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feat(camera_lidar_fusion): enable to use camera 8,9,10 in image_projection_based_fusion nodes #1697

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feat(camera_lidar_fusion): enable to use camera 8,9,10 in image_projection_based_fusion nodes #1697

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186aba9
fix: x2 gen2 use image_raw instaed image_rect_color
YoshiRi Dec 12, 2024
5369240
feat: enable 9 camera fusion in perception and detection launch
YoshiRi Dec 12, 2024
4f5de30
feat: fix camera_lidar_detector launch
YoshiRi Dec 12, 2024
35ecc4b
feat: fix launch for 9 input
YoshiRi Dec 12, 2024
0753603
feat: fix missed launcher
YoshiRi Dec 12, 2024
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12 changes: 11 additions & 1 deletion launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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Expand Up @@ -27,7 +27,9 @@
<arg name="camera_info6" default=""/>
<arg name="image_raw7" default=""/>
<arg name="camera_info7" default=""/>
<arg name="image_number" default="1" description="choose image raw number(1-8)"/>
<arg name="image_raw8" default=""/>
<arg name="camera_info8" default=""/>
<arg name="image_number" default="1" description="choose image raw number"/>

<!-- Radar parameters -->
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
Expand All @@ -53,6 +55,8 @@
<arg name="camera_info6" value="$(var camera_info6)"/>
<arg name="image_raw7" value="$(var image_raw7)"/>
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_raw8" value="$(var image_raw8)"/>
<arg name="camera_info8" value="$(var camera_info8)"/>
<arg name="image_number" value="$(var image_number)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
Expand Down Expand Up @@ -103,6 +107,8 @@
<arg name="camera_info6" value="$(var camera_info6)"/>
<arg name="image_raw7" value="$(var image_raw7)"/>
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_raw8" value="$(var image_raw8)"/>
<arg name="camera_info8" value="$(var camera_info8)"/>
<arg name="image_number" value="$(var image_number)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
Expand Down Expand Up @@ -134,6 +140,8 @@
<arg name="camera_info6" value="$(var camera_info6)"/>
<arg name="image_raw7" value="$(var image_raw7)"/>
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_raw8" value="$(var image_raw8)"/>
<arg name="camera_info8" value="$(var camera_info8)"/>
<arg name="image_number" value="$(var image_number)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
Expand Down Expand Up @@ -171,6 +179,8 @@
<arg name="camera_info6" value="$(var camera_info6)"/>
<arg name="image_raw7" value="$(var image_raw7)"/>
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_raw8" value="$(var image_raw8)"/>
<arg name="camera_info8" value="$(var camera_info8)"/>
<arg name="image_number" value="$(var image_number)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
Expand Down
18 changes: 15 additions & 3 deletions ...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
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Expand Up @@ -31,11 +31,14 @@
<arg name="detection_rois5" default="/perception/object_recognition/detection/rois5"/>
<arg name="image_raw6" default="/image_raw6"/>
<arg name="camera_info6" default="/camera_info6"/>
<arg name="detection_rois6" default="/perception/object_recognition/detection/rois6"/>
<arg name="detection_rois6" default="/perception/object_recognition/detection/rois8"/>
<arg name="image_raw7" default="/image_raw7"/>
<arg name="camera_info7" default="/camera_info7"/>
<arg name="detection_rois7" default="/perception/object_recognition/detection/rois7"/>
<arg name="image_number" default="1" description="choose image raw number(1-8)"/>
<arg name="detection_rois7" default="/perception/object_recognition/detection/rois9"/>
<arg name="image_raw8" default="/image_raw8"/>
<arg name="camera_info8" default="/camera_info8"/>
<arg name="detection_rois8" default="/perception/object_recognition/detection/rois10"/>
<arg name="image_number" default="1" description="choose image raw number"/>

<!-- Jetson AGX -->
<!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/multiple_yolox.launch.xml">
Expand Down Expand Up @@ -70,6 +73,8 @@
<arg name="input/rois6" value="$(var detection_rois6)"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="$(var detection_rois7)"/>
<arg name="input/camera_info8" value="$(var camera_info8)"/>
<arg name="input/rois8" value="$(var detection_rois8)"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/image0" value="$(var image_raw0)"/>
<arg name="input/image1" value="$(var image_raw1)"/>
Expand All @@ -79,6 +84,7 @@
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/image8" value="$(var image_raw8)"/>
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="objects"/>
<arg name="model_name" value="$(var lidar_detection_model)"/>
Expand Down Expand Up @@ -138,6 +144,8 @@
<arg name="input/rois6" value="$(var detection_rois6)"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="$(var detection_rois7)"/>
<arg name="input/camera_info8" value="$(var camera_info8)"/>
<arg name="input/rois8" value="$(var detection_rois8)"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/image0" value="$(var image_raw0)"/>
<arg name="input/image1" value="$(var image_raw1)"/>
Expand All @@ -147,6 +155,7 @@
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/image8" value="$(var image_raw8)"/>
<arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
<arg name="output_clusters" value="clusters"/>
<arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
Expand Down Expand Up @@ -194,6 +203,8 @@
<arg name="input/rois6" value="$(var detection_rois6)"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="$(var detection_rois7)"/>
<arg name="input/camera_info8" value="$(var camera_info8)"/>
<arg name="input/rois8" value="$(var detection_rois8)"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/clusters" value="$(var input/clustering)"/>
<arg name="input/image0" value="$(var image_raw0)"/>
Expand All @@ -204,6 +215,7 @@
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/image8" value="$(var image_raw8)"/>
<arg name="output/clusters" value="clusters"/>
<arg name="param_path" value="$(var roi_cluster_fusion_param_path)"/>
</include>
Expand Down
3 changes: 3 additions & 0 deletions ...rception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
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Expand Up @@ -67,6 +67,8 @@
<arg name="input/rois6" value="$(var detection_rois6)"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="$(var detection_rois7)"/>
<arg name="input/camera_info8" value="$(var camera_info8)"/>
<arg name="input/rois8" value="$(var detection_rois8)"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/image0" value="$(var image_raw0)"/>
<arg name="input/image1" value="$(var image_raw1)"/>
Expand All @@ -76,6 +78,7 @@
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/image8" value="$(var image_raw8)"/>
<arg name="input/objects" value="$(var camera_roi_fusion/input/objects)"/>
<arg name="output/objects" value="$(var camera_roi_fusion/output/objects)"/>
<arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
Expand Down
3 changes: 3 additions & 0 deletions ...on_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
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Expand Up @@ -90,6 +90,8 @@
<arg name="input/rois6" value="$(var detection_rois6)"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="$(var detection_rois7)"/>
<arg name="input/camera_info8" value="$(var camera_info8)"/>
<arg name="input/rois8" value="$(var detection_rois8)"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/image0" value="$(var image_raw0)"/>
<arg name="input/image1" value="$(var image_raw1)"/>
Expand All @@ -99,6 +101,7 @@
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/image8" value="$(var image_raw8)"/>
<arg name="input/objects" value="$(var camera_roi_fusion/input/objects)"/>
<arg name="output/objects" value="$(var camera_roi_fusion/output/objects)"/>
<arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
Expand Down
31 changes: 18 additions & 13 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -48,31 +48,34 @@
<arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
<arg name="image_raw0" default="/sensing/camera/camera0/image_raw" description="image raw topic name"/>
<arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
<arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
<arg name="image_raw1" default="/sensing/camera/camera1/image_rect_color"/>
<arg name="image_raw1" default="/sensing/camera/camera1/image_raw"/>
<arg name="camera_info1" default="/sensing/camera/camera1/camera_info"/>
<arg name="detection_rois1" default="/perception/object_recognition/detection/rois1"/>
<arg name="image_raw2" default="/sensing/camera/camera2/image_rect_color"/>
<arg name="image_raw2" default="/sensing/camera/camera2/image_raw"/>
<arg name="camera_info2" default="/sensing/camera/camera2/camera_info"/>
<arg name="detection_rois2" default="/perception/object_recognition/detection/rois2"/>
<arg name="image_raw3" default="/sensing/camera/camera3/image_rect_color"/>
<arg name="image_raw3" default="/sensing/camera/camera3/image_raw"/>
<arg name="camera_info3" default="/sensing/camera/camera3/camera_info"/>
<arg name="detection_rois3" default="/perception/object_recognition/detection/rois3"/>
<arg name="image_raw4" default="/sensing/camera/camera4/image_rect_color"/>
<arg name="image_raw4" default="/sensing/camera/camera4/image_raw"/>
<arg name="camera_info4" default="/sensing/camera/camera4/camera_info"/>
<arg name="detection_rois4" default="/perception/object_recognition/detection/rois4"/>
<arg name="image_raw5" default="/sensing/camera/camera5/image_rect_color"/>
<arg name="image_raw5" default="/sensing/camera/camera5/image_raw"/>
<arg name="camera_info5" default="/sensing/camera/camera5/camera_info"/>
<arg name="detection_rois5" default="/perception/object_recognition/detection/rois5"/>
<arg name="image_raw6" default="/sensing/camera/camera6/image_rect_color"/>
<arg name="camera_info6" default="/sensing/camera/camera6/camera_info"/>
<arg name="detection_rois6" default="/perception/object_recognition/detection/rois6"/>
<arg name="image_raw7" default="/sensing/camera/camera7/image_rect_color"/>
<arg name="camera_info7" default="/sensing/camera/camera7/camera_info"/>
<arg name="detection_rois7" default="/perception/object_recognition/detection/rois7"/>
<arg name="image_number" default="6" description="choose image raw number(1-8)"/>
<arg name="image_raw6" default="/sensing/camera/camera8/image_raw"/>
<arg name="camera_info6" default="/sensing/camera/camera8/camera_info"/>
<arg name="detection_rois6" default="/perception/object_recognition/detection/rois8"/>
<arg name="image_raw7" default="/sensing/camera/camera9/image_raw"/>
<arg name="camera_info7" default="/sensing/camera/camera9/camera_info"/>
<arg name="detection_rois7" default="/perception/object_recognition/detection/rois9"/>
<arg name="image_raw8" default="/sensing/camera/camera10/image_raw"/>
<arg name="camera_info8" default="/sensing/camera/camera10/camera_info"/>
<arg name="detection_rois8" default="/perception/object_recognition/detection/rois10"/>
<arg name="image_number" default="9" description="choose image raw number"/>
<arg name="use_vector_map" default="true" description="use vector map in prediction"/>
<arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
<arg name="use_low_height_cropbox" default="true" description="use low height crop filter in clustering"/>
Expand Down Expand Up @@ -204,6 +207,8 @@
<arg name="camera_info6" value="$(var camera_info6)"/>
<arg name="image_raw7" value="$(var image_raw7)"/>
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_raw8" value="$(var image_raw8)"/>
<arg name="camera_info8" value="$(var camera_info8)"/>
<arg name="image_number" value="$(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)"/>
Expand Down
6 changes: 6 additions & 0 deletions perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml
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Expand Up @@ -16,6 +16,8 @@
<arg name="input/camera_info6" default="/camera_info6"/>
<arg name="input/rois7" default="rois7"/>
<arg name="input/camera_info7" default="/camera_info7"/>
<arg name="input/rois8" default="rois8"/>
<arg name="input/camera_info8" default="/camera_info8"/>
<arg name="input/clusters" default="clusters"/>
<arg name="output/clusters" default="labeled_clusters"/>
<arg name="param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_cluster_fusion.param.yaml"/>
Expand All @@ -30,6 +32,7 @@
<arg name="input/image5" default="/image_raw5"/>
<arg name="input/image6" default="/image_raw6"/>
<arg name="input/image7" default="/image_raw7"/>
<arg name="input/image8" default="/image_raw8"/>
<group>
<node pkg="image_projection_based_fusion" exec="roi_cluster_fusion_node" name="roi_cluster_fusion" output="screen">
<param name="rois_number" value="$(var input/rois_number)"/>
Expand Down Expand Up @@ -63,6 +66,9 @@
<param name="input/rois7" value="$(var input/rois7)"/>
<param name="input/camera_info7" value="$(var input/camera_info7)"/>
<param name="input/image7" value="$(var input/image7)"/>
<param name="input/rois8" value="$(var input/rois8)"/>
<param name="input/camera_info8" value="$(var input/camera_info8)"/>
<param name="input/image8" value="$(var input/image8)"/>
</node>
</group>
</launch>
6 changes: 6 additions & 0 deletions perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml
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Expand Up @@ -16,6 +16,8 @@
<arg name="input/camera_info6" default="/camera_info6"/>
<arg name="input/rois7" default="rois7"/>
<arg name="input/camera_info7" default="/camera_info7"/>
<arg name="input/rois8" default="rois8"/>
<arg name="input/camera_info8" default="/camera_info8"/>
<arg name="input/objects" default="objects"/>
<arg name="output/objects" default="fused_objects"/>
<arg name="param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_detected_object_fusion.param.yaml"/>
Expand All @@ -33,6 +35,7 @@
<arg name="input/image5" default="/image_raw5"/>
<arg name="input/image6" default="/image_raw6"/>
<arg name="input/image7" default="/image_raw7"/>
<arg name="input/image8" default="/image_raw8"/>

<group>
<node pkg="image_projection_based_fusion" exec="roi_detected_object_fusion_node" name="roi_detected_object_fusion" output="screen">
Expand Down Expand Up @@ -67,6 +70,9 @@
<param name="input/rois7" value="$(var input/rois7)"/>
<param name="input/camera_info7" value="$(var input/camera_info7)"/>
<param name="input/image7" value="$(var input/image7)"/>
<param name="input/rois8" value="$(var input/rois8)"/>
<param name="input/camera_info8" value="$(var input/camera_info8)"/>
<param name="input/image8" value="$(var input/image8)"/>
</node>
</group>
</launch>
6 changes: 6 additions & 0 deletions perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml
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Expand Up @@ -16,6 +16,8 @@
<arg name="input/camera_info6" default="/camera_info6"/>
<arg name="input/rois7" default="rois7"/>
<arg name="input/camera_info7" default="/camera_info7"/>
<arg name="input/rois8" default="rois8"/>
<arg name="input/camera_info8" default="/camera_info8"/>
<arg name="input/pointcloud" default="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
<arg name="output/pointcloud" default="roi_pointcloud_fusion/output/pointcloud"/>
<arg name="output_clusters" default="output_clusters"/>
Expand All @@ -33,6 +35,7 @@
<arg name="input/image5" default="/image_raw5"/>
<arg name="input/image6" default="/image_raw6"/>
<arg name="input/image7" default="/image_raw7"/>
<arg name="input/image8" default="/image_raw8"/>
<group>
<node pkg="image_projection_based_fusion" exec="roi_pointcloud_fusion_node" name="roi_pointcloud_fusion" output="screen">
<param name="rois_number" value="$(var input/rois_number)"/>
Expand Down Expand Up @@ -68,6 +71,9 @@
<param name="input/rois7" value="$(var input/rois7)"/>
<param name="input/camera_info7" value="$(var input/camera_info7)"/>
<param name="input/image7" value="$(var input/image7)"/>
<param name="input/rois8" value="$(var input/rois8)"/>
<param name="input/camera_info8" value="$(var input/camera_info8)"/>
<param name="input/image8" value="$(var input/image8)"/>
</node>
</group>
</launch>
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