refactor(tier4_perception_launch): refactor object_recognition/detect…

…ion launcher (#6152) * refactor: align mode parameters Signed-off-by: Taekjin LEE <[email protected]> * refactor: cluster detector and merger Signed-off-by: Taekjin LEE <[email protected]> * refactor: separate object merger launches Signed-off-by: Taekjin LEE <[email protected]> * refactor: radar detector module Signed-off-by: Taekjin LEE <[email protected]> * refactor: lidar detector modules Signed-off-by: Taekjin LEE <[email protected]> * chore: fix mis spell, align typo, clean-up Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]>
autowarefoundation · Jan 24, 2024 · 2719ad4 · 2719ad4
1 parent 1aba0ac
commit 2719ad4
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diff --git a/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -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"/>
@@ -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="$(var camera_info0)"/>
@@ -57,23 +58,61 @@
       <arg name="image_number" value="$(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="$(var camera_info0)"/>
@@ -94,47 +133,107 @@
       <arg name="image_number" value="$(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)"/>