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fix(image_projection_based_fusion): re-organize the parameters for image projection fusion (#6075) #1101

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Jan 18, 2024
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fix(image_projection_based_fusion): re-organize the parameters for image projection fusion (#6075) #1101

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9 changes: 3 additions & 6 deletions ...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,9 +12,6 @@
<arg name="use_object_filter" default="true" description="use object filter"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
<arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
<arg name="remove_unknown" default="true"/>
<arg name="fusion_distance" default="100.0"/>
<arg name="trust_object_distance" default="100.0"/>
<arg name="use_roi_based_cluster" default="false"/>

<!-- Camera parameters -->
Expand Down Expand Up @@ -113,6 +110,7 @@
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
<arg name="output_clusters" value="roi_cluster/clusters"/>
<arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
</include>
</group>

Expand Down Expand Up @@ -167,9 +165,7 @@
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="output/clusters" value="clusters"/>
<arg name="remove_unknown" value="$(var remove_unknown)"/>
<arg name="fusion_distance" value="$(var fusion_distance)"/>
<arg name="trust_object_distance" value="$(var trust_object_distance)"/>
<arg name="param_path" value="$(var roi_cluster_fusion_param_path)"/>
</include>
</group>

Expand Down Expand Up @@ -307,6 +303,7 @@
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/objects" value="$(var lidar_detection_model)/objects"/>
<arg name="output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
<arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
</include>
</group>

Expand Down
6 changes: 3 additions & 3 deletions .../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
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Expand Up @@ -139,6 +139,7 @@
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
<arg name="output_clusters" value="roi_cluster/clusters"/>
<arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
</include>
</group>

Expand Down Expand Up @@ -193,9 +194,7 @@
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="output/clusters" value="clusters"/>
<arg name="remove_unknown" value="$(var remove_unknown)"/>
<arg name="fusion_distance" value="$(var fusion_distance)"/>
<arg name="trust_object_distance" value="$(var trust_object_distance)"/>
<arg name="param_path" value="$(var roi_cluster_fusion_param_path)"/>
</include>
</group>

Expand Down Expand Up @@ -346,6 +345,7 @@
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/objects" value="$(var target_objects)"/>
<arg name="output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
<arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
</include>
</group>

Expand Down
11 changes: 3 additions & 8 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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Expand Up @@ -34,11 +34,6 @@
<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"/>
<arg name="fusion_distance" default="100.0"/>
<arg name="trust_object_distance" default="100.0"/>

<!-- Camera-LiDAR-Radar fusion based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml">
Expand All @@ -65,14 +60,14 @@
<arg name="use_object_filter" value="$(var use_object_filter)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="remove_unknown" value="$(var remove_unknown)"/>
<arg name="fusion_distance" value="$(var fusion_distance)"/>
<arg name="trust_object_distance" value="$(var trust_object_distance)"/>
<arg name="use_low_height_cropbox" value="$(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)"/>
<arg name="roi_detected_object_fusion_param_path" value="$(var roi_detected_object_fusion_param_path)"/>
</include>
</group>

Expand Down
14 changes: 6 additions & 8 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -10,6 +10,9 @@
<arg name="object_recognition_detection_object_merger_data_association_matrix_param_path"/>
<arg name="object_recognition_detection_object_merger_distance_threshold_list_path"/>
<arg name="object_recognition_detection_fusion_sync_param_path"/>
<arg name="object_recognition_detection_roi_cluster_fusion_param_path"/>
<arg name="object_recognition_detection_roi_pointcloud_fusion_param_path"/>
<arg name="object_recognition_detection_roi_detected_object_fusion_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"/>
Expand Down Expand Up @@ -102,11 +105,6 @@
description="options: `ped_traffic_light_classifier_mobilenetv2_batch_*` or `ped_traffic_light_classifier_efficientNet_b1_batch_*`. The batch number must be either one of 1, 4, 6"
/>

<!-- Camera-Lidar fusion parameters -->
<arg name="remove_unknown" default="true"/>
<arg name="fusion_distance" default="100.0"/>
<arg name="trust_object_distance" default="100.0"/>

<!-- Whether to use detection by tracker -->
<arg name="use_detection_by_tracker" default="true"/>

Expand Down Expand Up @@ -180,6 +178,9 @@
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_number" value="$(var image_number)"/>
<arg name="sync_param_path" value="$(var object_recognition_detection_fusion_sync_param_path)"/>
<arg name="roi_cluster_fusion_param_path" value="$(var object_recognition_detection_roi_cluster_fusion_param_path)"/>
<arg name="roi_pointcloud_fusion_param_path" value="$(var object_recognition_detection_roi_pointcloud_fusion_param_path)"/>
<arg name="roi_detected_object_fusion_param_path" value="$(var object_recognition_detection_roi_detected_object_fusion_param_path)"/>
<arg name="lidar_model_param_path" value="$(var object_recognition_detection_lidar_model_param_path)"/>
<arg name="euclidean_param_path" value="$(var object_recognition_detection_euclidean_cluster_param_path)"/>
<arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
Expand All @@ -193,9 +194,6 @@
<arg name="use_object_filter" value="$(var use_object_filter)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="remove_unknown" value="$(var remove_unknown)"/>
<arg name="fusion_distance" value="$(var fusion_distance)"/>
<arg name="trust_object_distance" value="$(var trust_object_distance)"/>
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
</include>
</group>
Expand Down
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