
   // Parameter
   NodeParam node_param_{};
 
+public:
   // Core
   bool isNoise(const DetectedObject & object);
 };

perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_filter.cpp

@@ -0,0 +1,26 @@
+// Copyright 2024 TierIV
+//
+// 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.
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <gtest/gtest.h>
+
+int main(int argc, char * argv[])
+{
+  testing::InitGoogleTest(&argc, argv);
+  rclcpp::init(argc, argv);
+  bool result = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return result;
+}

perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp

@@ -0,0 +1,175 @@
+// Copyright 2024 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.
+
+#include "radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter_node.hpp"
+#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "tier4_autoware_utils/math/unit_conversion.hpp"
+
+#include <geometry_msgs/msg/point32.hpp>
+
+#include <gtest/gtest.h>
+
+std::shared_ptr<radar_crossing_objects_noise_filter::RadarCrossingObjectsNoiseFilterNode> get_node(
+  double angle_threshold, double velocity_threshold)
+{
+  rclcpp::NodeOptions node_options;
+
+  node_options.parameter_overrides(
+    {{"angle_threshold", angle_threshold}, {"velocity_threshold", velocity_threshold}});
+  auto node =
+    std::make_shared<radar_crossing_objects_noise_filter::RadarCrossingObjectsNoiseFilterNode>(
+      node_options);
+  return node;
+}
+
+autoware_auto_perception_msgs::msg::DetectedObject get_object(
+  geometry_msgs::msg::Vector3 velocity, geometry_msgs::msg::Point position,
+  geometry_msgs::msg::Quaternion orientation)
+{
+  autoware_auto_perception_msgs::msg::DetectedObject object;
+  object.kinematics.twist_with_covariance.twist.linear = velocity;
+  object.kinematics.pose_with_covariance.pose.position = position;
+  object.kinematics.pose_with_covariance.pose.orientation = orientation;
+  return object;
+}
+
+TEST(RadarCrossingObjectsFilter, IsNoise)
+{
+  rclcpp::init(0, nullptr);
+  {
+    auto velocity = tier4_autoware_utils::createVector3(40.0, 30.0, 0.0);
+    auto position = tier4_autoware_utils::createPoint(1.0, 0.0, 0.0);
+    auto orientation = tier4_autoware_utils::createQuaternion(1.0, 1.0, 1.0, 0.0);
+    auto object = get_object(velocity, position, orientation);
+    {
+      double velocity_threshold = 40.0;
+      double angle_threshold = 1.0472;
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_TRUE(node->isNoise(object));
+    }
+    {
+      double velocity_threshold = 40.0;
+      double angle_threshold = -1.0472;
+
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_TRUE(node->isNoise(object));
+    }
+    {
+      double velocity_threshold = -40.0;
+      double angle_threshold = 1.0472;
+
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_TRUE(node->isNoise(object));
+    }
+    {
+      double velocity_threshold = -40.0;
+      double angle_threshold = -1.0472;
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_TRUE(node->isNoise(object));
+    }
+  }
+
+  {
+    auto velocity = tier4_autoware_utils::createVector3(40.0, 30.0, 0.0);
+    auto position = tier4_autoware_utils::createPoint(1.0, 2.0, 0.0);
+    auto orientation = tier4_autoware_utils::createQuaternion(1.0, 1.0, 1.0, 0.0);
+    auto object = get_object(velocity, position, orientation);
+    {
+      double velocity_threshold = 40.0;
+      double angle_threshold = 1.0472;
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(object));
+    }
+    {
+      double velocity_threshold = 40.0;
+      double angle_threshold = -1.0472;
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(object));
+    }
+    {
+      double velocity_threshold = -40.0;
+      double angle_threshold = 1.0472;
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(object));
+    }
+    {
+      double velocity_threshold = -40.0;
+      double angle_threshold = -1.0472;
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(object));
+    }
+  }
+
+  {
+    auto velocity = tier4_autoware_utils::createVector3(24.0, 18.0, 0.0);
+    auto position = tier4_autoware_utils::createPoint(1.0, 0.0, 0.0);
+    auto orientation = tier4_autoware_utils::createQuaternion(1.0, 1.0, 1.0, 0.0);
+    auto object = get_object(velocity, position, orientation);
+    {
+      double velocity_threshold = 40.0;
+      double angle_threshold = 1.0472;
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(object));
+    }
+    {
+      double velocity_threshold = 40.0;
+      double angle_threshold = -1.0472;
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(object));
+    }
+    {
+      double velocity_threshold = -40.0;
+      double angle_threshold = 1.0472;
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_TRUE(node->isNoise(object));
+    }
+    {
+      double velocity_threshold = -40.0;
+      double angle_threshold = -1.0472;
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_TRUE(node->isNoise(object));
+    }
+  }
+
+  {
+    auto velocity = tier4_autoware_utils::createVector3(24.0, 18.0, 0.0);
+    auto position = tier4_autoware_utils::createPoint(1.0, 2.0, 0.0);
+    auto orientation = tier4_autoware_utils::createQuaternion(1.0, 1.0, 1.0, 0.0);
+    auto object = get_object(velocity, position, orientation);
+    {
+      double velocity_threshold = 40.0;
+      double angle_threshold = 1.0472;
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(object));
+    }
+    {
+      double velocity_threshold = 40.0;
+      double angle_threshold = -1.0472;
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(object));
+    }
+    {
+      double velocity_threshold = -40.0;
+      double angle_threshold = 1.0472;
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(object));
+    }
+    {
+      double velocity_threshold = -40.0;
+      double angle_threshold = -1.0472;
+      auto node = get_node(angle_threshold, velocity_threshold);
+      EXPECT_FALSE(node->isNoise(object));
+    }
+  }
+}

perception/tensorrt_yolox/CMakeLists.txt

@@ -114,4 +114,5 @@ endif()
 
 ament_auto_package(INSTALL_TO_SHARE
   launch
+  config
 )

perception/tensorrt_yolox/config/yolox_s_plus_opt.param.yaml

@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx"
+    label_path: "$(var data_path)/tensorrt_yolox/label.txt"
+    score_threshold: 0.35
+    nms_threshold: 0.7
+    precision: "int8" # Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8].
+    calibration_algorithm: "Entropy" # Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax].
+    dla_core_id: -1 # If positive ID value is specified, the node assign inference task to the DLA core.
+    quantize_first_layer: false # If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8.
+    quantize_last_layer: false # If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8.
+    profile_per_layer: false # If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose.
+    clip_value: 6.0 # If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration.
+    preprocess_on_gpu: true # If true, pre-processing is performed on GPU.
+    calibration_image_list_path: "" # Path to a file which contains path to images. Those images will be used for int8 quantization.

perception/tensorrt_yolox/config/yolox_tiny.param.yaml

@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx"
+    label_path: "$(var data_path)/tensorrt_yolox/label.txt"
+    score_threshold: 0.35
+    nms_threshold: 0.7
+    precision: "fp16" # Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8].
+    calibration_algorithm: "MinMax" # Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax].
+    dla_core_id: -1 # If positive ID value is specified, the node assign inference task to the DLA core.
+    quantize_first_layer: false # If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8.
+    quantize_last_layer: false # If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8.
+    profile_per_layer: false # If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose.
+    clip_value: 0.0 # If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration.
+    preprocess_on_gpu: true # If true, pre-processing is performed on GPU.
+    calibration_image_list_path: "" # Path to a file which contains path to images. Those images will be used for int8 quantization.

perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml

@@ -5,30 +5,7 @@
   <arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
   <arg name="model_name" default="yolox-sPlus-T4-960x960-pseudo-finetune"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
-  <arg name="model_path" default="$(var data_path)/tensorrt_yolox"/>
-  <arg name="score_threshold" default="0.35"/>
-  <arg name="nms_threshold" default="0.7"/>
-  <arg name="precision" default="int8" description="operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]"/>
-  <arg
-    name="calibration_algorithm"
-    default="Entropy"
-    description="Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]"
-  />
-  <arg name="dla_core_id" default="-1" description="If positive ID value is specified, the node assign inference task to the DLA core"/>
-  <arg name="quantize_first_layer" default="false" description="If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8"/>
-  <arg name="quantize_last_layer" default="false" description="If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8"/>
-  <arg
-    name="profile_per_layer"
-    default="false"
-    description="If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose."
-  />
-  <arg
-    name="clip_value"
-    default="6.0"
-    description="If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration."
-  />
-  <arg name="preprocess_on_gpu" default="true" description="If true, pre-processing is performed on GPU"/>
-  <arg name="calibration_image_list_path" default="" description="Path to a file which contains path to images. Those images will be used for int8 quantization."/>
+  <arg name="yolox_param_path" default="$(find-pkg-share tensorrt_yolox)/config/yolox_s_plus_opt.param.yaml"/>
   <arg name="use_decompress" default="true" description="use image decompress"/>
   <arg name="build_only" default="false" description="exit after trt engine is built"/>
 
@@ -40,19 +17,7 @@
   <node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
     <remap from="~/in/image" to="$(var input/image)"/>
     <remap from="~/out/objects" to="$(var output/objects)"/>
-    <param name="score_threshold" value="$(var score_threshold)"/>
-    <param name="nms_threshold" value="$(var nms_threshold)"/>
-    <param name="model_path" value="$(var model_path)/$(var model_name).onnx"/>
-    <param name="label_path" value="$(var model_path)/label.txt"/>
-    <param name="precision" value="$(var precision)"/>
-    <param name="calibration_algorithm" value="$(var calibration_algorithm)"/>
-    <param name="dla_core_id" value="$(var dla_core_id)"/>
-    <param name="quantize_first_layer" value="$(var quantize_first_layer)"/>
-    <param name="quantize_last_layer" value="$(var quantize_last_layer)"/>
-    <param name="profile_per_layer" value="$(var profile_per_layer)"/>
-    <param name="clip_value" value="$(var clip_value)"/>
-    <param name="preprocess_on_gpu" value="$(var preprocess_on_gpu)"/>
-    <param name="calibration_image_list_path" value="$(var calibration_image_list_path)"/>
+    <param from="$(var yolox_param_path)" allow_substs="true"/>
     <param name="build_only" value="$(var build_only)"/>
   </node>
 </launch>

perception/tensorrt_yolox/launch/yolox_tiny.launch.xml

@@ -4,30 +4,7 @@
   <arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
   <arg name="model_name" default="yolox-tiny"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
-  <arg name="model_path" default="$(var data_path)/tensorrt_yolox"/>
-  <arg name="score_threshold" default="0.35"/>
-  <arg name="nms_threshold" default="0.7"/>
-  <arg name="precision" default="fp16" description="operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]"/>
-  <arg
-    name="calibration_algorithm"
-    default="MinMax"
-    description="Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]"
-  />
-  <arg name="dla_core_id" default="-1" description="If positive ID value is specified, the node assign inference task to the DLA core"/>
-  <arg name="quantize_first_layer" default="false" description="If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8"/>
-  <arg name="quantize_last_layer" default="false" description="If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8"/>
-  <arg
-    name="profile_per_layer"
-    default="false"
-    description="If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose."
-  />
-  <arg
-    name="clip_value"
-    default="0.0"
-    description="If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration."
-  />
-  <arg name="preprocess_on_gpu" default="true" description="If true, pre-processing is performed on GPU"/>
-  <arg name="calibration_image_list_path" default="" description="Path to a file which contains path to images. Those images will be used for int8 quantization."/>
+  <arg name="yolox_param_path" default="$(find-pkg-share tensorrt_yolox)/config/yolox_tiny.param.yaml"/>
   <arg name="use_decompress" default="true" description="use image decompress"/>
   <arg name="build_only" default="false" description="exit after trt engine is built"/>
 
@@ -39,19 +16,7 @@
   <node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
     <remap from="~/in/image" to="$(var input/image)"/>
     <remap from="~/out/objects" to="$(var output/objects)"/>
-    <param name="score_threshold" value="$(var score_threshold)"/>
-    <param name="nms_threshold" value="$(var nms_threshold)"/>
-    <param name="model_path" value="$(var model_path)/$(var model_name).onnx"/>
-    <param name="label_path" value="$(var model_path)/label.txt"/>
-    <param name="precision" value="$(var precision)"/>
-    <param name="calibration_algorithm" value="$(var calibration_algorithm)"/>
-    <param name="dla_core_id" value="$(var dla_core_id)"/>
-    <param name="quantize_first_layer" value="$(var quantize_first_layer)"/>
-    <param name="quantize_last_layer" value="$(var quantize_last_layer)"/>
-    <param name="profile_per_layer" value="$(var profile_per_layer)"/>
-    <param name="clip_value" value="$(var clip_value)"/>
-    <param name="preprocess_on_gpu" value="$(var preprocess_on_gpu)"/>
-    <param name="calibration_image_list_path" value="$(var calibration_image_list_path)"/>
+    <param from="$(var yolox_param_path)" allow_substs="true"/>
     <param name="build_only" value="$(var build_only)"/>
   </node>
 </launch>