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LiDAR Detection (Issue #368) #417

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merged 11 commits into from
May 7, 2024
Merged

LiDAR Detection (Issue #368) #417

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91fec7c
Working object detection with visualizer.
MtGuerenS Apr 9, 2024
767930e
Decoupling ComplexYOLOv4 files
MtGuerenS Apr 10, 2024
518223b
Merge remote-tracking branch 'origin/dev' into feature/yolo_detection_3d
MtGuerenS Apr 10, 2024
662df8b
Combined both models into one node and cleaned up the mmdet3d model c…
MtGuerenS Apr 12, 2024
4f5b38d
Modified documentation and launch files.
MtGuerenS Apr 15, 2024
56c4742
Instructions added
MtGuerenS Apr 15, 2024
70672da
fix: switch MMDetection to cuda:0 because OBC only has 1 GPU (device 0)
akevinge Apr 19, 2024
e64ae38
Minor changes before the PR.
MtGuerenS Apr 22, 2024
2037581
Merge branch 'feature/yolo_detection_3d' of github.com:Nova-UTD/navig…
MtGuerenS Apr 22, 2024
aca167a
Updated lidar_detection_node params
MtGuerenS Apr 29, 2024
085c701
Merge branch 'dev' into feature/yolo_detection_3d
MtGuerenS Apr 29, 2024
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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ docs/_site
meters_to_gnss_degrees.py
data/maps/grand_loop/carlaMapAdjust3.xodr
data/maps/grand_loop/grand_loop_medium.pcd
complex_yolov4_mse_loss.pth
*.bt
*.pyc
trace*
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2 changes: 1 addition & 1 deletion Dockerfile
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Expand Up @@ -177,7 +177,7 @@ RUN pip3 install \
# Scientific Computing - used widely
scipy \
#
shapely==2.0.0 \
shapely==2.0.2 \
#
simple-pid \
#
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91 changes: 77 additions & 14 deletions data/navigator_default.rviz
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What's with all the changes to the default rviz config?

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Was this a rebase?

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I added a group for object detection/tracking, and the rest of the changes are just the position I had the camera at. Here is the most important part of the changes:

- Class: rviz_common/Group
      Displays:
        - Class: rviz_default_plugins/MarkerArray
          Enabled: true
          Name: Detected
          Namespaces:
            object_bounding_box: true
            object_tag: true
          Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /viz/detected/objects3d
          Value: true
        - Class: rviz_default_plugins/MarkerArray
          Enabled: false
          Name: Tracked
          Namespaces:
            {}
          Topic:
            Depth: 5
            Durability Policy: Volatile
            History Policy: Keep Last
            Reliability Policy: Reliable
            Value: /viz/tracked/objects3d
          Value: false
      Enabled: true
      Name: 3D Objects

Original file line number Diff line number Diff line change
Expand Up @@ -8,8 +8,9 @@ Panels:
- /Routes Paths1
- /Cameras1
- /Grids1
- /3D Objects1
Splitter Ratio: 0.5
Tree Height: 960
Tree Height: 423
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expand Down Expand Up @@ -62,20 +63,53 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
arduino_imu:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hero:
gnss:
Alpha: 1
Show Axes: false
Show Trail: false
model_link:
imu:
Alpha: 1
Show Axes: false
Show Trail: false
lidar_left:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lidar_right:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
model_link:
Alpha: 1
Show Axes: false
Show Trail: false
os_sensor:
Alpha: 1
Show Axes: false
Show Trail: false
radar:
Alpha: 1
Show Axes: false
Show Trail: false
zed2_camera_center:
Alpha: 1
Show Axes: false
Show Trail: false
zed2_left_camera_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Mass Properties:
Inertia: false
Mass: false
Expand Down Expand Up @@ -237,9 +271,9 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0.9825243353843689
Max Intensity: 5699
Min Color: 0; 73; 112
Min Intensity: 0.7125484347343445
Min Intensity: 1
Name: Filtered LiDAR
Position Transformer: XYZ
Selectable: true
Expand Down Expand Up @@ -537,6 +571,35 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /radar/radar_viz
Value: false
- Class: rviz_common/Group
Displays:
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: Detected
Namespaces:
object_bounding_box: true
object_tag: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /viz/detected/objects3d
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Name: Tracked
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /viz/tracked/objects3d
Value: false
Enabled: true
Name: 3D Objects
Enabled: true
Global Options:
Background Color: 222; 222; 222
Expand Down Expand Up @@ -583,25 +646,25 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 40.92072296142578
Distance: 17.278823852539062
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -1.3190577030181885
Y: 0.0719301849603653
Z: 0
X: 5.467041015625
Y: -0.561253547668457
Z: 5.697730541229248
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.649796724319458
Pitch: 0.474796861410141
Target Frame: <Fixed Frame>
Value: Orbit (rviz_default_plugins)
Yaw: 2.9573850631713867
Yaw: 3.142385721206665
Saved: ~
Window Geometry:
Birds Eye:
Expand All @@ -616,16 +679,16 @@ Window Geometry:
collapsed: false
Displays:
collapsed: false
Height: 1373
Height: 836
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 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
QMainWindow State: 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
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 2176
Width: 1526
X: 74
Y: 27
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