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autoware_camera_streampetr package from autoware_universe repo

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autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger 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autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils 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autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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github

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Package Summary

Tags	No category tags.
Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-26
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

autoware_camera_streampetr

Additional Links

No additional links.

Maintainers

samrat

Authors

No additional authors.

perception/autoware_camera_streampetr/README.md

autoware_camera_streampetr

Purpose

The autoware_camera_streampetr package is used for 3D object detection based on images only.

Inner-workings / Algorithms

This package implements a TensorRT powered inference node for StreamPETR [1]. This is the first camera-only 3D object detection node in autoware.

This node has been optimized for multi-camera systems where the camera topics are published in a sequential manner, not all at once. The node takes advantage of this by preprocessing (resize, crop, normalize) the images and storing them appropriately on GPU, so that delay due to preprocessing can be minimized.


Topic for image_i arrived                                     -------------------------
  |                                                                                   |
  |                                                                                   |
  |                                                                                   |
  v                                                                                   |
Is image distorted?                                                                   |
  |              \                                                                    |
  |               \                                                                   |
Yes               No                                                                  |Image Updates
  |                |                                                                  |done in parallel, if multitheading is on
  v                |                                                                  |otherwise done sequentially in FIFO order
Undistort          |                                                                  |
  |                |                                                                  |
  v                v                                                                  |
Load image into GPU memory                                                            |
  |                                                                                   |
  v                                                                                   |
Preprocess image (scale & crop ROI & normalize)                                       |
  |                                                                                   |
  v                                                                                   |
Store in GPU memory binding location for model input                                  |
  |                                                          -------------------------|
  v                                                                                   |
Is image the `anchor_image`?                                                          |
  |                \                                                                  |
  |                 \                                                                 |
No                  Yes                                                               |
  |                  |                                                                |
  v                  v                                                                | If multithreading is on
(Wait)     Are all images synced within `max_time_difference`?                        | image Updates are temporarily frozen
                      |                           \                                   | until this part completes.
                      |                            \                                  |
                    Yes                             No                                |
                      |                             |                                 |
                      v                             v                                 |
         Perform model forward pass            (Sync failed! Skip prediction)         |
                      |                                                               |
                      v                                                               |
         Postprocess (NMS + ROS2 format)                                              |
                      |                                                               |
                      v                                                               |
             Publish predictions                             -------------------------|

Inputs / Outputs

Input

Name	Type	Description
`~/input/camera*/image`	`sensor_msgs::msg::Image` or `sensor_msgs::msg::CompressedImage`	Input image topics (supports both compressed and uncompressed).
`~/input/camera*/camera_info`	`sensor_msgs::msg::CameraInfo`	Input camera info topics, for camera parameters.

Output

Name	Type	Description	RTX 3090 Latency (ms)
`~/output/objects`	`autoware_perception_msgs::msg::DetectedObjects`	Detected objects.	—
`latency/preprocess`	`autoware_internal_debug_msgs::msg::Float64Stamped`	Preprocessing time per image(ms).	3.25
`latency/total`	`autoware_internal_debug_msgs::msg::Float64Stamped`	Total processing time (ms): preprocessing + inference + postprocessing.	26.04
`latency/inference`	`autoware_internal_debug_msgs::msg::Float64Stamped`	Total inference time (ms).	22.13
`latency/inference/backbone`	`autoware_internal_debug_msgs::msg::Float64Stamped`	Backbone inference time (ms).	16.21
`latency/inference/ptshead`	`autoware_internal_debug_msgs::msg::Float64Stamped`	Points head inference time (ms).	5.45
`latency/inference/pos_embed`	`autoware_internal_debug_msgs::msg::Float64Stamped`	Position embedding inference time (ms).	0.40
`latency/inference/postprocess`	`autoware_internal_debug_msgs::msg::Float64Stamped`	nms + filtering + converting network predictions to autoware format (ms).	0.40
`latency/cycle_time_ms`	`autoware_internal_debug_msgs::msg::Float64Stamped`	Time between two consecutive predictions (ms).	110.65

Parameters

StreamPETR node

The autoware_camera_streampetr node has various parameters for configuration:

Model Parameters

model_params.backbone_path: Path to the backbone ONNX model
model_params.head_path: Path to the head ONNX model
model_params.position_embedding_path: Path to the position embedding ONNX model
model_params.fp16_mode: Enable FP16 inference mode
model_params.use_temporal: Enable temporal modeling
model_params.input_image_height: Input image height for preprocessing
model_params.input_image_width: Input image width for preprocessing
model_params.class_names: List of detection class names
model_params.num_proposals: Number of object proposals

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	ament_clang_format
	ament_lint_auto
	autoware_lint_common
	autoware_cuda_dependency_meta
	autoware_cuda_utils
	autoware_object_recognition_utils
	autoware_perception_msgs
	autoware_tensorrt_common
	autoware_utils
	cv_bridge
	geometry_msgs
	image_transport
	nav_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2_geometry_msgs
	tf2_msgs
	tf2_ros

System Dependencies

Name
eigen

Dependant Packages

No known dependants.

Launch files

launch/tensorrt_stream_petr.launch.xml
- - build_only [default: false]
  - debug_mode [default: true]
  - param_path [default: $(find-pkg-share autoware_camera_streampetr)/config/tensorrt_stream_petr.param.yaml]
  - model_path [default: $(env HOME)/autoware_data/camera_streampetr]
  - is_compressed_image [default: false]
launch/tensorrt_stream_petr_compressed.launch.xml
- - build_only [default: false]
  - debug_mode [default: true]
  - param_path [default: $(find-pkg-share autoware_camera_streampetr)/config/tensorrt_stream_petr.param.yaml]
  - model_path [default: $(env HOME)/autoware_data/camera_streampetr]
  - is_compressed_image [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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