fix(euclidean_cluster): reduce false negative

launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml

@@ -30,7 +30,6 @@
   <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_downsample_pointcloud" default="true" description="use downsample pointcloud in perception"/>
   <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="container_name" default="pointcloud_container"/>
@@ -74,7 +73,6 @@
         <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
         <arg name="output_clusters" value="clusters"/>
         <arg name="use_pointcloud_map" value="false"/>
-        <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
       </include>
     </group>
 

launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml

@@ -4,7 +4,6 @@
   <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_downsample_pointcloud" default="true" description="use downsample pointcloud in perception"/>
   <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="container_name" default="pointcloud_container"/>
@@ -60,7 +59,6 @@
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
       <arg name="score_threshold" value="$(var score_threshold)"/>
-      <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
     </include>
   </group>
 

launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml

@@ -5,7 +5,6 @@
   <arg name="output/objects" default="objects"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
-  <arg name="use_downsample_pointcloud" default="true" description="use downsample pointcloud in perception"/>
   <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="container_name" default="pointcloud_container"/>
@@ -34,7 +33,6 @@
         <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
         <arg name="output_clusters" value="clusters"/>
         <arg name="use_pointcloud_map" value="false"/>
-        <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
       </include>
     </group>
 

launch/tier4_perception_launch/launch/perception.launch.xml

@@ -58,7 +58,6 @@
   <arg name="image_number" default="6" description="choose image raw number(1-8)"/>
   <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_downsample_pointcloud" default="false" description="use downsample pointcloud in perception"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg
     name="use_empty_dynamic_object_publisher"
@@ -146,7 +145,6 @@
           <arg name="voxel_grid_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_param_path)"/>
           <arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-          <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
           <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)"/>

perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py

@@ -16,10 +16,9 @@
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
 from launch.conditions import IfCondition
-from launch.substitutions import AndSubstitution
+from launch.conditions import UnlessCondition
 from launch.substitutions import AnonName
 from launch.substitutions import LaunchConfiguration
-from launch.substitutions import NotSubstitution
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
@@ -165,7 +164,7 @@ def load_composable_node_param(param_path):
     )
 
     # set euclidean cluster as a component
-    use_downsample_euclidean_cluster_component = ComposableNode(
+    euclidean_cluster_component = ComposableNode(
         package=pkg,
         namespace=ns,
         plugin="euclidean_cluster::VoxelGridBasedEuclideanClusterNode",
@@ -177,108 +176,40 @@ def load_composable_node_param(param_path):
         parameters=[load_composable_node_param("voxel_grid_based_euclidean_param_path")],
     )
 
-    use_map_disuse_downsample_euclidean_component = ComposableNode(
-        package=pkg,
-        namespace=ns,
-        plugin="euclidean_cluster::VoxelGridBasedEuclideanClusterNode",
-        name="euclidean_cluster",
-        remappings=[
-            ("input", "map_filter/pointcloud"),
-            ("output", LaunchConfiguration("output_clusters")),
-        ],
-        parameters=[load_composable_node_param("voxel_grid_based_euclidean_param_path")],
-    )
-    disuse_map_disuse_downsample_euclidean_component = ComposableNode(
-        package=pkg,
-        namespace=ns,
-        plugin="euclidean_cluster::VoxelGridBasedEuclideanClusterNode",
-        name="euclidean_cluster",
-        remappings=[
-            ("input", LaunchConfiguration("input_pointcloud")),
-            ("output", LaunchConfiguration("output_clusters")),
-        ],
-        parameters=[load_composable_node_param("voxel_grid_based_euclidean_param_path")],
-    )
-
     container = ComposableNodeContainer(
         name="euclidean_cluster_container",
         package="rclcpp_components",
         namespace=ns,
         executable="component_container",
-        composable_node_descriptions=[],
+        composable_node_descriptions=[
+            voxel_grid_filter_component,
+            outlier_filter_component,
+            downsample_concat_component,
+            euclidean_cluster_component,
+        ],
         output="screen",
     )
 
-    use_map_use_downsample_loader = LoadComposableNodes(
+    use_map_loader = LoadComposableNodes(
         composable_node_descriptions=[
             compare_map_filter_component,
             use_map_short_range_crop_box_filter_component,
             use_map_long_range_crop_box_filter_component,
-            voxel_grid_filter_component,
-            outlier_filter_component,
-            downsample_concat_component,
-            use_downsample_euclidean_cluster_component,
         ],
         target_container=container,
-        condition=IfCondition(
-            AndSubstitution(
-                LaunchConfiguration("use_pointcloud_map"),
-                LaunchConfiguration("use_downsample_pointcloud"),
-            )
-        ),
+        condition=IfCondition(LaunchConfiguration("use_pointcloud_map")),
     )
 
-    disuse_map_use_downsample_loader = LoadComposableNodes(
+    disuse_map_loader = LoadComposableNodes(
         composable_node_descriptions=[
             disuse_map_short_range_crop_box_filter_component,
             disuse_map_long_range_crop_box_filter_component,
-            voxel_grid_filter_component,
-            outlier_filter_component,
-            downsample_concat_component,
-            use_downsample_euclidean_cluster_component,
         ],
         target_container=container,
-        condition=IfCondition(
-            AndSubstitution(
-                NotSubstitution(LaunchConfiguration("use_pointcloud_map")),
-                LaunchConfiguration("use_downsample_pointcloud"),
-            )
-        ),
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_map")),
     )
 
-    use_map_disuse_downsample_loader = LoadComposableNodes(
-        composable_node_descriptions=[
-            compare_map_filter_component,
-            use_map_disuse_downsample_euclidean_component,
-        ],
-        target_container=container,
-        condition=IfCondition(
-            AndSubstitution(
-                (LaunchConfiguration("use_pointcloud_map")),
-                NotSubstitution(LaunchConfiguration("use_downsample_pointcloud")),
-            )
-        ),
-    )
-
-    disuse_map_disuse_downsample_loader = LoadComposableNodes(
-        composable_node_descriptions=[
-            disuse_map_disuse_downsample_euclidean_component,
-        ],
-        target_container=container,
-        condition=IfCondition(
-            AndSubstitution(
-                NotSubstitution(LaunchConfiguration("use_pointcloud_map")),
-                NotSubstitution(LaunchConfiguration("use_downsample_pointcloud")),
-            )
-        ),
-    )
-    return [
-        container,
-        use_map_use_downsample_loader,
-        disuse_map_use_downsample_loader,
-        use_map_disuse_downsample_loader,
-        disuse_map_disuse_downsample_loader,
-    ]
+    return [container, use_map_loader, disuse_map_loader]
 
 
 def generate_launch_description():
@@ -291,7 +222,6 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("input_map", "/map/pointcloud_map"),
             add_launch_arg("output_clusters", "clusters"),
             add_launch_arg("use_pointcloud_map", "false"),
-            add_launch_arg("use_downsample_pointcloud", "false"),
             add_launch_arg(
                 "voxel_grid_param_path",
                 [

perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml

@@ -4,7 +4,6 @@
   <arg name="input_map" default="/map/pointcloud_map"/>
   <arg name="output_clusters" default="clusters"/>
   <arg name="use_pointcloud_map" default="false"/>
-  <arg name="use_downsample_pointcloud" default="false"/>
   <arg name="voxel_grid_param_path" default="$(find-pkg-share euclidean_cluster)/config/voxel_grid.param.yaml"/>
   <arg name="compare_map_param_path" default="$(find-pkg-share euclidean_cluster)/config/compare_map.param.yaml"/>
   <arg name="outlier_param_path" default="$(find-pkg-share euclidean_cluster)/config/outlier.param.yaml"/>
@@ -15,7 +14,6 @@
     <arg name="input_map" value="$(var input_map)"/>
     <arg name="output_clusters" value="$(var output_clusters)"/>
     <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-    <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
     <arg name="voxel_grid_param_path" value="$(var voxel_grid_param_path)"/>
     <arg name="compare_map_param_path" value="$(var compare_map_param_path)"/>
     <arg name="outlier_param_path" value="$(var outlier_param_path)"/>

sensing/pointcloud_preprocessor/CMakeLists.txt

@@ -41,21 +41,6 @@ ament_target_dependencies(pointcloud_preprocessor_filter_base
   pcl_ros
 )
 
-add_library(faster_voxel_grid_downsample_filter SHARED
-  src/downsample_filter/faster_voxel_grid_downsample_filter.cpp
-)
-
-target_include_directories(faster_voxel_grid_downsample_filter PUBLIC
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
-)
-
-ament_target_dependencies(faster_voxel_grid_downsample_filter
-  pcl_conversions
-  rclcpp
-  sensor_msgs
-)
-
 ament_auto_add_library(pointcloud_preprocessor_filter SHARED
   src/utility/utilities.cpp
   src/concatenate_data/concatenate_and_time_sync_nodelet.cpp
@@ -82,7 +67,6 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
 
 target_link_libraries(pointcloud_preprocessor_filter
   pointcloud_preprocessor_filter_base
-  faster_voxel_grid_downsample_filter
   ${Boost_LIBRARIES}
   ${OpenCV_LIBRARIES}
   ${PCL_LIBRARIES}
@@ -195,13 +179,6 @@ install(
   RUNTIME DESTINATION bin
 )
 
-install(
-  TARGETS faster_voxel_grid_downsample_filter EXPORT export_${PROJECT_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)
-
 install(
   DIRECTORY include/
   DESTINATION include/${PROJECT_NAME}

sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp

@@ -54,7 +54,6 @@
 #define POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODELET_HPP_
 
 #include "pointcloud_preprocessor/filter.hpp"
-#include "pointcloud_preprocessor/transform_info.hpp"
 
 #include <geometry_msgs/msg/polygon_stamped.hpp>