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fix(tier4_perception_launch): add parameters for light weight radar f…
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…usion and fix launch order (autowarefoundation#5166)

* fix(tier4_perception_launch): add parameters for light weight radar fusion and fix launch order

Signed-off-by: scepter914 <[email protected]>

* style(pre-commit): autofix

* add far_object_merger_sync_queue_size param for package arg

Signed-off-by: scepter914 <[email protected]>

---------

Signed-off-by: scepter914 <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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@scepter914 @pre-commit-ci @YoshiRi
2 people authored and YoshiRi committed Oct 16, 2023
1 parent 2e64339 commit 05baf8a
Showing 1 changed file with 53 additions and 45 deletions.
98 changes: 53 additions & 45 deletions .../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,8 @@
<!-- 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="use_near_radar_fusion" default="false"/>
<arg name="far_object_merger_sync_queue_size" default="20"/>

<!-- Jetson AGX -->
<!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
Expand Down Expand Up @@ -103,6 +105,48 @@
</include>
</group>

<!-- roi based clustering -->
<group>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
<arg name="input/rois0" value="$(var detection_rois0)"/>
<arg name="input/camera_info1" value="$(var camera_info1)"/>
<arg name="input/rois1" value="$(var detection_rois1)"/>
<arg name="input/camera_info2" value="$(var camera_info2)"/>
<arg name="input/rois2" value="$(var detection_rois2)"/>
<arg name="input/camera_info3" value="$(var camera_info3)"/>
<arg name="input/rois3" value="$(var detection_rois3)"/>
<arg name="input/camera_info4" value="$(var camera_info4)"/>
<arg name="input/rois4" value="$(var detection_rois4)"/>
<arg name="input/camera_info5" value="$(var camera_info5)"/>
<arg name="input/rois5" value="$(var detection_rois5)"/>
<arg name="input/camera_info6" value="$(var camera_info6)"/>
<arg name="input/rois6" value="$(var detection_rois6)"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="$(var detection_rois7)"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/image0" value="$(var image_raw0)"/>
<arg name="input/image1" value="$(var image_raw1)"/>
<arg name="input/image2" value="$(var image_raw2)"/>
<arg name="input/image3" value="$(var image_raw3)"/>
<arg name="input/image4" value="$(var image_raw4)"/>
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
<arg name="output_clusters" value="roi_cluster/clusters"/>
</include>
</group>

<!-- simple_cluster_merger -->
<group>
<include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
<arg name="input/cluster0" value="euclidean_cluster/clusters"/>
<arg name="input/cluster1" value="roi_cluster/clusters"/>
<arg name="output/clusters" value="clusters"/>
</include>
</group>

<group>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="clusters"/>
Expand All @@ -114,6 +158,8 @@
<let name="input/clustering" value="/perception/object_recognition/detection/clustering/clusters"/>
<push-ros-namespace namespace="camera_lidar_fusion"/>
<!-- Fusion camera-lidar to classify -->

<!-- euclidean clustering -->
<group>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
Expand Down Expand Up @@ -142,54 +188,12 @@
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="output/clusters" value="euclidean_cluster/clusters"/>
<arg name="output/clusters" value="clusters"/>
<arg name="remove_unknown" value="$(var remove_unknown)"/>
<arg name="trust_distance" value="$(var trust_distance)"/>
</include>
</group>

<!-- roi based clustering -->
<group>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
<arg name="input/rois0" value="$(var detection_rois0)"/>
<arg name="input/camera_info1" value="$(var camera_info1)"/>
<arg name="input/rois1" value="$(var detection_rois1)"/>
<arg name="input/camera_info2" value="$(var camera_info2)"/>
<arg name="input/rois2" value="$(var detection_rois2)"/>
<arg name="input/camera_info3" value="$(var camera_info3)"/>
<arg name="input/rois3" value="$(var detection_rois3)"/>
<arg name="input/camera_info4" value="$(var camera_info4)"/>
<arg name="input/rois4" value="$(var detection_rois4)"/>
<arg name="input/camera_info5" value="$(var camera_info5)"/>
<arg name="input/rois5" value="$(var detection_rois5)"/>
<arg name="input/camera_info6" value="$(var camera_info6)"/>
<arg name="input/rois6" value="$(var detection_rois6)"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="$(var detection_rois7)"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/image0" value="$(var image_raw0)"/>
<arg name="input/image1" value="$(var image_raw1)"/>
<arg name="input/image2" value="$(var image_raw2)"/>
<arg name="input/image3" value="$(var image_raw3)"/>
<arg name="input/image4" value="$(var image_raw4)"/>
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
<arg name="output_clusters" value="roi_cluster/clusters"/>
</include>
</group>

<!-- simple_cluster_merger -->
<group>
<include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
<arg name="input/cluster0" value="euclidean_cluster/clusters"/>
<arg name="input/cluster1" value="roi_cluster/clusters"/>
<arg name="output/clusters" value="clusters"/>
</include>
</group>

<group>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="clusters"/>
Expand Down Expand Up @@ -293,7 +297,7 @@

<!-- Radar fusion -->
<group>
<include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
<include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml" if="$(var use_near_radar_fusion)">
<arg name="input/objects" value="$(var lidar_detection_model)/objects"/>
<arg name="input/radars" value="radar/noise_filtered_objects"/>
<arg name="output/objects" value="radar_fusion/objects"/>
Expand All @@ -302,6 +306,9 @@

<!-- Camera late fusion -->
<group>
<let name="target_objects" value="radar_fusion/objects" if="$(var use_near_radar_fusion)"/>
<let name="target_objects" value="$(var lidar_detection_model)/objects" unless="$(var use_near_radar_fusion)"/>

<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
<arg name="input/rois0" value="$(var detection_rois0)"/>
Expand All @@ -328,7 +335,7 @@
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/objects" value="radar_fusion/objects"/>
<arg name="input/objects" value="$(var target_objects)"/>
<arg name="output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
</include>
</group>
Expand Down Expand Up @@ -403,5 +410,6 @@
<arg name="priority_mode" value="0"/>
<arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
<arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
<arg name="sync_queue_size" value="$(var far_object_merger_sync_queue_size)"/>
</include>
</launch>

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