Merge branch 'main' into RT1-9334-Implement-abnormality-detection-method

Author: mkquda

common/autoware_agnocast_wrapper/CMakeLists.txt

@@ -15,6 +15,10 @@ ament_export_include_directories(
   include
 )
 
+ament_export_dependencies(
+  agnocastlib
+)
+
 install(
   FILES cmake/agnocast_wrapper_config_extras.cmake
   DESTINATION share/${PROJECT_NAME}/cmake

common/autoware_agnocast_wrapper/cmake/agnocast_wrapper_config_extras.cmake

@@ -1,16 +1,16 @@
-// Copyright 2025 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.
+# Copyright 2025 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.
 
 function(autoware_agnocast_wrapper_setup target)
   if(DEFINED ENV{ENABLE_AGNOCAST} AND "$ENV{ENABLE_AGNOCAST}" STREQUAL "1")

common/autoware_agnocast_wrapper/include/autoware/agnocast_wrapper/autoware_agnocast_wrapper.hpp

@@ -38,7 +38,7 @@
 
 #else
 
-#include "autoware/universe_utils/ros/polling_subscriber.hpp"
+#include "autoware_utils/ros/polling_subscriber.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -49,7 +49,7 @@
 #define AUTOWARE_PUBLISHER_PTR(MessageT) typename rclcpp::Publisher<MessageT>::SharedPtr
 
 #define AUTOWARE_POLLING_SUBSCRIBER(MessageT) \
-  typename autoware::universe_utils::InterProcessPollingSubscriber<MessageT>
+  typename autoware_utils::InterProcessPollingSubscriber<MessageT>
 
 #define AUTOWARE_CREATE_SUBSCRIPTION(message_type, topic, qos, callback, options) \
   this->create_subscription<message_type>(topic, qos, callback, options)

common/autoware_agnocast_wrapper/package.xml

@@ -11,7 +11,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <build_depend>agnocastlib</build_depend>
-  <depend>rclcpp</depend>
+  <build_depend>rclcpp</build_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml

@@ -16,6 +16,8 @@
   <arg name="use_low_intensity_cluster_filter"/>
   <arg name="use_image_segmentation_based_filter"/>
   <arg name="use_multi_channel_tracker_merger"/>
+  <arg name="use_irregular_object_detector"/>
+  <arg name="irregular_object_detector_fusion_camera_ids" default="[0]"/>
 
   <!-- External interfaces -->
   <arg name="number_of_cameras"/>
@@ -46,6 +48,7 @@
   <arg name="input/camera7/image"/>
   <arg name="input/camera7/info"/>
   <arg name="input/camera7/rois"/>
+  <arg name="image_topic_name"/>
   <arg name="input/radar"/>
   <arg name="input/tracked_objects" default="/perception/object_recognition/tracking/objects"/>
   <arg name="output/objects" default="objects"/>
@@ -64,6 +67,9 @@
   <let name="radar_pipeline/output/objects" value="$(var ns)/radar/far_objects"/>
   <let name="radar_object_filter/output/objects" value="$(var ns)/radar/far_objects"/>
 
+  <let name="irregular_object_detector_ns" value="irregular_object"/>
+  <let name="irregular_object_pipeline/output/objects" value="$(var ns)/$(var irregular_object_detector_ns)/objects"/>
+
   <let name="object_validator/input/obstacle_pointcloud" value="$(var pointcloud_filter/output/pointcloud)" if="$(var use_pointcloud_map)"/>
   <let name="object_validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
   <let name="object_merger/input/ml_detected_objects" value="$(var lidar_object_filter/output/objects)" if="$(var use_validator)"/>
@@ -77,6 +83,7 @@
   <let name="switch/detector/radar_only" value="false"/>
   <let name="switch/detector/tracker_based" value="false"/>
   <let name="switch/detector/tracker_based" value="true" if="$(var use_detection_by_tracker)"/>
+  <let name="switch/detector/irregular_object" value="$(var use_irregular_object_detector)"/>
 
   <let name="switch/filter/pointcloud" value="false"/>
   <let name="switch/filter/camera_lidar_object" value="false"/>
@@ -117,17 +124,20 @@
     <let name="switch/detector/lidar_rule" value="true"/>
     <let name="switch/detector/radar" value="true"/>
     <let name="switch/merger/lidar_radar" value="true" unless="$(var use_multi_channel_tracker_merger)"/>
+    <let name="switch/detector/irregular_object" value="false"/>
   </group>
   <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
     <let name="switch/filter/pointcloud" value="true"/>
     <let name="switch/detector/lidar_dnn" value="true"/>
     <let name="switch/detector/lidar_rule" value="true"/>
     <let name="switch/merger/lidar" value="true" unless="$(var use_multi_channel_tracker_merger)"/>
+    <let name="switch/detector/irregular_object" value="false"/>
   </group>
   <group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
     <let name="switch/detector/radar" value="true" if="$(var use_multi_channel_tracker_merger)"/>
     <let name="switch/detector/radar_only" value="true" unless="$(var use_multi_channel_tracker_merger)"/>
     <let name="switch/detector/tracker_based" value="false"/>
+    <let name="switch/detector/irregular_object" value="false"/>
   </group>
 
   <!-- Detector -->
@@ -170,12 +180,24 @@
       <arg name="lidar_detection_model_type" value="$(var lidar_detection_model_type)"/>
       <arg name="lidar_detection_model_name" value="$(var lidar_detection_model_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
       <arg name="use_low_intensity_cluster_filter" value="$(var use_low_intensity_cluster_filter)"/>
       <arg name="use_image_segmentation_based_filter" value="$(var use_image_segmentation_based_filter)"/>
     </include>
   </group>
+
+  <group if="$(var switch/detector/irregular_object)">
+    <!-- Irregular object detector -->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_irregular_object_detector.launch.xml">
+      <arg name="ns" value="$(var ns)"/>
+      <arg name="pipeline_ns" value="$(var irregular_object_detector_ns)"/>
+      <arg name="fusion_camera_ids" value="$(var irregular_object_detector_fusion_camera_ids)"/>
+      <arg name="image_topic_name" value="$(var image_topic_name)"/>
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      <arg name="output/objects" value="$(var irregular_object_pipeline/output/objects)"/>
+      <arg name="irregular_object_detector_param_path" value="$(var irregular_object_detector_param_path)"/>
+    </include>
+  </group>
   <group if="$(var switch/detector/lidar_dnn)">
     <!-- Lidar dnn-based detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
@@ -302,6 +324,8 @@
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
       <arg name="roi_detected_object_fusion_param_path" value="$(var roi_detected_object_fusion_param_path)"/>
+      <arg name="use_irregular_object_detector" value="$(var switch/detector/irregular_object)"/>
+      <arg name="detected_irregular_object/output/objects" value="$(var irregular_object_pipeline/output/objects)"/>
     </include>
   </group>
 
@@ -336,12 +360,14 @@
       <arg name="input/lidar_ml/objects" value="$(var object_merger/input/ml_detected_objects)"/>
       <arg name="input/lidar_rule/objects" value="$(var camera_lidar_rule_detector/output/objects)"/>
       <arg name="input/detection_by_tracker/objects" value="$(var tracker_based_detector/output/objects)"/>
+      <arg name="detected_irregular_object/output/objects" value="$(var irregular_object_pipeline/output/objects)"/>
       <arg name="output/objects" value="$(var output/objects)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="objects_filter_method" value="$(var objects_filter_method)"/>
       <arg name="lidar_detection_model_type" value="$(var lidar_detection_model_type)"/>
       <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_irregular_object_detector" value="$(var switch/detector/irregular_object)"/>
     </include>
   </group>
 

launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

@@ -6,7 +6,6 @@
   <!-- Lidar + Camera detector parameters -->
   <arg name="lidar_detection_model_type" description="options: `transfusion`, `centerpoint`, `pointpainting`, `apollo`, `clustering`"/>
   <arg name="lidar_detection_model_name" description="options: `transfusion`, `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`, `pointpainting`"/>
-  <arg name="use_roi_based_cluster"/>
   <arg name="use_low_intensity_cluster_filter"/>
   <arg name="use_image_segmentation_based_filter"/>
 
@@ -64,14 +63,8 @@
   <let name="low_intensity_cluster_filter/input/clusters" value="$(var roi_cluster_fusion/output/clusters)"/>
   <let name="low_intensity_cluster_filter/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/filtered/clusters"/>
 
-  <let name="roi_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
-  <let name="roi_cluster/output/clusters" value="$(var ns)/clustering/roi_cluster/clusters"/>
-  <let name="roi_cluster_merger/input/clusters0" value="$(var low_intensity_cluster_filter/output/clusters)" if="$(var use_low_intensity_cluster_filter)"/>
-  <let name="roi_cluster_merger/input/clusters0" value="$(var roi_cluster_fusion/output/clusters)" unless="$(var use_low_intensity_cluster_filter)"/>
-  <let name="roi_cluster_merger/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/merger/clusters"/>
-
-  <let name="shape_estimation2/input/clusters" value="$(var roi_cluster_merger/output/clusters)" if="$(var use_roi_based_cluster)"/>
-  <let name="shape_estimation2/input/clusters" value="$(var roi_cluster_merger/input/clusters0)" unless="$(var use_roi_based_cluster)"/>
+  <let name="shape_estimation2/input/clusters" value="$(var roi_cluster_fusion/output/clusters)" unless="$(var use_low_intensity_cluster_filter)"/>
+  <let name="shape_estimation2/input/clusters" value="$(var low_intensity_cluster_filter/output/clusters)" if="$(var use_low_intensity_cluster_filter)"/>
   <let name="shape_estimation2/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/objects_with_feature"/>
   <let name="detected_object_feature_remover/input/objects_with_feature" value="$(var shape_estimation2/output/objects)"/>
   <let name="detected_object_feature_remover/output/objects" value="$(var output/rule_detector/objects)"/>
@@ -152,44 +145,6 @@
       </include>
     </group>
 
-    <!-- roi based clustering -->
-    <group>
-      <push-ros-namespace namespace="roi_cluster"/>
-      <group>
-        <include file="$(find-pkg-share autoware_image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
-          <arg name="input/rois_number" value="$(var number_of_cameras)"/>
-          <arg name="input/rois0" value="$(var input/camera0/rois)"/>
-          <arg name="input/rois1" value="$(var input/camera1/rois)"/>
-          <arg name="input/rois2" value="$(var input/camera2/rois)"/>
-          <arg name="input/rois3" value="$(var input/camera3/rois)"/>
-          <arg name="input/rois4" value="$(var input/camera4/rois)"/>
-          <arg name="input/rois5" value="$(var input/camera5/rois)"/>
-          <arg name="input/rois6" value="$(var input/camera6/rois)"/>
-          <arg name="input/rois7" value="$(var input/camera7/rois)"/>
-          <arg name="input/camera_info0" value="$(var input/camera0/info)"/>
-          <arg name="input/camera_info1" value="$(var input/camera1/info)"/>
-          <arg name="input/camera_info2" value="$(var input/camera2/info)"/>
-          <arg name="input/camera_info3" value="$(var input/camera3/info)"/>
-          <arg name="input/camera_info4" value="$(var input/camera4/info)"/>
-          <arg name="input/camera_info5" value="$(var input/camera5/info)"/>
-          <arg name="input/camera_info6" value="$(var input/camera6/info)"/>
-          <arg name="input/camera_info7" value="$(var input/camera7/info)"/>
-          <arg name="input/image0" value="$(var input/camera0/image)"/>
-          <arg name="input/image1" value="$(var input/camera1/image)"/>
-          <arg name="input/image2" value="$(var input/camera2/image)"/>
-          <arg name="input/image3" value="$(var input/camera3/image)"/>
-          <arg name="input/image4" value="$(var input/camera4/image)"/>
-          <arg name="input/image5" value="$(var input/camera5/image)"/>
-          <arg name="input/image6" value="$(var input/camera6/image)"/>
-          <arg name="input/image7" value="$(var input/camera7/image)"/>
-          <arg name="input/pointcloud" value="$(var roi_cluster/input/pointcloud)"/>
-          <arg name="output/clusters" value="$(var roi_cluster/output/clusters)"/>
-          <arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
-          <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
-        </include>
-      </group>
-    </group>
-
     <!-- shape_estimation 1 -->
     <group>
       <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
@@ -244,15 +199,6 @@
         </include>
       </group>
 
-      <!-- simple_cluster_merger -->
-      <group>
-        <include file="$(find-pkg-share autoware_cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
-          <arg name="input/cluster0" value="$(var roi_cluster_merger/input/clusters0)"/>
-          <arg name="input/cluster1" value="$(var roi_cluster/output/clusters)"/>
-          <arg name="output/clusters" value="$(var roi_cluster_merger/output/clusters)"/>
-        </include>
-      </group>
-
       <group>
         <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
           <arg name="input/objects" value="$(var shape_estimation2/input/clusters)"/>