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refactor(radar_object_clustering): move radar object clustering parameter to param file #5451

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merged 3 commits into from
Nov 16, 2023
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refactor(radar_object_clustering): move radar object clustering parameter to param file #5451

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4cef2e3
move radar object clustering parameter to param file
YoshiRi Nov 1, 2023
375b610
remove default parameter settings and fix cmakelists
YoshiRi Nov 2, 2023
b0dd1ca
Merge branch 'main' into refactor/radar_object_clustering_params_to_a…
YoshiRi Nov 16, 2023
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5 changes: 2 additions & 3 deletions .../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
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Expand Up @@ -50,6 +50,7 @@
<arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
<arg name="use_near_radar_fusion" default="false"/>
<arg name="far_object_merger_sync_queue_size" default="20"/>
<arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>

<!-- Filter output name. Switch output topic name by 'use_radar_tracking_fusion' parameter defined in perception.launch -->
<let name="output_of_filtered_objects" value="$(var output/objects)" if="$(var use_radar_tracking_fusion)"/>
Expand Down Expand Up @@ -78,9 +79,7 @@
<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="clustering/angle_threshold" value="0.174"/>
<arg name="clustering/distance_threshold" value="10.0"/>
<arg name="clustering/velocity_threshold" value="4.0"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</group>

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2 changes: 2 additions & 0 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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Expand Up @@ -32,6 +32,7 @@
<!-- Radar parameters -->
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
<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 fusion parameters -->
<arg name="remove_unknown" default="true"/>
Expand Down Expand Up @@ -145,6 +146,7 @@
<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)"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</group>
</launch>
5 changes: 2 additions & 3 deletions ...ception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
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Expand Up @@ -11,6 +11,7 @@
<!-- Radar parameters -->
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
<arg name="radar_lanelet_filtering_range_param" default="$(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"/>

<!-- LiDAR detection-->
<group>
Expand All @@ -37,9 +38,7 @@
<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="clustering/angle_threshold" value="0.174"/>
<arg name="clustering/distance_threshold" value="10.0"/>
<arg name="clustering/velocity_threshold" value="4.0"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</group>

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14 changes: 2 additions & 12 deletions ...r4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
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Expand Up @@ -6,10 +6,8 @@
<arg name="filter/velocity_threshold" default="1.5"/>
<arg name="split/velocity_threshold" default="5.5"/>
<arg name="split_range" default="80.0"/>
<arg name="clustering/angle_threshold" default="0.349"/>
<arg name="clustering/distance_threshold" default="10.0"/>
<arg name="clustering/velocity_threshold" default="5.0"/>
<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"/>

<!-- Detection for far dynamic objects -->
<include file="$(find-pkg-share radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
Expand Down Expand Up @@ -43,14 +41,6 @@
<include file="$(find-pkg-share radar_object_clustering)/launch/radar_object_clustering.launch.xml">
<arg name="input/objects" value="lanelet_filtered_objects"/>
<arg name="output/objects" value="$(var output/objects)"/>
<arg name="angle_threshold" value="$(var clustering/angle_threshold)"/>
<arg name="distance_threshold" value="$(var clustering/distance_threshold)"/>
<arg name="velocity_threshold" value="$(var clustering/velocity_threshold)"/>
<arg name="is_fixed_label" value="true"/>
<arg name="fixed_label" value="CAR"/>
<arg name="is_fixed_size" value="true"/>
<arg name="size_x" value="4.0"/>
<arg name="size_y" value="1.5"/>
<arg name="size_z" value="1.5"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</launch>
3 changes: 3 additions & 0 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -12,6 +12,7 @@
<arg name="object_recognition_detection_fusion_sync_param_path"/>
<arg name="object_recognition_detection_lidar_model_param_path"/>
<arg name="object_recognition_detection_radar_lanelet_filtering_range_param"/>
<arg name="object_recognition_detection_radar_object_clustering_param_path"/>
<arg name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"/>
<arg name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"/>
<arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path"/>
Expand Down Expand Up @@ -175,7 +176,9 @@
<arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
<arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var object_recognition_detection_radar_lanelet_filtering_range_param)"/>
<arg name="radar_object_clustering_param_path" value="$(var object_recognition_detection_radar_object_clustering_param_path)"/>
<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>

<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
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1 change: 1 addition & 0 deletions perception/radar_object_clustering/CMakeLists.txt
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Expand Up @@ -37,4 +37,5 @@ endif()
ament_auto_package(
INSTALL_TO_SHARE
launch
config
)
15 changes: 15 additions & 0 deletions perception/radar_object_clustering/config/radar_object_clustering.param.yaml
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@@ -0,0 +1,15 @@
/**:
ros__parameters:
# clustering parameter
angle_threshold: 0.174 # [rad] (10 deg)
distance_threshold: 10.0 # [m]
velocity_threshold: 4.0 # [m/s]

# output object settings
# set false if you want to use the object information from radar
is_fixed_label: true
fixed_label: "CAR"
is_fixed_size: true
size_x: 4.0 # [m]
size_y: 1.5 # [m]
size_z: 1.5 # [m]
20 changes: 2 additions & 18 deletions perception/radar_object_clustering/launch/radar_object_clustering.launch.xml
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Expand Up @@ -4,28 +4,12 @@
<!-- Output -->
<arg name="output/objects" default="~/output/objects"/>
<!-- Parameter -->
<arg name="angle_threshold" default="0.174"/>
<arg name="distance_threshold" default="10.0"/>
<arg name="velocity_threshold" default="4.0"/>
<arg name="is_fixed_label" default="false"/>
<arg name="fixed_label" default="UNKNOWN"/>
<arg name="is_fixed_size" default="false"/>
<arg name="size_x" default="4.0"/>
<arg name="size_y" default="1.5"/>
<arg name="size_z" default="1.5"/>
<arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>

<!-- Node -->
<node pkg="radar_object_clustering" exec="radar_object_clustering_node" name="radar_object_clustering" output="screen">
<remap from="~/input/objects" to="$(var input/objects)"/>
<remap from="~/output/objects" to="$(var output/objects)"/>
<param name="angle_threshold" value="$(var angle_threshold)"/>
<param name="distance_threshold" value="$(var distance_threshold)"/>
<param name="velocity_threshold" value="$(var velocity_threshold)"/>
<param name="is_fixed_label" value="$(var is_fixed_label)"/>
<param name="fixed_label" value="$(var fixed_label)"/>
<param name="is_fixed_size" value="$(var is_fixed_size)"/>
<param name="size_x" value="$(var size_x)"/>
<param name="size_y" value="$(var size_y)"/>
<param name="size_z" value="$(var size_z)"/>
<param from="$(var radar_object_clustering_param_path)"/>
</node>
</launch>
18 changes: 9 additions & 9 deletions ...radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp
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Expand Up @@ -71,15 +71,15 @@
std::bind(&RadarObjectClusteringNode::onSetParam, this, std::placeholders::_1));

// Node Parameter
node_param_.angle_threshold = declare_parameter<double>("angle_threshold", 0.174);
node_param_.distance_threshold = declare_parameter<double>("distance_threshold", 4.0);
node_param_.velocity_threshold = declare_parameter<double>("velocity_threshold", 2.0);
node_param_.is_fixed_label = declare_parameter<bool>("is_fixed_label", false);
node_param_.fixed_label = declare_parameter<std::string>("fixed_label", "UNKNOWN");
node_param_.is_fixed_size = declare_parameter<bool>("is_fixed_size", false);
node_param_.size_x = declare_parameter<double>("size_x", 4.0);
node_param_.size_y = declare_parameter<double>("size_y", 1.5);
node_param_.size_z = declare_parameter<double>("size_z", 1.5);
node_param_.angle_threshold = declare_parameter<double>("angle_threshold");
node_param_.distance_threshold = declare_parameter<double>("distance_threshold");
node_param_.velocity_threshold = declare_parameter<double>("velocity_threshold");
node_param_.is_fixed_label = declare_parameter<bool>("is_fixed_label");
node_param_.fixed_label = declare_parameter<std::string>("fixed_label");
node_param_.is_fixed_size = declare_parameter<bool>("is_fixed_size");
node_param_.size_x = declare_parameter<double>("size_x");
node_param_.size_y = declare_parameter<double>("size_y");
node_param_.size_z = declare_parameter<double>("size_z");

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perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp#L74-L82 

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// Subscriber
sub_objects_ = create_subscription<DetectedObjects>(
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