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range_vision_fusion package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware src learn and recode.
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Range-Vision fusion node

Additional Links

No additional links.

Maintainers

  • Abraham Monrroy

Authors

No additional authors.
autoware/core_perception/range_vision_fusion/README.md

Range Vision Fusion

The Range Vision Fusion node will try match the objects detected on a range sensor, with the ones obtained from a vision detector. A match will be considered found if the 3D projection of the object overlaps at least 50% (configurable) over the 2D object detection. The label from the 2D Image detector will be attached to the corresponding 3D Object. All the matched results will be published.

Requirements

Input Topics

  1. Camera intrinsics (sensor_msgs/CameraInfo)
  2. Camera-LiDAR extrinsics (tf)
  3. Object Detections results from a Vision Detector (autoware_msgs/DetectedObjectArray)
  4. Object Detections results from a Range Detector (autoware_msgs/DetectedObjectArray)

Output Topics

  1. Fused Detected Objects (autoware_msgs/DetectedObjectArray) on the /detection/fusion_tools/objects topic.

Parameters

Launch file available parameters:

Parameter Type Description Default
detected_objects_range String Name of the DetectedObjectArray topic to subscribe containing the detections on 3D space. /detection/lidar_objects
detected_objects_vision String Name of the DetectedObjectArray topic to subscribe containing the detections on 2D space. /detection/vision_objects
camera_info_src String Name of the CameraInfo topic that contains the intrinsic matrix for the Image. /camera_info
sync_topics Bool Sync detection topics. false
min_car_dimensions Array Sets the minimum dimensions for a car bounding box(width, height, depth) in meters. [2,2,4]
min_person_dimensions Array Sets the minimum dimensions for a person bounding box (width, height, depth) in meters. [1,2,1]
min_truck_dimensions Array Sets the minimum dimensions for a truck/bus bounding box (width, height, depth) in meters. [2,2,4.5]
overlap_threshold float A number between 0.1 and 1.0 representing the area of overlap between the detections. 0.5

Example of usage

  1. Launch a ground filter algorithm from the Points Preprocessor in the Sensing tab. (adjust the parameters to your vehicle setup).
  2. Launch Calibration Publisher with the intrinsic and extrinsic calibration between the camera and the range sensor.
  3. Launch a Vision Detector from the Computing tab (this should be publishing by default /detectoion/vision_objects).
  4. Launch a Lidar Detector from the Computing tab (this should be publishing by default /detectoion/lidar_objects).
  5. Launch this node.
  6. Launch rviz, and add the topics shown above in the Output section.

Notes

  • Detection on Image space should be performed on a Rectified Image, otherwise projection will be incorrect.
  • The names of the classes are defined as in the COCO dataset.
CHANGELOG

Changelog for package range_vision_fusion

1.11.0 (2019-03-21)

  • [fix] Install commands for all the packages (#1861)
    • Initial fixes to detection, sensing, semantics and utils
    • fixing wrong filename on install command
    • Fixes to install commands
    • Hokuyo fix name
    • Fix obj db
    • Obj db include fixes
    • End of final cleaning sweep
    • Incorrect command order in runtime manager
    • Param tempfile not required by runtime_manager
      • Fixes to runtime manager install commands
    • Remove devel directory from catkin, if any
    • Updated launch files for robosense
    • Updated robosense
    • Fix/add missing install (#1977)
    • Added launch install to lidar_kf_contour_track
    • Added install to op_global_planner
    • Added install to way_planner
    • Added install to op_local_planner
    • Added install to op_simulation_package
    • Added install to op_utilities
    • Added install to sync
      • Improved installation script for pointgrey packages
    • Fixed nodelet error for gmsl cameras
    • USe install space in catkin as well
    • add install to catkin
    • Fix install directives (#1990)
    • Fixed installation path
    • Fixed params installation path
    • Fixed cfg installation path
    • Delete cache on colcon_release
  • Fix license notice in corresponding package.xml
  • Adaptation of Object Filter with new perception workflow
  • Initial release of object filter
  • Contributors: Abraham Monrroy, Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

  • Fixes for catkin_make
  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)
    • Switch to colcon as the build tool instead of catkin
    • Added cmake-target
    • Added note about the second colcon call
    • Added warning about catkin* scripts being deprecated
    • Fix COLCON_OPTS
    • Added install targets
    • Update Docker image tags
    • Message packages fixes
    • Fix missing dependency
  • Feature/perception visualization cleanup (#1648)
      • Initial commit for visualization package
    • Removal of all visualization messages from perception nodes
    • Visualization dependency removal
    • Launch file modification
      • Fixes to visualization
    • Error on Clustering CPU
    • Reduce verbosity on markers
    • intial commit
      • Changed to 2 spaces indentation
    • Added README
    • Fixed README messages type
    • 2 space indenting
    • ros clang format
    • Publish acceleration and velocity from ukf tracker
    • Remove hardcoded path
    • Updated README
    • updated prototype
    • Prototype update for header and usage
    • Removed unknown label from being reported
    • Updated publishing orientation to match develop
      • Published all the trackers
    • Added valid field for visualization and future compatibility with ADAS ROI filtering
    • Add simple functions
    • Refacor code
      • Reversed back UKF node to develop
    • Formatted speed
    • Refactor codes
    • Refactor codes
    • Refactor codes
    • Refacor codes
    • Make tracking visualization work
    • Relay class info in tracker node
    • Remove dependency to jskbbox and rosmarker in ukf tracker
    • apply rosclang to ukf tracker
    • Refactor codes
    • Refactor codes
    • add comment
    • refactor codes

    * Revert "Refactor codes" This reverts commit 135aaac46e49cb18d9b76611576747efab3caf9c. * Revert "apply rosclang to ukf tracker" This reverts commit 4f8d1cb5c8263a491f92ae5321e5080cb34b7b9c. * Revert "Remove dependency to jskbbox and rosmarker in ukf tracker" This reverts commit 4fa1dd40ba58065f7afacc5e478001078925b27d. * Revert "Relay class info in tracker node" This reverts commit 1637baac44c8d3d414cc069f3af12a79770439ae.

    • delete dependency to jsk and remove pointcloud_frame
    • get direction nis
    • set velocity_reliable true in tracker node
    • Add divided function
    • add function
    • Sanity checks
    • Relay all the data from input DetectedObject
    • Divided function work both for immukf and sukf
    • Add comment
    • Refactor codes
    • Pass immukf test
    • make direction assisted tracking work
    • Visualization fixes
    • Refacor codes
    • Refactor codes
    • Refactor codes
    • refactor codes
    • refactor codes
    • Refactor codes
    • refactor codes
    • Tracker Merging step added
    • Added launch file support for merging phase
    • lane assisted with sukf
    • Refactor codes
    • Refactor codes
      • change only static objects
    • keep label of the oldest tracker
    • Static Object discrimination
    • Non rotating bouding box
    • no disappear if detector works
    • Modify removeRedundant a bit
    • Replacement of JSK visualization for RViz Native Markers
    • Added Models namespace to visualization
    • Naming change for matching the perception component graph
      • Added 3D Models for different classes in visualization
    • 2D Rect node visualize_rects added to visualization_package
  • Fix Ros/ROS naming convention
  • Contributors: Abraham Monrroy Cano, Esteve Fernandez, amc-nu

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

  • Feature/beyond pixel tracker (#1473)
    • Add beyond_pixel node
    • Update prototype of beyond pixel (#1430)
    • Add parser of DetectedObjectArray for beyond tracker(#1430)
      • Adaptations to the original code
    • Added README
    • Added Runtime Manager entry
    • Added Video link
    • Added install commands for cmake
      • Add ID only to tracked objects
    • Display valid IDs on the 3D labels
    • Display only objects with image coords
      • Added Minimum dimensions
    • Register angle from the vision tracker if available
    • Keep message publishing rate continuous
    • Revert platform_automation_msgs (#1498)
    • Code cleanup
    • Fixed a crash when the dimensions are outside of the image
    • Fix annoying catkin_make causing to run twice the Cmake generation
  • Contributors: Abraham Monrroy

1.8.0 (2018-08-31)

  • Feature/std perception msg (#1418)
    • New standard message definition for the perception nodes
    • New Detected Object message applied to:
    • SSD
    • Integrated RVIZ viewer
    • External Viewer
    • modified yolo2 and yolo3, compiles but cuda issues, trying different PC
    • Boiler plate for range vision fusion node

    * Added GenColors for Kinetic Typo fixes for yolo2

    • testing colors in Yolo3
    • Completed transformation, projection of 3D boxes
    • Fixed error on negative assignation
    • code clean up
    • removed yolo2 and yolo3, replaced by single darknet node. GUI launches yolo3 for now, to change. Pushing to test code on other PC.
    • Readme updated, added gitignore for data folder.

    * Added Runtime manager UI for yolo2, yolo3.Support tested for TinyYolo v2 and v3 * Fusion Vision Range Icons for viewer

    • Range Vision Fusion node
    • Indigo cv im read
    • Indigo compiation fix
    • Topic renaming according to new spec
    • Try to fix arm64 stuff
      • Added launch file
    • Added Runtime manager entry
      • Added Publication of non fused objects
    • Fixed topic names
  • Contributors: Abraham Monrroy

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/range_vision_fusion.launch
      • detected_objects_range [default: /detection/lidar_detector/objects]
      • detected_objects_vision [default: /detection/image_detector/objects]
      • camera_info_src [default: /camera_info]
      • min_car_dimensions [default: [3,2,2]]
      • min_person_dimensions [default: [1,2,1]]
      • min_truck_dimensions [default: [4,2,2]]
      • sync_topics [default: false]
      • overlap_threshold [default: 0.6]
      • use_vector_map [default: false]
      • namespace [default: /detection/fusion_tools]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged range_vision_fusion at Robotics Stack Exchange

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