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refactor(tier4_perception_launch): refactor object_recognition/detection launcher #6152

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merged 6 commits into from
Jan 24, 2024
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refactor(tier4_perception_launch): refactor object_recognition/detection launcher #6152

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311377c
refactor: align mode parameters
technolojin Jan 23, 2024
5e8ea09
refactor: cluster detector and merger
technolojin Jan 23, 2024
07bc73a
refactor: separate object merger launches
technolojin Jan 23, 2024
b6b219c
refactor: radar detector module
technolojin Jan 23, 2024
936976b
refactor: lidar detector modules
technolojin Jan 23, 2024
01cc7dc
chore: fix mis spell, align typo, clean-up
technolojin Jan 24, 2024
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437 changes: 0 additions & 437 deletions .../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
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145 changes: 122 additions & 23 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
<!-- Interface parameters -->
<arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>

<!-- LiDAR parameters -->
<!-- Lidar parameters -->
<arg name="input/pointcloud"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="use_object_filter" default="true" description="use object filter"/>
Expand Down Expand Up @@ -34,9 +34,10 @@
<arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
<arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>

<!-- Camera-LiDAR-Radar fusion based detection -->
<!-- Camera-Lidar-Radar fusion based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml">
<!-- Camera-Lidar detectors -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
Expand All @@ -57,23 +58,61 @@
<arg name="image_number" value="$(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_object_filter" value="$(var use_object_filter)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
<arg name="roi_cluster_fusion_param_path" value="$(var roi_cluster_fusion_param_path)"/>
<arg name="roi_pointcloud_fusion_param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
</include>
<!-- Lidar dnn-based detectors-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
</include>
<!-- Radar detector-->
<group>
<push-ros-namespace namespace="radar"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="output/objects" value="far_objects"/>
<arg name="filter/angle_threshold" value="1.0472"/>
<arg name="filter/velocity_threshold" value="3.0"/>
<arg name="split/velocity_threshold" value="4.5"/>
<arg name="split_range" value="70.0"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</group>
<!-- Object merger -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml">
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
<arg name="image_raw1" value="$(var image_raw1)"/>
<arg name="camera_info1" value="$(var camera_info1)"/>
<arg name="image_raw2" value="$(var image_raw2)"/>
<arg name="camera_info2" value="$(var camera_info2)"/>
<arg name="image_raw3" value="$(var image_raw3)"/>
<arg name="camera_info3" value="$(var camera_info3)"/>
<arg name="image_raw4" value="$(var image_raw4)"/>
<arg name="camera_info4" value="$(var camera_info4)"/>
<arg name="image_raw5" value="$(var image_raw5)"/>
<arg name="camera_info5" value="$(var camera_info5)"/>
<arg name="image_raw6" value="$(var image_raw6)"/>
<arg name="camera_info6" value="$(var camera_info6)"/>
<arg name="image_raw7" value="$(var image_raw7)"/>
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_number" value="$(var image_number)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
<arg name="roi_detected_object_fusion_param_path" value="$(var roi_detected_object_fusion_param_path)"/>
</include>
</group>

<!-- Camera-LiDAR fusion based detection -->
<!-- Camera-Lidar fusion based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
<!-- Camera-Lidar detectors -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
Expand All @@ -94,47 +133,107 @@
<arg name="image_number" value="$(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_object_filter" value="$(var use_object_filter)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
</include>
<!-- Lidar dnn-based detectors-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
</include>
<!-- Object merger -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
<arg name="image_raw1" value="$(var image_raw1)"/>
<arg name="camera_info1" value="$(var camera_info1)"/>
<arg name="image_raw2" value="$(var image_raw2)"/>
<arg name="camera_info2" value="$(var camera_info2)"/>
<arg name="image_raw3" value="$(var image_raw3)"/>
<arg name="camera_info3" value="$(var camera_info3)"/>
<arg name="image_raw4" value="$(var image_raw4)"/>
<arg name="camera_info4" value="$(var camera_info4)"/>
<arg name="image_raw5" value="$(var image_raw5)"/>
<arg name="camera_info5" value="$(var camera_info5)"/>
<arg name="image_raw6" value="$(var image_raw6)"/>
<arg name="camera_info6" value="$(var camera_info6)"/>
<arg name="image_raw7" value="$(var image_raw7)"/>
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_number" value="$(var image_number)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
</include>
</group>

<!-- LiDAR-Radar fusion based detection -->
<!-- Lidar-Radar fusion based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml">
<!-- Radar detector-->
<group>
<push-ros-namespace namespace="radar"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="output/objects" value="far_objects"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</group>
<!-- Lidar dnn-based detectors-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
</include>
<!-- Lidar rule-based detectors-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
</include>
<!-- Lidar object merger -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
<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_object_filter" value="$(var use_object_filter)"/>
</include>
<!-- Lidar-Radar object merger-->
<include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
<arg name="input/objects" value="lidar/objects"/>
<arg name="input/radars" value="radar/noise_filtered_objects"/>
<arg name="output/objects" value="objects"/>
</include>
</group>

<!-- LiDAR based detection -->
<!-- Lidar based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
<!-- Lidar dnn-based detectors-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
</include>
<!-- Lidar rule-based detectors-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
</include>
<!-- Lidar object merger -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
</include>
</group>

<!-- Radar based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
<!-- Radar detector-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="output/objects" value="objects"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
Expand Down
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