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feat(tier4_perception_launch): make lanelet object filter optional #1698

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merged 5 commits into from
Aug 31, 2022
Merged

feat(tier4_perception_launch): make lanelet object filter optional #1698

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dd7c854
feat(tier4_perception_launch): make lanelet object filter optional
kaancolak Aug 25, 2022
243e464
Merge branch 'main' into make-lanelet-filter-optional
kaancolak Aug 25, 2022
866499b
feat(tier4_perception_launch): fix arg
kaancolak Aug 25, 2022
737c770
feat(tier4_perception_launch): fix argument var
kaancolak Aug 29, 2022
eae052f
feat(tier4_perception_launch): add new parameter
kaancolak Aug 29, 2022
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7 changes: 5 additions & 2 deletions ...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
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Expand Up @@ -23,6 +23,7 @@
<arg name="image_number" default="1" description="choose image raw number(0-7)"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
<arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
<arg name="use_vector_map" default="true" description="use vector map filter in detection"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
<arg name="container_name" default="pointcloud_container"/>
<arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
Expand Down Expand Up @@ -214,16 +215,18 @@
</group>

<group>
<let name="merger/output/objects" value="objects_before_filter" if="$(var use_vector_map)"/>
<let name="merger/output/objects" value="$(var output/objects)" unless="$(var use_vector_map)"/>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="temporary_merged_objects"/>
<arg name="input/object1" value="clustering/objects"/>
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<arg name="output/object" value="objects_before_filter"/>
<arg name="output/object" value="($var merger/output/objects)"/>
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</include>
</group>

<!-- Filter -->
<group>
<include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
<include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_vector_map)">
<arg name="input/object" value="objects_before_filter"/>
<arg name="output/object" value="$(var output/objects)"/>
<arg name="filtering_range_param" value="$(var tier4_perception_launch_param_path)/object_recognition/detection/object_lanelet_filter.param.yaml"/>
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2 changes: 2 additions & 0 deletions .../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
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Expand Up @@ -4,6 +4,7 @@
<arg name="input/pointcloud"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
<arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
<arg name="use_vector_map" default="true" description="use vector map filter in detection"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
<arg name="container_name" default="pointcloud_container"/>

Expand Down Expand Up @@ -50,6 +51,7 @@
<arg name="image_number" value="$(var image_number)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_vector_map" value="$(var use_vector_map)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
</include>
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5 changes: 5 additions & 0 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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Expand Up @@ -7,6 +7,7 @@
<arg name="input/pointcloud"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
<arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
<arg name="use_vector_map" default="true" description="use vector map filter in detection"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
<arg name="container_name" default="pointcloud_container"/>

Expand Down Expand Up @@ -54,6 +55,7 @@
<arg name="image_number" value="$(var image_number)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_vector_map" value="$(var use_vector_map)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
</include>
Expand Down Expand Up @@ -83,6 +85,7 @@
<arg name="image_number" value="$(var image_number)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_vector_map" value="$(var use_vector_map)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
</include>
Expand All @@ -94,6 +97,7 @@
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_vector_map" value="$(var use_vector_map)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
</include>
Expand All @@ -106,6 +110,7 @@
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_vector_map" value="$(var use_vector_map)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
</include>
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7 changes: 5 additions & 2 deletions ...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
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Expand Up @@ -6,6 +6,7 @@
<arg name="output/objects" default="objects"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
<arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
<arg name="use_vector_map" default="true" description="use vector map filter in detection"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
<arg name="container_name" default="pointcloud_container"/>
<arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
Expand Down Expand Up @@ -118,16 +119,18 @@
</group>

<group>
<let name="merger/output/objects" value="objects_before_filter" if="$(var use_vector_map)"/>
<let name="merger/output/objects" value="$(var output/objects)" unless="$(var use_vector_map)"/>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="temporary_merged_objects"/>
<arg name="input/object1" value="detection_by_tracker/objects"/>
<arg name="output/object" value="objects_before_filter"/>
<arg name="output/object" value="$(var merger/output/objects)"/>
</include>
</group>

<!-- Filter -->
<group>
<include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
<include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_vector_map)">
<arg name="input/object" value="objects_before_filter"/>
<arg name="output/object" value="$(var output/objects)"/>
<arg name="filtering_range_param" value="$(var tier4_perception_launch_param_path)/object_recognition/detection/object_lanelet_filter.param.yaml"/>
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2 changes: 2 additions & 0 deletions ...ception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
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Expand Up @@ -4,6 +4,7 @@
<arg name="input/pointcloud"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
<arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
<arg name="use_vector_map" default="true" description="use vector map in detection"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
<arg name="container_name" default="pointcloud_container"/>

Expand All @@ -14,6 +15,7 @@
<arg name="output/objects" value="lidar/objects"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_vector_map" value="$(var use_vector_map)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
</include>
Expand Down
1 change: 1 addition & 0 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -97,6 +97,7 @@
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_number" value="$(var image_number)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_vector_map" value="$(var use_vector_map)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
</include>
Expand Down