feat(centerpoint): cherrypicked upstream changes for x2_gen2/v0.29.0 #1700
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…utowarefoundation#6989) * feat: accelerated preprocessing for centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: changed includes to quotes instead of brackets Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: fixed variable name Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * fix: addressed the case where the points in the cache is over the maximum capacity Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * fix: fixed the offset of the output buffer in the kernel Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: reimplemented old logic in the pointpainting package since the new centerpoint logic is incompatible Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * fix: eigen matrices are column major by default. this commit fixes the code that assumed row-major, implements check for data layout, and updates tests Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: fixed missing virtual destructor Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>
…n#7686) Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp>
…ion#7758) Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
fix: ml detector buffer capacity and parameterization (autowarefoundation#7936) * fix: increased the buffer capacity in ML-based detectors (1M -> 2M due to new models) but parameterized to users can adapt it to their use cases Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: added schema parts Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: points are countable ! Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
…ystem (autowarefoundation#8272) Signed-off-by: amadeuszsz <amadeusz.szymko.2@tier4.jp> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
…on#8572) fix:unusedFunction Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>
…utowarefoundation#8731) add centerpoint sigma parameter Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
… to the model (autowarefoundation#8814) * feat: shuffling points before feeding them into the model to achieve uniform sampling into the voxels Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/autoware_lidar_centerpoint/src/node.cpp Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> * Update perception/autoware_lidar_centerpoint/src/node.cpp Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> * Update perception/autoware_lidar_centerpoint/lib/centerpoint_trt.cpp Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> * Update perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/centerpoint_config.hpp Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
…_t (autowarefoundation#8820) * refactor(autoware_lidar_centerpoint): use std::size_t instead of size_t Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…its definition (autowarefoundation#8980) * fix: convert object's velocity to follow its definition in box3DToDetectedObject function Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * Update perception/autoware_lidar_centerpoint/lib/ros_utils.cpp Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
…towarefoundation#8996) * fix(autoware_lidar_centerpoint): fix covariance converter considering the twist covariance matrix is based on the object coordinate Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> fix style * fix: update test of box3DToDetectedObject function Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
…field (autowarefoundation#9471) Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>
… now I wil leave it as a default parameter Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
knzo25
requested review from
amadeuszsz,
scepter914,
kminoda,
badai-nguyen,
ktro2828,
miursh,
tzhong518 and
yukkysaito
as code owners
|
@YoshiRi |
|
@knzo25 |
YoshiRi
approved these changes
Dec 16, 2024
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Description
Cherrypicked improvements to centerpoint
List:
Does not include the autoware's namespace PR
The cherrypicks were done using
git cherry-pick HASHand not copied manually as proposed before.If done sequence, skipping the ones with breaking changes (autoware prefix), there were minimal conflicts
Related links
Parent Issue:
How was this PR tested?
Run https://console.data-search.tier4.jp/projects/x2_dev/environments/190ce3fb-2480-4710-a8db-b976814f90cb/rosbags/977d3e84-f61a-40d0-8629-7c01f7aa4700
and centerpoint seemed to be working ok
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.