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fix(tier4_perception_launch): fix faraway detection to reduce calculation cost #919

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Oct 7, 2023
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fix(tier4_perception_launch): fix faraway detection to reduce calculation cost #919

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16 changes: 8 additions & 8 deletions ...r4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,14 +20,8 @@
<arg name="velocity_threshold" value="$(var filter/velocity_threshold)"/>
</include>

<include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
<arg name="input/object" value="noise_filtered_objects"/>
<arg name="output/object" value="lanelet_filtered_objects"/>
<arg name="filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
</include>

<include file="$(find-pkg-share object_velocity_splitter)/launch/object_velocity_splitter.launch.xml">
<arg name="input/objects" value="lanelet_filtered_objects"/>
<arg name="input/objects" value="noise_filtered_objects"/>
<arg name="output/low_speed_objects" value="low_speed_objects"/>
<arg name="output/high_speed_objects" value="high_speed_objects"/>
<arg name="velocity_threshold" value="$(var split/velocity_threshold)"/>
Expand All @@ -40,8 +34,14 @@
<arg name="split_range" value="$(var split_range)"/>
</include>

<include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
<arg name="input/object" value="far_high_speed_objects"/>
<arg name="output/object" value="lanelet_filtered_objects"/>
<arg name="filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
</include>

<include file="$(find-pkg-share radar_object_clustering)/launch/radar_object_clustering.launch.xml">
<arg name="input/objects" value="far_high_speed_objects"/>
<arg name="input/objects" value="lanelet_filtered_objects"/>
<arg name="output/objects" value="$(var output/objects)"/>
<arg name="angle_threshold" value="$(var clustering/angle_threshold)"/>
<arg name="distance_threshold" value="$(var clustering/distance_threshold)"/>
Expand Down
2 changes: 2 additions & 0 deletions launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
</include>

<!--radar long range dynamic object tracking if mode contains radar input-->
<!--
<group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot; or &quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot; or &quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
<include file="$(find-pkg-share radar_object_tracker)/launch/radar_object_tracker.launch.xml">
<arg name="publish_rate" value="$(var publish_rate)"/>
Expand All @@ -25,5 +26,6 @@
<arg name="tracker_setting_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
</include>
</group>
-->
</group>
</launch>