update waytous_perception_msgs

src/camera_bev_infer/CMakeLists.txt

@@ -35,7 +35,7 @@ include_directories(/usr/include/glog)
 include_directories(${CMAKE_SOURCE_DIR}/../../deepinfer/include)
 link_directories(${CMAKE_SOURCE_DIR}/../../deepinfer/build/src)
 
-
+set(cv_bridge_DIR /usr/local/share/cv_bridge/cmake)
 find_package(catkin REQUIRED COMPONENTS
   cv_bridge
   roscpp
@@ -56,7 +56,7 @@ include_directories(
 catkin_package( 
     INCLUDE_DIRS include
     LIBRARIES ${perception_camera_bev}
-    CATKIN_DEPENDS cv_bridge roscpp sensor_msgs std_msgs geometry_msgs message_runtime roslib
+    CATKIN_DEPENDS cv_bridge roscpp sensor_msgs std_msgs geometry_msgs message_runtime roslib waytous_perception_msgs
 )
 
 set(CMAKE_CUDA_ARCHITECTURES 35 50 72)

src/camera_bev_infer/configs/CameraBevParam.yaml

-rgb_sub_topic_name: /sensor/camera/front_middle/image/bgr
-pointcloud_sub_topic_name: /total_calib_pointcloud
+rgb_sub_topic_name: /sensor/camera/inner/image # /sensor/camera/front_middle/image/bgr
+pointcloud_sub_topic_name: /livox/lidar_hap # /total_calib_pointcloud
 detection_pub_topic_name: /camera/objects
 # static_gridmap_pub_topic_name: /perception/camera/bev_static_gridmap
 creator_id: 0000

src/camera_bev_infer/package.xml

@@ -59,6 +59,8 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>image_transport</build_depend>
+  <build_depend>waytous_perception_msgs</build_depend>
+  <build_export_depend>waytous_perception_msgs</build_export_depend>  
   <build_export_depend>cv_bridge</build_export_depend>
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>roslib</build_export_depend>
@@ -74,6 +76,7 @@
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>image_transport</exec_depend>
+  <exec_depend>waytous_perception_msgs</exec_depend>  
 
 
   <!-- The export tag contains other, unspecified, tags -->

src/camera_bev_infer/src/sensor_manager.cpp

@@ -4,8 +4,8 @@
  * @Author: wxin
  * @Date: 2023-09-03 02:18:07
  * @email: xin.wang@waytous.com
- * @LastEditors: wxin
- * @LastEditTime: 2024-01-18 04:29:42
+ * @LastEditors: yangxue xue.yang@waytous.com
+ * @LastEditTime: 2025-03-27 02:21:08
  */
 
 
@@ -74,6 +74,7 @@ cameraFramePtr sensorManager::infer()
         std::cout<< "Error: manager init but multi model engine havenot init."<<std::endl;
         return nullptr;
     }
+    // 获取最新图像
     auto ros_img = getCurImage();
     if(ros_img == nullptr){
         // std::cout<< "Warning: dont get image or current image frame got same timestamp with the pre one."<<std::endl;
@@ -165,7 +166,7 @@ void sensorManager::publishDetection()
         if(point_cloud_ptr != nullptr){
             Cloud::Ptr pcl_cloud(new Cloud);
             pcl::fromROSMsg(*point_cloud_ptr, *pcl_cloud);
-            // 2d->bev，结果保存到vGrid中
+            // 2d->bev，结果保存到vGrid中 (frame->objs_有track_id, vGrid->vInsObjs没有)
             // vision_converter_->Process_objects(frame_ptr->img_src_, pcl_cloud, frame_ptr->objs_, *vGrid);
             vision_converter_->Process_objects(frame_ptr->img_src_, frame_ptr->depth_, pcl_cloud, frame_ptr->objs_, *vGrid);
         }else{
@@ -286,8 +287,6 @@ void sensorManager::publishDetection()
     }
 }
 
-
-
 };
 
 

src/waytous_perception_msgs/msg/DrivableAreaMap.msg

-Header                                      header
-grid_map_msgs/GridMap                       elevation_map   #高程图
-grid_map_msgs/GridMap                       flatness_map    #平整度信息图
-grid_map_msgs/GridMap                       slope_map       #坡度地图
-grid_map_msgs/GridMap                       occupancy_map   #可行驶区域
-
-#---------------------fitness_level--------------------
-int8 FLATNESS_LEVEL0 = 0
-int8 FLATNESS_LEVEL1 = 1
-int8 FLATNESS_LEVEL2 = 2
-int8 FLATNESS_LEVEL3 = 3
-int8 FLATNESS_LEVEL4 = 4
-
-#---------------------occupancy_level--------------------
-int8 OCC_UNKNOWN = 0
-int8 OCC_FREE = 1
-int8 OCC_MOVABLE = 2
-int8 OCC_STATIC = 3
-

src/waytous_perception_msgs/msg/DrivingScene.msg

-Header                          header
-int8                            weather_type        # 天气
-int8                            light_type          # 光照条件
-int8                            place_type          # 地点
-
-#-------------------weather_type-----------------
-int8 WEATHER_UNKNOWN = 0                            # 未知
-int8 WEATHER_SUNNY = 1                              # 晴天
-int8 WEATHER_CLOUDY = 2                             # 多云
-int8 WEATHER_RAINY = 3                              # 雨天
-int8 WEATHER_HAZE = 4                               # 雾霾
-int8 WEATHER_SNOWY = 5                              # 雪天
-
-int8 LIGHT_DAYTIME = 0                              # 白天
-int8 LIGHT_DUSK = 1                                 # 黄昏
-int8 LIGHT_NIGHT = 2                                # 晚上
-
-#-------------------place_type-----------------
-int8 PLACE_COMMON_ROAD = 0
-int8 PLACE_PARKING_SPACE = 1
-int8 PLACE_CROSSWALK = 2
-int8 PLACE_GAS_STATION = 3
-int8 PLACE_WEIGHT_STATION = 4

src/waytous_perception_msgs/msg/EnvironmentModel.msg

-
-
-std_msgs/Header                             header
-waytous_perception_msgs/ObjectArray         objects
-waytous_perception_msgs/DrivableAreaMap     maps
-waytous_perception_msgs/DrivingScene        scene
-waytous_perception_msgs/TrafficLight[]      trafficlight_array
-

src/waytous_perception_msgs/msg/FlatnessMap.msg

-Header                                      header
-grid_map_msgs/GridMap                       elevation_map   #高程图
-grid_map_msgs/GridMap                       flatness_map    #平整度信息图
-
-#---------------------fitness_level--------------------
-int8 FLATNESS_LEVEL0 = 0
-int8 FLATNESS_LEVEL1 = 1
-int8 FLATNESS_LEVEL2 = 2
-int8 FLATNESS_LEVEL3 = 3
-int8 FLATNESS_LEVEL4 = 4
-

src/waytous_perception_msgs/msg/FleetObject.msg

-int8                                            id                      # 车辆ID, required
-int8                                            property                # 车辆归属, required
-int16                                           weight                  # 车辆重量
-geometry_msgs/Pose                              pose                    # 车辆定位, required
-geometry_msgs/Vector3                           dimensions              # 车辆大小
-geometry_msgs/Vector3                           velocity                # 车辆速度, required
-geometry_msgs/Vector3                           accelerate              # 车辆加速度
-int8[]                                          next_map_id             # 未来行驶的路径ID
-float32[]                                       id_probs                # 预测可能性
-
-#---------------------property--------------------
-int8 PROPERTY_OUTSIDER = 0      # 缺省为非系统内车辆
-int8 PROPERTY_MGV = 1           # 系统内有人车
-int8 PROPERTY_UGV = 2           # 系统内无人车
-

src/waytous_perception_msgs/msg/FleetObjectArray.msg

-std_msgs/Header                             header
-FleetObject[]                               fleet_object_list
\ No newline at end of file

src/waytous_perception_msgs/msg/NormalMap.msg

-Header                  header
-float32                 ogmwidth            #二维栅格地图宽
-float32                 ogmheight           #二维栅格地图高
-int16                   vehicle_x           #车辆在栅格图中的水平位置
-int16                   vehicle_y           #车辆在栅格图中的竖直位置
-float32                 rectangle_minx      #拟合矩形左边界
-float32                 rectangle_maxx      #拟合矩形右边界
-float32                 rectangle_miny      #拟合矩形下边界
-float32                 rectangle_maxy      #拟合矩形上边界
-float32                 slopeupdegree       #坡度值
-float32                 slopedestination    #斜坡方向（0-360度）
-bool                    vehiclepositionflag #斜坡类型（可用来判断是否为斜坡点，及正坡/负坡）
-
-geometry_msgs/Vector3   normal              #normal
-sensor_msgs/PointCloud2 pointcloud_with_normal
-

src/waytous_perception_msgs/msg/Object.msg

+int8                                    sensor_type             # Object sensor source, required
 int8                                    id                      # Object ID, required
-int8                                            property                # vehicle property, optional
-float32                                         exist_prob              # exist probability
+int8                                    label_type              # Classification, optional
 ############### 2D Rect
-waytous_perception_msgs/Rect                    obb2d                   # [x,y,w,h,orientation], required
+jsk_recognition_msgs/Rect               rect                    # [x,y,w,h], required
+float32                                 orientation             # Radian [-pi, pi], orientation of the object, optional
 ############### 3D Dimension
-geometry_msgs/Pose                              pose                    # the pose of the center of the object, position is required, quaternion is optional
+geometry_msgs/Pose                      pose                    # the pose of the centerof the object, position is required, quaternion is optional
 geometry_msgs/Vector3                   dimensions              # required
+sensor_msgs/PointCloud2                 pointcloud              # the points in the object, optional
 geometry_msgs/Polygon                   convex_hull             # the hull of the obejct, required
-sensor_msgs/PointCloud2                         cloud                   # the cloud of the obejct, option
-############### classification info
-int8                                            type                    # major type, optional
-float32[]                                       type_probs
-int8                                            sub_type                # sub type, optional
-float32[]                                       sub_type_probs
+############### confidence use in common
+float64                                 score                   # required
 ############### tracking info
 int8                                    track_id                # required
-geometry_msgs/Vector3                           velocity                # required
-float32[]                                       velocity_covariance     # optional
-geometry_msgs/Vector3                           accelerate              # required
-geometry_msgs/Vector3[]                         trace                   # optional
-geometry_msgs/Vector3[]                         trajectory              # optional
-FleetObject                                     fleet_object            # optional
+geometry_msgs/Vector3[]                 velocity                # required
+float64[9]                              velocity_covariance     # required
+float64                                 velocity_confidence     # required
+int8                                    motion_state            # optional
+geometry_msgs/Vector3[]                 trace                   # required
 
-
-
-#---------------------major_type--------------------
+#---------------------sensor_type--------------------
+int8 SENSOR_INVALID = 0
+int8 SENSOR_CAMERA = 1
+int8 SENSOR_LIDAR = 2
+int8 SENSOR_RADAR = 3
+#---------------------label_type--------------------
 int8 TYPE_UNKNOWN = 0
 int8 TYPE_PEDESTRIAN = 1
-int8 TYPE_BICYCLE = 2
-int8 TYPE_VEHICLE = 3
-int8 TYPE_MACHINERY = 4
-int8 TYPE_UNKNOWN_MOVABLE = 5
-int8 TYPE_UNKNOWN_STATIC = 6
-#---------------------sub_type--------------------
-int8 SUBTYPE_UNKNOWN = 0
-int8 SUBTYPE_CAR = 1
-int8 SUBTYPE_VAN = 2
-int8 SUBTYPE_TRUCK = 3
-int8 SUBTYPE_DUMPER = 4
-int8 SUBTYPE_FLUSHER = 5
-int8 SUBTYPE_DOZER = 6
-int8 SUBTYPE_EXCAVATOR = 7
-int8 SUBTYPE_CYCLIST = 8
-int8 SUBTYPE_MOTORCYCLIST = 9
-int8 SUBTYPE_TRICYCLIST = 10
-int8 SUBTYPE_PEDESTRIAN = 11
-int8 SUBTYPE_TRAFFIC_CONE = 12
-int8 SUBTYPE_UNKNOWN_MOVABLE = 13
-int8 SUBTYPE_UNKNOWN_STATIC = 14
-#---------------------property--------------------
-int8 PROPERTY_OUTSIDER = 0
-int8 PROPERTY_MGV = 1
-int8 PROPERTY_UGV = 2
+int8 TYPE_CAR = 2
+int8 TYPE_TRUCK = 3
+int8 TYPE_DUMPER = 4
+int8 TYPE_EXCAVATOR = 5
+int8 TYPE_FLUSHER = 6
+int8 TYPE_GRADER = 7
+int8 TYPE_DOZER = 8
+#---------------------motion--------------------
+int8 MOTION_UNKNOWN = 0
+int8 MOTION_MOVING = 1
+int8 MOTION_STATIONARY = 2
+

src/waytous_perception_msgs/msg/ObjectArray.msg

 Header                                      header
-int8                                        sensor_type             # Object sensor source, required
-sensor_msgs/Image                           image
 waytous_perception_msgs/Object[]            foreground_objects
 waytous_perception_msgs/Object[]            background_objects
-
-
+waytous_perception_msgs/Scene               current_scene
\ No newline at end of file
-#---------------------sensor_type--------------------
-int8 SENSOR_INVALID = 0
-int8 SENSOR_RADAR = 1
-int8 SENSOR_LIDAR = 2
-int8 SENSOR_CAMERA = 4
-int8 SENSOR_VEHICLE = 8
-int8 SENSOR_V2X = 16
-int8 SENSOR_FLEET = 32
\ No newline at end of file

src/waytous_perception_msgs/msg/ObjectArrayTemp.msg

-Header                                      header
-sensor_msgs/Image               	        roi_image
-waytous_perception_msgs/ObjectTemp[]            foreground_objects
-waytous_perception_msgs/ObjectTemp[]            background_objects
-waytous_perception_msgs/Scene               current_scene

src/waytous_perception_msgs/msg/ObjectTemp.msg

-int8                                            id                      # Object ID, required
-int8                                            property                # vehicle property, optional
-float32                                         exist_prob              # exist probability
-############### 2D Rect
-waytous_perception_msgs/Rect                    obb2d                   # [x,y,w,h,orientation], required
-############### 3D Dimension
-geometry_msgs/Pose                              pose                    # the pose of the center of the object, position is required, quaternion is optional
-geometry_msgs/Vector3                           dimensions              # required
-geometry_msgs/Polygon                           convex_hull             # the hull of the obejct, required
-sensor_msgs/PointCloud2                         cloud                   # the cloud of the obejct, option
-############### classification info
-int8                                            type                    # major type, optional
-float32[]                                       type_probs
-int8                                            sub_type                # sub type, optional
-float32[]                                       sub_type_probs
-############### tracking info
-uint32                                            track_id                # required
-geometry_msgs/Vector3                           velocity                # required
-float32[]                                       velocity_covariance     # optional
-geometry_msgs/Vector3                           accelerate              # required
-geometry_msgs/Vector3[]                         trace                   # optional
-geometry_msgs/Vector3[]                         trajectory              # optional
-FleetObject                                     fleet_object            # optional
-
-
-
-#---------------------major_type--------------------
-int8 TYPE_UNKNOWN = 0
-int8 TYPE_PEDESTRIAN = 1
-int8 TYPE_BICYCLE = 2
-int8 TYPE_VEHICLE = 3
-int8 TYPE_MACHINERY = 4
-int8 TYPE_UNKNOWN_MOVABLE = 5
-int8 TYPE_UNKNOWN_STATIC = 6
-#---------------------sub_type--------------------
-int8 SUBTYPE_UNKNOWN = 0
-int8 SUBTYPE_CAR = 1
-int8 SUBTYPE_VAN = 2
-int8 SUBTYPE_TRUCK = 3
-int8 SUBTYPE_DUMPER = 4
-int8 SUBTYPE_FLUSHER = 5
-int8 SUBTYPE_DOZER = 6
-int8 SUBTYPE_EXCAVATOR = 7
-int8 SUBTYPE_CYCLIST = 8
-int8 SUBTYPE_MOTORCYCLIST = 9
-int8 SUBTYPE_TRICYCLIST = 10
-int8 SUBTYPE_PEDESTRIAN = 11
-int8 SUBTYPE_TRAFFIC_CONE = 12
-int8 SUBTYPE_UNKNOWN_MOVABLE = 13
-int8 SUBTYPE_UNKNOWN_STATIC = 14
-#---------------------property--------------------
-int8 PROPERTY_OUTSIDER = 0
-int8 PROPERTY_MGV = 1
-int8 PROPERTY_UGV = 2
-int8 MOTION_UNKNOWN = 0
-int8 MOTION_MOVING = 1
-int8 MOTION_STATIONARY = 2
-

src/waytous_perception_msgs/msg/Rect.msg

-float64 x
-float64 y
-float64 w
-float64 h
-float64 orientation

src/waytous_perception_msgs/msg/Road.msg

 int8                                    label
 geometry_msgs/Vector3[]                 points
-
 #---------------------label--------------------
 int8 TYPE_ROAD = 0
 int8 TYPE_ROAD_EDGE = 1

src/waytous_perception_msgs/msg/RoadArray.msg

 Header                                  header
 waytous_perception_msgs/Road[]          road_list
-
-
-

src/waytous_perception_msgs/msg/Scene.msg

 Header                                  header
 int8                                    type
-waytous_perception_msgs/Rect            rect
-float64                               reliable
+jsk_recognition_msgs/Rect[]             rect
+float64[]                               reliable
 #---------------------type--------------------
 int8 TYPE_NORMAL = 0
 int8 TYPE_FOG = 1
 int8 TYPE_DUST = 2
 int8 TYPE_RAIN = 3
 int8 TYPE_SNOW = 4
-int8 TYPE_DARK = 5
-int8 TYPE_TRAFFIC_LIGHT_GREEN = 6
-int8 TYPE_TRAFFIC_LIGHT_RED = 7
-int8 TYPE_TRAFFIC_LIGHT_YELLOW = 8
-int8 TYPE_TRAFFIC_LIGHT_UNKNOWN = 9
+int8 TYPE_DARK = 4

src/waytous_perception_msgs/msg/TrafficLight.msg

-std_msgs/Header                 header
-string                          id                  # 地图红绿灯ID
-int8                            sensor_type         # 信息来源
-int8                            color               # 红绿灯颜色
-waytous_perception_msgs/Rect    rect                # 红绿灯二维位置
-geometry_msgs/Polygon           polygon            # 红绿灯三维位置
-int8                            confidence          # 检测置信度
-float32                         remaining_time      # 剩余时间
-
-#----------------sensor_type--------------------------
-int8 SENSOR_INVALID = 0
-int8 SENSOR_CAMERA = 1
-int8 SENSOR_V2X = 2
-
-#----------------color--------------------------
-int8 COLOR_UNKNOWN = 0
-int8 COLOR_RED = 1
-int8 COLOR_YELLOW = 2
-int8 COLOR_GREEN = 3
-int8 COLOR_BLACK = 4
-

src/waytous_perception_msgs/msg/WallMap.msg

-std_msgs/Header         header
-int16                   ogmwidth        #二维栅格地图宽
-int16                   ogmheight       #二维栅格地图高
-int16                   vehicle_x       #车辆在栅格图中的水平位置
-int16                   vehicle_y       #车辆在栅格图中的竖直位置
-float32                 ogmresolution   #栅格分辨率
-int16[]                 data            #栅格点（像素为1和2的栅格为挡墙）
\ No newline at end of file

src/waytous_perception_msgs/package.xml

@@ -7,7 +7,7 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="yul@todo.todo">yul</maintainer>
+  <maintainer email="guo@todo.todo">guo</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
@@ -19,7 +19,7 @@
   <!-- Url tags are optional, but multiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/waytous_perception_msgs</url> -->
+  <!-- <url type="website">http://wiki.ros.org/msgs</url> -->
 
 
   <!-- Author tags are optional, multiple are allowed, one per tag -->
@@ -49,34 +49,26 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>geometry_msgs</build_depend>
   <build_depend>message_generation</build_depend>
-  <build_depend>message_runtime</build_depend>
-  <build_depend>nav_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>jsk_recognition_msgs</build_depend>
   <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
   <build_depend>sensor_msgs</build_depend>
-  <build_depend>tf</build_depend>
-  <build_depend>tf2</build_depend>
-  <build_depend>grid_map_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_export_depend>geometry_msgs</build_export_depend>
-  <build_export_depend>grid_map_msgs</build_export_depend>
-  <build_export_depend>nav_msgs</build_export_depend>
+  <build_export_depend>jsk_recognition_msgs</build_export_depend>
   <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
   <build_export_depend>sensor_msgs</build_export_depend>
-  <build_export_depend>tf</build_export_depend>
-  <build_export_depend>tf2</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>grid_map_msgs</exec_depend>
   <exec_depend>message_runtime</exec_depend>
-  <exec_depend>nav_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>jsk_recognition_msgs</exec_depend>
   <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>tf</exec_depend>
-  <exec_depend>tf2</exec_depend>
   <exec_depend>std_msgs</exec_depend>
-  <exec_depend>message_generation</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->