feat(autoware_tensorrt_bevdet): add new 3d object detection method

[cyn-liu]

Description

Integrating BEVDet into Autoware for 3D object detection based on multi-view images.

NEWS: Refactoring the integration method of bevdet-tensorrt-cpp to Autoware:

We wrap the original bevdet-tensorrt-cpp code as a vendor package and maintain it outside Autoware with different CIs settings and code standards. Then we added through autoware.repos and just call the libraries in autoware_tensorrt_bevdet node.

NOTE: This PR depends on another PR fix(autoware.repos): add bevdet_vendor external package #5456

Related links

Issue Link

How was this PR tested?

This PR has been tested on local environment.
env1:

RTX 3080
docker image: `ghcr.io/autowarefoundation/autoware-universe:humble-20231001-cuda`
CUDA11.6
TensorRT8.4.2

env2:

RTXA1000 `Dell notebook computer`
docker image: ghcr.io/autowarefoundation/autoware:20240612-devel-cuda-amd64
CUDA==12.3
libnvinfer==8.6.1.6

Notes for reviewers

Test using a bag containing Nuscenes data.
Note: The frame_id of /lidar_top in this bag is map
onnx model file
bag

Interface changes

Add a new perception_mode, If set perception_mode = camera, the detector will launch tesnsorrt_bevdet node.

Topic changes

Additions and removals

Change type	Topic Type	Topic Name	Message Type	Description
Added	Sub	~/input/topic_cloud	sensor_msgs::msg::PointCloud2	used for time alignment and display
Added	Sub	~/input/topic_img_fl	sensor_msgs::msg::Image	input front_left camera image
Added	Sub	~/input/topic_img_f	sensor_msgs::msg::Image	input front camera image
Added	Sub	~/input/topic_img_fr	sensor_msgs::msg::Image	input front_right camera image
Added	Sub	~/input/topic_img_bl	sensor_msgs::msg::Image	input back_left camera image
Added	Sub	~/input/topic_img_b	sensor_msgs::msg::Image	input back camera image
Added	Sub	~/input/topic_img_br	sensor_msgs::msg::Image	input back_right camera image
Added	Pub	~/output/painting_cloud	sensor_msgs::msg::PointCloud2	output pointcloud just used for display
Added	Pub	~/output/boxes	autoware_perception_msgs::msg::DetectedObjects	detected objects

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	bev_detection_model	string	bevdet	Set BEV detection model type

Modifications

Version	Parameter Name	Type	Default Value	Description
Old	perception_mode	string	lidar	Set perception mode
New	perception_mode	string	lidar	Add a new perception mode of camera

Effects on system behavior

None.

[github-actions]

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• All required CI checks pass before marking the PR ready for review.

[kminoda]

Cool PR 🚀

Let me provide some minor comments first. Also, please make sure that all the CIs are passing before opening the PR 🙏

[kminoda]

@cyn-liu Please make sure that the node follows coding guildline: https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/class-design/

such as

• https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/class-design/#component-registration
• https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#directory-structure

[kminoda]

(Friendly ping 🙏 ) Would you mention us once all the CIs are fixed?

[technolojin]

I could see two required checks are not passed.

1. cppcheck-differential > Details > Show cppcheck-report result

Run cat cppcheck-report.txt
Error: /home/runner/work/autoware.universe/autoware.universe/perception/tensorrt_bevdet/src/bevdet.cpp:167:13: performance: Range variable 'task_factors' should be declared as const reference. [iterateByValue]
  for (auto task_factors : nms_factor_temp) {
            ^
Error: /home/runner/work/autoware.universe/autoware.universe/perception/tensorrt_bevdet/src/data.cpp:37:20: performance: Range variable 'name' should be declared as const reference. [iterateByValue]
  for (std::string name : cams_name) {
                   ^

2. pre-commit.ci -pr > Details

fix include guard........................................................Failed
- hook id: ros-include-guard
- exit code: 1

No include guard in perception/tensorrt_bevdet/include/gatherbev_plugin.hpp
No include guard in perception/tensorrt_bevdet/include/bevpool_plugin.hpp
No include guard in perception/tensorrt_bevdet/include/preprocess_plugin.hpp
No include guard in perception/tensorrt_bevdet/include/bevdet_node.hpp
No include guard in perception/tensorrt_bevdet/include/alignbev_plugin.hpp

sort package.xml.........................................................Passed
shellcheck...............................................................Passed
shfmt....................................................................Passed
isort....................................................................Passed
black....................................................................Passed
clang-format.............................................................Passed
cpplint..................................................................Failed
- hook id: cpplint
- exit code: 1

perception/tensorrt_bevdet/include/bevdet_node.hpp:0:  No copyright message found.  You should have a line: "Copyright [year] <Copyright Owner>"  [legal/copyright] [5]
perception/tensorrt_bevdet/include/bevdet_node.hpp:86:  Add #include <vector> for vector<>  [build/include_what_you_use] [4]
perception/tensorrt_bevdet/include/bevdet_node.hpp:113:  Add #include <memory> for shared_ptr<>  [build/include_what_you_use] [4]
Done processing perception/tensorrt_bevdet/include/bevdet_node.hpp
perception/tensorrt_bevdet/include/cpu_jpegdecoder.hpp:0:  No copyright message found.  You should have a line: "Copyright [year] <Copyright Owner>"  [legal/copyright] [5]
Done processing perception/tensorrt_bevdet/include/cpu_jpegdecoder.hpp
perception/tensorrt_bevdet/include/gatherbev_plugin.hpp:45:  Single-parameter constructors should be marked explicit.  [runtime/explicit] [5]
Done processing perception/tensorrt_bevdet/include/gatherbev_plugin.hpp
perception/tensorrt_bevdet/include/preprocess.hpp:0:  No copyright message found.  You should have a line: "Copyright [year] <Copyright Owner>"  [legal/copyright] [5]
Done processing perception/tensorrt_bevdet/include/preprocess.hpp
perception/tensorrt_bevdet/src/bevdet.cpp:0:  No copyright message found.  You should have a line: "Copyright [year] <Copyright Owner>"  [legal/copyright] [5]
perception/tensorrt_bevdet/src/bevdet.cpp:190:  Using C-style cast.  Use static_cast<float>(...) instead  [readability/casting] [4]

...

[kminoda]

@cyn-liu As this PR is stale for a week, from the maintenance perspective, let me make this PR a draft for now. Feel free to re-open the PR once all the CIs are fixed and ready to be reviewed. Thank you for your understanding, and we are looking forward to reviewing your PR.