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KenC1014 wants to merge 323 commits into from
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Parking lane-based parking spots detection integration #220

KenC1014 wants to merge 323 commits into from

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@KenC1014
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@KenC1014 KenC1014 commented May 14, 2025 •
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This pull request includes the following change from the parking team on the perception/detection side:

  1. We implemented the lane based parking spot detector which serves as a replacement for the cone detecor when cones are not available.
  2. The parking spot detector is now modified to handle and display multiple detected parking spots and chooose the one that is closest to the vehicle position.
  3. The final parking pose is fixed so the x, y position of the pose corresponds to the tails of the vehicle which is referenced by the planning side.
  4. The virtual obstacles for parking spots now have 3 sides enclosing each parking spot instead of 2 sides before.

The video shows our parking spot detection system is now able to detect and localize parking spots in 3D without cones.

lane_based.mp4

lukasdumasius and others added 30 commits February 17, 2025 02:11
@lukasdumasius
Add transform.py instructions
19ad11e
@lukasdumasius
pedestrian_detection.py type hints
0a21424
@krishauser
Fixed ROS type typo
503a403
@lukasdumasius
pedestrian_detection.py add time for velocity
c7246ed
@KenC1014
integrate updated depth filter and 3D bboxes vis
b62c6fc
@KenC1014
apply lidar to vehicle transform to centers
6cd1d4f
@krishauser
Merge branch 'main' into s2025
b36a49b
@krishauser
Merge branch 's2025' into s2025_teamB
6fd3702
@lukasdumasius
Check len(0) ouster points pedestrian_detection.py
7ad05fd
@KenC1014
fix lidar frame mapping
68d0a75
@KenC1014
Merge branch 'PerceptionB_ped_fusion_done' of https://github.com/kris…
c596eda 
…hauser/GEMstack into PerceptionB_ped_fusion_done
@KenC1014
reslove conflicts
0857f0c
@KenC1014
toggle vehicle frame
fcca8c0
@KenC1014
toggle vehicle frame
d820c3c
@KenC1014
add comments for bug fixes
248911c
@KenC1014
handle empty list
5700e09
@LucasEby
Found some frame problems in parent branch
bf4f433
@LucasEby
Wrote in logic to finish part 3. Still need to implement 1-2 transfor…
8a7ceb6 
…ms and to fix a small list bug
@LucasEby
Fixed find_vels_and_ids logic bugs, AgentState bugs, timing bugs, etc
2aa0ba6
@LucasEby
I think I updated a comment
f080070
@LucasEby
Cleaned up code a bit. Will add Vikram's suggestions in Slack next
db6d689
@LucasEby
Accidentally moved a few lines of code. Fixed the error that resulted
bf80bbe
@LucasEby
In the process of converting to start frame. Pushing current WORKING …
6addddb 
…code for Vikram
@pravshot
initial plot metrics
7c48e56
@pravshot
added safety factor scale
3fcd14a
@LucasEby
Took absolutely forever to find the secret sauce. Please excuse the mess
a18d187
@LucasEby
finally think I figured out start frame transform. In the process of …
0b5d88b 
…converting to AgentStates
@nvikramraj
Merge branch 'perception_b_vikram' into G8_velocity_and_ids
1d6f1ad
@LucasEby
Pushing code so Lukas can try to replicate error message
96b9885
@LucasEby
Merge branch 'G8_velocity_and_ids' of github.com:krishauser/GEMstack …
f7dcffc 
…into G8_velocity_and_ids
animeshsingh98 and others added 22 commits May 12, 2025 14:13
@animeshsingh98
Update python-app.yml
86f872b
@Mhdfk
Small modification to geotag_from_rosbag.py to handle arg parser. Add…
c50d67a 
…ed script to geotag images for individual files and gnss.txt file.
@Mhdfk
Small modification to geotag_from_rosbag.py to handle arg parser. Add…
65f60b4 
…ed script to geotag images for individual files and gnss.txt file.
@krishauser
Merge pull request #172 from krishauser/s2025_perception_merge_prepar…
f659646 
…ation

S2025 perception cone detector 1st PR
@krishauser
Merge branch 's2025' into parking_perception_integration_merge
35b11f9
@krishauser
Merge pull request #174 from krishauser/parking_perception_integratio…
acc06b7 
…n_merge

Parking + Perception Integration. cleaned. ready to merge
@harishkumarbalaji
Merge branch 's2025' into gazebo_agent_detection
2348177
@shraddhaamohan
Resolved merge conflicts (sm148, pokkali2)
788c622
@injustli
Update server url
9925d57
@harishkumarbalaji
Refactor import of ReedsSheppParking to avoid dependency error in Sum…
e3e902b 
…moningRoutePlanner class
@animeshsingh98
Merge branch 's2025' into s2025_automated_inspection_PR
ccb2eb3
@krishauser
Merge pull request #192 from krishauser/s2025_automated_inspection_PR
40a1816 
Consolidating changes for PR to s2025 branch
@krishauser
Merge pull request #200 from krishauser/gazebo_agent_detection
e3ad757 
Gazebo Entity detection - Agent and Obstacle Detection and Tracking - Feature Request
@krishauser
Merge branch 'main' into s2025
db73561
@danielzhuang11
added new layout highbay csv file
04ceaf4
@harishkumarbalaji
Merge pull request #189 from krishauser/s2025_Simulation_vikram
a4628d3 
Corner Camera Support
@harishkumarbalaji
Merge pull request #215 from krishauser/s2025_new_layout_csv
ccf3470 
added new layout highbay csv file
@krishauser
Merge pull request #214 from krishauser/s2025_Simulation
a841b2b 
S2025 simulation
@KenC1014
integrate lane based system
24fdd42
@KenC1014
remove obstacle state
c8c4574
@KenC1014
Merge branch 's2025' into parking_lane_based_detection_integration
6dd3daa
@KenC1014
remove obstacle state in spot detection
b9bf65c
@KenC1014 KenC1014 requested a review from krishauser as a code owner May 14, 2025 23:13
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sonarqubecloud bot commented May 14, 2025

Quality Gate Failed Quality Gate failed

Failed conditions
21 Security Hotspots
E Reliability Rating on New Code (required ≥ A)

See analysis details on SonarQube Cloud

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@KenC1014 KenC1014 changed the title Parking lane based detection integration Parking lane-based parking spots detection integration May 14, 2025
@KenC1014 KenC1014 closed this May 14, 2025
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KenC1014 commented May 14, 2025

This PR was created wrong by merging into the wrong branch. PR is now closed.

@krishauser krishauser deleted the parking_lane_based_detection_integration branch May 15, 2025 04:52
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