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chore: apply ktro2828/autoware_mtr
Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
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‎perception/autoware_mtr/.gitignore

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devel/
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logs/
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build/
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bin/
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msg_gen/
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srv_gen/
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data/*onnx
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msg/*Action.msg
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msg/*ActionFeedback.msg
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msg/*ActionGoal.msg
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msg/*ActionResult.msg
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msg/*Feedback.msg
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msg/*Goal.msg
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msg/*Result.msg
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msg/_*.py
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build_isolated/
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devel_isolated/
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# Generated by dynamic reconfigure
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*.cfgc
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/cfg/cpp/
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/cfg/*.py
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# Ignore generated docs
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*.dox
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*.wikidoc
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# eclipse stuff
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.project
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.cproject
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# qcreator stuff
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CMakeLists.txt.user
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srv/_*.py
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*.pcd
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*.pyc
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qtcreator-*
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*.user
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/planning/cfg
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/planning/docs
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/planning/src
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*~
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# Emacs
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.#*
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# Catkin custom files
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CATKIN_IGNORE

‎perception/autoware_mtr/.markdownlint.yaml

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# This file is automatically synced from:
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# https://github.com/autowarefoundation/sync-file-templates
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# To make changes, update the source repository and follow the guidelines in its README.
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# See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules.
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default: true
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MD013: false
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MD024:
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siblings_only: true
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MD029:
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style: ordered
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MD033: false
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MD041: false
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MD045: false
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MD046: false
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MD049: false

‎perception/autoware_mtr/.pre-commit-config-optional.yaml

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repos:
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- repo: https://github.com/tcort/markdown-link-check
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rev: v3.12.2
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hooks:
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- id: markdown-link-check
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args: [--quiet, --config=.markdown-link-check.json]

‎perception/autoware_mtr/.pre-commit-config.yaml

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ci:
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autofix_commit_msg: "style(pre-commit): autofix"
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repos:
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v4.6.0
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hooks:
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- id: check-json
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- id: check-merge-conflict
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- id: check-toml
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- id: check-xml
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- id: check-yaml
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args: [--unsafe]
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- id: detect-private-key
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- id: end-of-file-fixer
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- id: mixed-line-ending
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- id: trailing-whitespace
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args: [--markdown-linebreak-ext=md]
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- repo: https://github.com/igorshubovych/markdownlint-cli
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rev: v0.41.0
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hooks:
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- id: markdownlint
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args: [-c, .markdownlint.yaml, --fix]
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- repo: https://github.com/pre-commit/mirrors-prettier
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rev: v4.0.0-alpha.8
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hooks:
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- id: prettier
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- repo: https://github.com/adrienverge/yamllint
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rev: v1.35.1
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hooks:
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- id: yamllint
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- repo: https://github.com/tier4/pre-commit-hooks-ros
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rev: v0.10.0
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hooks:
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- id: flake8-ros
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- id: prettier-xacro
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- id: prettier-launch-xml
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- id: prettier-package-xml
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- id: ros-include-guard
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- id: sort-package-xml
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- repo: https://github.com/shellcheck-py/shellcheck-py
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rev: v0.10.0.1
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hooks:
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- id: shellcheck
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- repo: https://github.com/scop/pre-commit-shfmt
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rev: v3.9.0-1
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hooks:
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- id: shfmt
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args: [-w, -s, -i=4]
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- repo: https://github.com/pycqa/isort
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rev: 5.13.2
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hooks:
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- id: isort
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- repo: https://github.com/psf/black
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rev: 24.8.0
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hooks:
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- id: black
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args: [--line-length=100]
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- repo: https://github.com/pre-commit/mirrors-clang-format
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rev: v18.1.8
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hooks:
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- id: clang-format
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types_or: [c++, c, cuda]
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- repo: https://github.com/cpplint/cpplint
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rev: 1.6.1
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hooks:
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- id: cpplint
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args: [--quiet]
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exclude: .cu
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- repo: https://github.com/python-jsonschema/check-jsonschema
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rev: 0.29.2
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hooks:
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- id: check-metaschema
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files: ^.+/schema/.*schema\.json$
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- repo: local
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hooks:
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- id: prettier-svg
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name: prettier svg
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description: Apply Prettier with plugin-xml to svg.
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entry: prettier --write --list-different --ignore-unknown --print-width 200 --xml-self-closing-space false --xml-whitespace-sensitivity ignore
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language: node
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files: .svg$
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additional_dependencies: [prettier@2.7.1, "@prettier/plugin-xml@2.2.0"]

‎perception/autoware_mtr/CMakeLists.txt

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ament_auto_add_library(${PROJECT_NAME}_lib SHARED
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src/builder.cpp
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src/trt_mtr.cpp
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src/conversions/lanelet.cpp
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src/intention_point.cpp
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src/conversions/history.cpp
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)
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target_link_libraries(${PROJECT_NAME}_lib
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${TRT_PLUGINS}
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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ament_auto_add_gtest(test_fixed_queue test/test_fixed_queue.cpp)
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endif()
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ament_auto_package(

‎perception/autoware_mtr/LICENSE

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Apache License
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Version 2.0, January 2004
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http://www.apache.org/licenses/

‎perception/autoware_mtr/README.md

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# Motion TRansformer (MTR)
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# autoware_mtr
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## Purpose
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The `autoware_mtr` package is used for 3D object motion prediction based on ML-based model called MTR.
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## Inner-workings / Algorithms
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The implementation bases on MTR [1] work. It uses TensorRT library for data process and network interface.
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## Inputs / Outputs
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### Input
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| Name | Type | Description |
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| -------------------- | ----------------------------------------------- | ------------------------ |
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| `~/input/objects` | `autoware_perception_msgs::msg::TrackedObjects` | Input agent state. |
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| `~/input/vector_map` | `autoware_map_msgs::msg::LeneletMapBin` | Input vector map. |
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| `~/input/ego` | `sensor_msgs::msg::Odometry` | Input ego vehicle state. |
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### Output
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| Name | Type | Description |
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| ------------------ | ------------------------------------------------- | -------------------------- |
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| `~/output/objects` | `autoware_perception_msgs::msg::PredictedObjects` | Predicted objects' motion. |
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## Parameters
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Following parameters can be specified in `.launch.xml` or command line.
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### `param_path`
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File path to the MTR configuration. (Default: `autoware_mtr/config/mtr.param.yaml`)
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### Configuration Parameters
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#### `model_params`
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| Name | type | Description |
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| :---------------------------- | :-----: | :---------------------------------------------------------- |
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| `model_path` | `str` | ONNX or engine file path. |
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| `target_labels` | `str[]` | An array of label names to be predicted. |
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| `num_past` | `int` | The number of history length. |
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| `num_mode` | `int` | The number of predicted modes. |
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| `num_future` | `int` | The number of predicted future length. |
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| `max_num_polyline` | `int` | The maximum number of polylines to be contained in input. |
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| `max_num_point` | `int` | The maximum number of points included in a single polyline. |
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| `point_break_distance` | `float` | Distance threshold to separate points into two polylines. |
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| `intention_point_filepath` | `str` | File path to intension points (.csv). |
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| `num_intention_point_cluster` | `int` | The number of clusters of intention points. |
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#### `build_params`
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| Name | type | Description |
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| :----------- | :----: | :---------------------------------------------------------- |
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| `is_dynamic` | `bool` | Indicates whether the model allows dynamic shape inference. |
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| `precision` | `str` | Precision mode. |
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| `MINMAX` | `str` | Calibration mode. |
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### `data_path`
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Directory path to ONNX or TensorRT engine file. (Default: `autoware_mtr/data`)
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### `build_only`
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This option performs to build the TensorRT engine file from the ONNX file and exit after finishing it. (Default: `false`)
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You can execute with the following command:
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```bash
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ros2 launch autoware_mtr mtr.launch.xml build_only:=true
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```

‎perception/autoware_mtr/config/mtr.param.yaml

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point_break_distance: 1.0
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intention_point_filepath: "$(var data_path)/intention_point.csv"
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num_intention_point_cluster: 64
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polyline_label_path: "$(var data_path)/polyline_label.txt"
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static_inference:
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num_target: 2
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num_agent: 7
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build_params:
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is_dynamic: false
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precision: "FP32"

‎perception/autoware_mtr/data/polyline_label.txt

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