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autoware_camera_streampetr package from autoware_universe repo

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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 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autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_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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Package Summary

Version	0.50.0
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	2026-02-25
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

autoware_camera_streampetr

Maintainers

samrat
Kok Seang Tan

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

Changelog for package autoware_camera_streampetr

0.50.0 (2026-02-14)

Merge remote-tracking branch 'origin/main' into humble
chore(stream_petr): remove invalid thrust stream policy for copy operations (#12064) Remove unnecessary thrust::device specification
chore(autoware_camera_streampetr): remove cudnn dependency (#11890)
Contributors: Amadeusz Szymko, Ryohsuke Mitsudome, Samrat Thapa

0.49.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
chore(streampetr): removed thrust stream policy (#11800)
- removed thrust stream
* syncronize stream before thrust ---------
fix: prevent possible dangling pointer from .str().c_str() pattern (#11609)

* Fix dangling pointer caused by the .str().c_str() pattern. std::stringstream::str() returns a temporary std::string, and taking its c_str() leads to a dangling pointer when the temporary is destroyed. This patch replaces such usage with a const reference of std::string variable to ensure pointer validity.

* Revert the changes made to the functions. They should only be applied to the macros. ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>> Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
feat(streampetr): class wise confidence threshold (#11756)
- class wise threshold
- style(pre-commit): autofix
- add checks
- style(pre-commit): autofix
- prevent cuda reallocatoin
- updated conf values
- style(pre-commit): autofix
- removed unused import
- add policy for thrust
- style(pre-commit): autofix
* use cuda_utils helpers ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
feat(stream_petr): use dynamic triangle filter for image downsampling (#11724)
- downsample with anti-aliasing
- synchronize streams
- remove unused changes
- style(pre-commit): autofix
- fixed cuda sync location
- remove unused code
- added optimize TODO
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome, Samrat Thapa, Takatoshi Kondo

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix: tf2 uses hpp headers in rolling (and is backported) (#11620)
feat(autoware_camera_streampetr): cuda based undistortion with rectification (#11420)
- working inference with distortion
- removed unnecessary code
- remove unused parameter
- style(pre-commit): autofix
- fixed based on comments
- style(pre-commit): autofix
- added unroll
- style(pre-commit): autofix
- comment for clarity
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

File truncated at 100 lines see the full file

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/streampetr.launch.xml
- - build_only [default: false]
  - model_path [default: $(env HOME)/autoware_data/camera_streampetr]
  - model_param_path [default: $(var model_path)/ml_package_camera_streampetr.param.yaml]
  - node_param_path [default: $(find-pkg-share autoware_camera_streampetr)/config/camera_streampetr.param.yaml]
  - is_compressed_image [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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