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ros_camera_bev
Commit 2dcb1204 authored by yangxue's avatar yangxue
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new model

parent adab96f8
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Showing with 33 additions and 15 deletions
README.md
View file @ 2dcb1204
......@@ -2,7 +2,7 @@
* @Author: yangxue && xue.yang@waytous.com
* @Date: 2025-04-07 09:26:17
* @LastEditors: yangxue xue.yang@waytous.com
* @LastEditTime: 2025-04-10 09:45:19
* @LastEditTime: 2025-04-17 06:22:11
* @FilePath: /ubuntu/projects/ros_camera_bev/README.md
* @Description:
*
......@@ -21,7 +21,7 @@ catkin_make -DCATKIN_WHITELIST_PACKAGES="perception_camera_bev" -DCUDA_nppicom_L
# 参数修改
■ 有*.engine文件则删除（不要删除onnx文件）：/configs/weights/ips_241107m_stone_best_fp16.engine
■ 如果部署到不同平台上，有*.engine文件则删除，程序重新生成（不要删除onnx文件）：/configs/weights/ips_241107m_stone_best_fp16.engine
■ 修改参数文件 configs/CameraBevParam.yaml
● rgb_sub_topic_name 图像数据话题
● pointcloud_sub_topic_name 点云数据话题
......@@ -37,6 +37,7 @@ catkin_make -DCATKIN_WHITELIST_PACKAGES="perception_camera_bev" -DCUDA_nppicom_L
```
bash launch.sh
```
- 注意：部署到新平台上，第一次运行会生成engine文件，耗时较长是正常现象。
# 本地天准域控测试的一些关键命令
```
......@@ -58,5 +59,5 @@ rviz
```
# 压缩部署关键文件
```
zip -r ros_camera_bev.zip ros_camera_bev/ -x "ros_camera_bev/.vscode/*" -x "ros_camera_bev/devel/*" -x "ros_camera_bev/build/*" -x "ros_camera_bev/sdk/*" -x "ros_camera_bev/src/camera_back_warn/*" -x "*.engine" -x "*.bag" -x "ros_camera_bev/.git/*" -x "*.gitignore"
zip -r ros_camera_bev.zip ros_camera_bev/ -x "ros_camera_bev/.vscode/*" -x "ros_camera_bev/devel/*" -x "ros_camera_bev/build/*" -x "ros_camera_bev/sdk/*" -x "ros_camera_bev/src/camera_back_warn/*" -x "*.engine" -x "*.bag" -x "ros_camera_bev/.git/*" -x "*.gitignore" -x "*.catkin_workspace"
```
\ No newline at end of file
src/camera_bev_infer/configs/CameraBevParam.yaml
View file @ 2dcb1204
......@@ -12,7 +12,7 @@ device: 0
period_time: 5
vis_res: true
vis_frame_id: livox_frame_hap # vehicle_link
vis_project: true
vis_project: false
# ["pedestrian", "vehicle", "stone"]
pub_classes: ["pedestrian", "vehicle"] # ["stone", "cone"]
obstacle_height_threshold: 25 # cm
......
src/camera_bev_infer/configs/weights/multi_yolov5m.yaml
View file @ 2dcb1204
......@@ -28,8 +28,8 @@ units:
inputNames: [resizeNormImages]
outputNames: [detections, seg_protos, depths, semantics]
runMode: 1 # 0-fp32 1-fp16 2-int8 (int8 not supported)
weightsPath: "configs/weights/ips_241107m_stone_best.onnx" # "configs/weights/isp_x0228m_last.onnx"
engineFile: "configs/weights/ips_241107m_stone_best_fp16.engine" # "configs/weights/isp_x0228m_last_fp16.engine"
weightsPath: "configs/weights/ips_2504m_xisan_ft.onnx" # "configs/weights/isp_x0228m_last.onnx"
engineFile: "configs/weights/ips_2504m_xisan_ft_fp16.engine" # "configs/weights/isp_x0228m_last_fp16.engine"
inferDynamic: false
inferBatchSize: 1
inputWidth: 960
......
src/camera_bev_infer/src/sensor_manager.cpp
View file @ 2dcb1204
......@@ -5,7 +5,7 @@
* @Date: 2023-09-03 02:18:07
* @email: xin.wang@waytous.com
* @LastEditors: yangxue xue.yang@waytous.com
* @LastEditTime: 2025-04-17 03:47:34
* @LastEditTime: 2025-04-18 01:48:25
*/
......@@ -286,6 +286,7 @@ void sensorManager::publishDetection()
// int8 label_type = 9
ob.label_type = (name2type.find(obj.names) == name2type.end() ? Perception_Default_Classification : name2type[obj.names]);
obTrack.track_type = (name2type.find(obj.names) == name2type.end() ? Perception_Default_Classification : name2type[obj.names]);
obTrack.bounding_box.label = obTrack.track_type;
//float32[] type_probs = 10
// std::vector<float> probs(waytous_perception_msgs::Object::TYPE_UNKNOWN_STATIC + 1, 0); // main-type length
......
src/camera_bev_infer/src/vision_transform/vision_3d.cpp
View file @ 2dcb1204
......@@ -5,7 +5,7 @@
* @Date: 2023-09-03 03:13:41
* @email: xin.wang@waytous.com
* @LastEditors: yangxue xue.yang@waytous.com
* @LastEditTime: 2025-04-10 09:24:17
* @LastEditTime: 2025-04-21 08:11:54
*/
......@@ -922,6 +922,9 @@ int Visione_3D::Process_Instance_Objects(object_Seg_info& obj, const cv::Mat& in
int objY1 = objBin.rows, objY2 = 0;
int objX1 = objBin.cols, objX2 = 0;
int nearest_px = 100;
int nearest_py = 100;
//目标 mask
// clock_t start_ = clock();
int mask_count = 0, project_count = 0;
......@@ -944,7 +947,8 @@ int Visione_3D::Process_Instance_Objects(object_Seg_info& obj, const cv::Mat& in
project_count++;
auto& p3d = pcl_cloud->points[index];
ix = int(p3d.y/BEV_GRID_RESOLUTION + BEV_GridMap::m_nCenterX);
// BEV Frame: left-bottom as origin, ix: right， iy: forward
ix = int(p3d.y/BEV_GRID_RESOLUTION + BEV_GridMap::m_nCenterX); // lidar frame -> BEV frame
iy = int(p3d.x/BEV_GRID_RESOLUTION + BEV_GridMap::m_nCenterY);
if( ix >= BEV_IAGE_WIDTH || ix < 0 ||
iy >= BEV_IAGE_HEIGHT || iy < 0 )
......@@ -953,12 +957,19 @@ int Visione_3D::Process_Instance_Objects(object_Seg_info& obj, const cv::Mat& in
}
if( ix !=0 && iy != 0)
{
{
// 当前目标所有点云的bev范围
objY1 = MIN(iy, objY1);
objY2 = MAX(iy, objY2);
objX1 = MIN(ix, objX1);
objX2 = MAX(ix, objX2);
// 找最近点
if(nearest_py > iy) {
nearest_py = iy;
nearest_px = ix;
}
objBin.at<uchar>(iy, ix) = 255;
objBinCount.at<uchar>(iy, ix) = MIN(255, objBinCount.at<uchar>(iy, ix)+1);
cv::Point3d p3d_(ix, iy, p3d.z);
......@@ -988,8 +999,15 @@ int Visione_3D::Process_Instance_Objects(object_Seg_info& obj, const cv::Mat& in
//目标bev矩形区域
InstanceBevObject insobj;
if(nValidNum >= 3 && objRc.width > 0 && objRc.height > 0)
{
{
// 根据目标bev点云，计算其bev边界框
insobj.rrc = getObjectAreaRect(objBin, objBinCount, objRc, insobj.vPoints, color, obj.name);
if(obj.name == "pedestrian") {
std::cout << "update pedestrian position: " << nearest_py << " --> " << insobj.rrc.center.y << std::endl;
insobj.rrc.center.x = nearest_px;
insobj.rrc.center.y = nearest_py;
}
if(insobj.rrc.size.height > 0 && insobj.rrc.size.width > 0)
{
pointEnough = true;
......@@ -1173,9 +1191,6 @@ int Visione_3D::Process_objects(const cv::Mat& image, const cv::Mat& depth, Clou
}
}
}
return 0;
return 0;
};
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