feat(centerpoint): voxel debug via grid map message #11673
Draft
+443
−3
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
github-actions
bot
added
component:perception
|
Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
|
This was referenced Nov 19, 2025
…U memory usage during NMS
…onality - Introduced `detectVoxelsDebug` method to visualize voxel generation without running inference. - Added `generateVoxelBoxes3D_launch` method for launching the CUDA kernel to create 3D boxes from voxel coordinates. - Updated `postProcess` to include voxel visualization logging and checks for the number of pillars.
…ion filtering - Added `is_valid_voxel` struct to filter out invalid boxes based on score. - Introduced visualization bounds for filtering boxes outside specified ranges. - Updated `generateVoxelBoxes3D_kernel` to use a minimal height for ground-level visualization. - Modified `generateVoxelBoxes3D_launch` to copy only valid boxes to the host, improving efficiency.
…ization methods - Deleted `detectVoxelsDebug` method and associated CUDA kernel for generating voxel boxes, as they are no longer needed. - Removed `generateVoxelBoxes3D_launch` method and its related kernel to streamline the codebase. - Updated visualization bounds in `pointCloudCallback` for improved range handling. - Adjusted occupancy mapping logic to reflect changes in visualization requirements.
…on support - Introduced `getVoxelGridData` method to retrieve voxel heights along with coordinates and point counts. - Implemented `computeVoxelHeights_launch` CUDA kernel to calculate the height of each voxel based on its points. - Updated `pointCloudCallback` to support visualization mode selection between occupancy and height. - Enhanced data handling for voxel heights in the visualization process, improving the representation of voxel data.
- Introduced `getVoxelGridData` method to retrieve voxel mean Z values along with coordinates, point counts, and voxel heights. - Implemented `extractFeatureMeanZ_launch` CUDA kernel to compute mean Z from encoded features. - Updated `pointCloudCallback` to include a new visualization mode for mean Z, enhancing data representation. - Enhanced memory management for voxel mean Z in the processing pipeline, improving overall efficiency.
technolojin
force-pushed
the
centerpoint-debug
branch
from
aa27c65 to
83231a2
Compare
github-actions
bot
removed
the
component:launch
- Implemented transformation of the occupancy grid from the ego frame to the map frame using TF2. - Added error handling to fallback to the ego frame if the transformation fails. - Updated grid message header and origin position based on the transformed coordinates, enhancing spatial accuracy in occupancy mapping.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Related links
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.