forked from autowarefoundation/autoware.universe
-
Notifications
You must be signed in to change notification settings - Fork 34
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge pull request #1785 from tier4/sync-awf-latest
chore: sync awf-latest
- Loading branch information
Showing
38 changed files
with
494 additions
and
216 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
|
|
@@ -6,6 +6,7 @@ | |
| <description>The autoware_lidar_centerpoint package</description> | ||
| <maintainer email="[email protected]">Kenzo Lobos-Tsunekawa</maintainer> | ||
| <maintainer email="[email protected]">Koji Minoda</maintainer> | ||
| <maintainer email="[email protected]">Amadeusz Szymko</maintainer> | ||
| <license>Apache License 2.0</license> | ||
|
|
||
| <buildtool_depend>ament_cmake_auto</buildtool_depend> | ||
|
|
||
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
41 changes: 41 additions & 0 deletions
41
...adar_crossing_objects_noise_filter/schema/radar_crossing_objects_noise_filter.schema.json
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "autoware_radar_crossing_objects_noise_filter parameter", | ||
| "type": "object", | ||
| "definitions": { | ||
| "autoware_radar_crossing_objects_noise_filter": { | ||
| "type": "object", | ||
| "properties": { | ||
| "angle_threshold": { | ||
| "type": "number", | ||
| "description": "Angle threshold to filter noise objects. Must satisfy 0 < angle_threshold < pi/2. If the crossing angle is larger than this parameter, it can be a candidate for a noise object. If smaller, it is a filtered object. A smaller value filters more objects as noise.", | ||
| "default": 1.221, | ||
| "exclusiveMinimum": 0.0, | ||
| "exclusiveMaximum": 1.5708 | ||
| }, | ||
| "velocity_threshold": { | ||
| "type": "number", | ||
| "description": "Velocity threshold to filter noise objects. If the velocity of an object is larger than this parameter, it can be a candidate for a noise object. If smaller, it is a filtered object. A smaller value filters more objects as noise.", | ||
| "default": 1.5, | ||
| "minimum": 0.0 | ||
| } | ||
| }, | ||
| "required": ["angle_threshold", "velocity_threshold"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/autoware_radar_crossing_objects_noise_filter" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
83 changes: 83 additions & 0 deletions
83
perception/autoware_radar_object_clustering/schema/radar_object_clustering.schema.json
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,83 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Radar Object Clustering Parameters", | ||
| "type": "object", | ||
| "definitions": { | ||
| "radar_object_clustering": { | ||
| "type": "object", | ||
| "properties": { | ||
| "angle_threshold": { | ||
| "type": "number", | ||
| "description": "Threshold for angle to determine whether radar detections come from one object during clustering. Larger values merge more objects.", | ||
| "default": 0.174 | ||
| }, | ||
| "distance_threshold": { | ||
| "type": "number", | ||
| "description": "Threshold for distance to determine whether radar detections come from one object during clustering. Larger values merge more objects.", | ||
| "default": 4.0 | ||
| }, | ||
| "velocity_threshold": { | ||
| "type": "number", | ||
| "description": "Threshold for velocity to determine whether radar detections come from one object during clustering. Larger values merge more objects.", | ||
| "default": 2.0 | ||
| }, | ||
| "is_fixed_label": { | ||
| "type": "boolean", | ||
| "description": "Flag to use a fixed label. If true, the label of a clustered object is overwritten by the `fixed_label` parameter.", | ||
| "default": false | ||
| }, | ||
| "fixed_label": { | ||
| "type": "string", | ||
| "description": "The fixed label to use when `is_fixed_label` is true.", | ||
| "default": "UNKNOWN" | ||
| }, | ||
| "is_fixed_size": { | ||
| "type": "boolean", | ||
| "description": "Flag to use fixed size parameters. If true, the size of a clustered object is overwritten by the `size_x`, `size_y`, and `size_z` parameters.", | ||
| "default": false | ||
| }, | ||
| "size_x": { | ||
| "type": "number", | ||
| "description": "Size of the clustered object in the x-dimension, used if `is_fixed_size` is true.", | ||
| "default": 4.0 | ||
| }, | ||
| "size_y": { | ||
| "type": "number", | ||
| "description": "Size of the clustered object in the y-dimension, used if `is_fixed_size` is true.", | ||
| "default": 1.5 | ||
| }, | ||
| "size_z": { | ||
| "type": "number", | ||
| "description": "Size of the clustered object in the z-dimension, used if `is_fixed_size` is true.", | ||
| "default": 1.5 | ||
| } | ||
| }, | ||
| "required": [ | ||
| "angle_threshold", | ||
| "distance_threshold", | ||
| "velocity_threshold", | ||
| "is_fixed_label", | ||
| "fixed_label", | ||
| "is_fixed_size", | ||
| "size_x", | ||
| "size_y", | ||
| "size_z" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/radar_object_clustering" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
23 changes: 23 additions & 0 deletions
23
...n/autoware_traffic_light_classifier/launch/pedestrian_traffic_light_classifier.launch.xml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
| <launch> | ||
| <arg name="input/image" default="~/image_raw"/> | ||
| <arg name="input/rois" default="~/rois"/> | ||
| <arg name="output/traffic_signals" default="classified/traffic_signals"/> | ||
| <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/> | ||
| <arg | ||
| name="traffic_light_classifier_param_path" | ||
| default="$(find-pkg-share autoware_traffic_light_classifier)/config/pedestrian_traffic_light_classifier.param.yaml" | ||
| description="classifier param path" | ||
| /> | ||
| <arg name="traffic_light_classifier_model_path" default="$(var data_path)/traffic_light_classifier" description="path to pedestrian onnx model and label"/> | ||
| <arg name="pedestrian_traffic_light_classifier_label_name" default="lamp_labels_ped.txt" description="pedestrian label name"/> | ||
| <arg name="pedestrian_traffic_light_classifier_model_name" default="ped_traffic_light_classifier_mobilenetv2_batch_6" description="pedestrian onnx model name"/> | ||
| <arg name="build_only" default="false" description="exit after trt engine is built"/> | ||
|
|
||
| <node pkg="autoware_traffic_light_classifier" exec="traffic_light_classifier_node" name="traffic_light_classifier" output="screen"> | ||
| <remap from="~/input/image" to="$(var input/image)"/> | ||
| <remap from="~/input/rois" to="$(var input/rois)"/> | ||
| <remap from="~/output/traffic_signals" to="$(var output/traffic_signals)"/> | ||
| <param from="$(var traffic_light_classifier_param_path)" allow_substs="true"/> | ||
| <param name="build_only" value="$(var build_only)"/> | ||
| </node> | ||
| </launch> |
Oops, something went wrong.