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add detection by tracker (autowarefoundation#418)
add detection by tracker
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52 changes: 49 additions & 3 deletions
52
perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,6 +1,52 @@ | ||
| <?xml version="1.0"?> | ||
| <launch> | ||
| <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml"> | ||
| <arg name="output/objects" value="objects" /> | ||
| </include> | ||
| <arg name="use_vector_map" default="true" description="use vector map in prediction"/> | ||
|
|
||
| <!-- Clustering--> | ||
| <group> | ||
| <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml"> | ||
| <arg name="output_clusters" value="clusters"/> | ||
| <arg name="use_pointcloud_map" value="false"/> | ||
| </include> | ||
| </group> | ||
|
|
||
| <!-- DetectionByTracker --> | ||
| <group> | ||
| <push-ros-namespace namespace="detection_by_tracker"/> | ||
| <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml"> | ||
| </include> | ||
| </group> | ||
|
|
||
| <!-- CenterPoint --> | ||
| <group> | ||
| <push-ros-namespace namespace="centerpoint"/> | ||
| <group> | ||
| <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml" /> | ||
| </group> | ||
| <group> | ||
| <include file="$(find-pkg-share dynamic_object_visualization)/launch/dynamic_object_visualizer.launch.xml"> | ||
| <arg name="input" value="objects"/> | ||
| <arg name="with_feature" value="true"/> | ||
| <arg name="only_known_objects" value="true"/> | ||
| </include> | ||
| </group> | ||
| </group> | ||
|
|
||
| <!-- Merger --> | ||
| <group> | ||
| <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml"> | ||
| <arg name="input/object0" value="centerpoint/objects"/> | ||
| <arg name="input/object1" value="detection_by_tracker/objects"/> | ||
| <arg name="output/object" value="objects"/> | ||
| </include> | ||
| </group> | ||
|
|
||
| <!-- visualization --> | ||
| <group> | ||
| <include file="$(find-pkg-share dynamic_object_visualization)/launch/dynamic_object_visualizer.launch.xml"> | ||
| <arg name="input" value="objects"/> | ||
| <arg name="with_feature" value="true"/> | ||
| <arg name="only_known_objects" value="true"/> | ||
| </include> | ||
| </group> | ||
| </launch> |