chore(tier4_perception_launch): perception launcher refactoring (#7194)

* fix: reorder object merger launchers Signed-off-by: Taekjin LEE <[email protected]> * fix: separate detection by tracker launch Signed-off-by: Taekjin LEE <[email protected]> * fix: refactor tracking launch Signed-off-by: Taekjin LEE <[email protected]> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <[email protected]> * fix: input pointcloud topic names, mot input channels Signed-off-by: Taekjin LEE <[email protected]> * feat: separate filters Signed-off-by: Taekjin LEE <[email protected]> * fix: object validator to modular Signed-off-by: Taekjin LEE <[email protected]> * fix: implement filters on mergers Signed-off-by: Taekjin LEE <[email protected]> * fix lidar only mode chore: simplify mode check Signed-off-by: Taekjin LEE <[email protected]> * fix: fix a bug when use_radar_tracking_fusion is fault Signed-off-by: Taekjin LEE <[email protected]> * fix: rename radar detector to filter Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Jun 12, 2024 · 221ce4b · 221ce4b
1 parent 67bfa58
commit 221ce4b
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Showing 13 changed files with 348 additions and 243 deletions.
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -2,6 +2,7 @@
 <launch>
   <!-- Interface parameters -->
   <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
+  <arg name="use_detection_by_tracker"/>
 
   <!-- Lidar parameters -->
   <arg name="input/pointcloud"/>
@@ -65,10 +66,10 @@
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     </include>
-    <!-- Radar detector-->
+    <!-- Radar detector/filter-->
     <group>
       <push-ros-namespace namespace="radar"/>
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
         <arg name="input/radar" value="$(var input/radar)"/>
         <arg name="output/objects" value="far_objects"/>
         <arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
@@ -78,6 +79,12 @@
         <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
       </include>
     </group>
+    <!-- DetectionByTracker -->
+    <group if="$(var use_detection_by_tracker)">
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
+        <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+      </include>
+    </group>
     <!-- Object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml">
       <arg name="image_raw0" value="$(var image_raw0)"/>
@@ -98,6 +105,8 @@
       <arg name="camera_info7" value="$(var camera_info7)"/>
       <arg name="image_number" value="$(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)"/>
+      <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="roi_detected_object_fusion_param_path" value="$(var roi_detected_object_fusion_param_path)"/>
@@ -138,6 +147,12 @@
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     </include>
+    <!-- DetectionByTracker -->
+    <group if="$(var use_detection_by_tracker)">
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
+        <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+      </include>
+    </group>
     <!-- Object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
       <arg name="image_raw0" value="$(var image_raw0)"/>
@@ -159,16 +174,17 @@
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+      <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>
 
   <!-- Lidar-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
-    <!-- Radar detector-->
+    <!-- Radar detector/filter-->
     <group>
       <push-ros-namespace namespace="radar"/>
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
         <arg name="input/radar" value="$(var input/radar)"/>
         <arg name="output/objects" value="far_objects"/>
         <arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
@@ -189,10 +205,17 @@
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
+    <!-- DetectionByTracker -->
+    <group if="$(var use_detection_by_tracker)">
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
+        <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+      </include>
+    </group>
     <!-- Lidar object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
       <arg name="output/objects" value="lidar/objects"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+      <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
     </include>
@@ -217,18 +240,25 @@
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
+    <!-- DetectionByTracker -->
+    <group if="$(var use_detection_by_tracker)">
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
+        <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+      </include>
+    </group>
     <!-- Lidar object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+      <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
     </include>
   </group>
 
   <!-- Radar based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
-    <!-- Radar detector-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
+    <!-- Radar detector/filter-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="output/objects" value="objects"/>
       <arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>

diff --git a/...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -94,7 +94,7 @@
 
   <!-- Pointcloud filter -->
   <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py">
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
@@ -234,12 +234,4 @@
       </group>
     </group>
   </group>
-
-  <!-- DetectionByTracker -->
-  <group if="$(var use_detection_by_tracker)">
-    <push-ros-namespace namespace="detection_by_tracker"/>
-    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
-      <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
-    </include>
-  </group>
 </launch>
diff --git a/...eption_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/...eption_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
@@ -6,7 +6,7 @@
 
   <!-- Pointcloud filter -->
   <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py">
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
       <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
       <arg name="use_intra_process" value="true"/>
@@ -45,12 +45,4 @@
       </include>
     </group>
   </group>
-
-  <!-- DetectionByTracker -->
-  <group if="$(var use_detection_by_tracker)">
-    <push-ros-namespace namespace="detection_by_tracker"/>
-    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
-      <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
-    </include>
-  </group>
 </launch>
diff --git a/...ion_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml b/...ion_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- DetectionByTracker -->
+  <group>
+    <push-ros-namespace namespace="detection_by_tracker"/>
+    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
+      <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+    </include>
+  </group>
+</launch>
diff --git a/...er4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml b/...er4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Pipeline junctions -->
+  <arg name="objects_filter_method" default="lanelet_filter" description="lanelet_filter or position_filter"/>
+
+  <!-- external interfaces -->
+  <arg name="input/objects" default="clustering/camera_lidar_fusion/objects"/>
+  <arg name="output/objects" default="clustering/camera_lidar_fusion/filtered/objects"/>
+
+  <!-- Filter -->
+  <group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
+    <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
+      <arg name="input/object" value="$(var input/objects)"/>
+      <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
+    </include>
+  </group>
+  <group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
+    <include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml">
+      <arg name="input/object" value="$(var input/objects)"/>
+      <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
+    </include>
+  </group>
+</launch>
diff --git a/..._perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml b/..._perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Pipeline junctions -->
+  <arg name="objects_validation_method" default="obstacle_pointcloud" description="obstacle_pointcloud or occupancy_grid"/>
+
+  <!-- external interfaces -->
+  <arg name="input/obstacle_pointcloud" default="pointcloud_map_filtered/pointcloud" description="Only required when 'obstacle_pointcloud'"/>
+  <arg name="input/objects" default="centerpoint/objects"/>
+  <arg name="output/objects" default="centerpoint/validation/objects"/>
+
+  <!-- Validator -->
+  <group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
+    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml">
+      <arg name="input/detected_objects" value="$(var input/objects)"/>
+      <arg name="input/obstacle_pointcloud" value="$(var input/obstacle_pointcloud)"/>
+      <arg name="output/objects" value="$(var output/objects)"/>
+      <arg name="obstacle_pointcloud_based_validator_param_path" value="$(var object_recognition_detection_obstacle_pointcloud_based_validator_param_path)"/>
+    </include>
+  </group>
+  <group if="$(eval &quot;'$(var objects_validation_method)'=='occupancy_grid'&quot;)">
+    <include file="$(find-pkg-share detected_object_validation)/launch/occupancy_grid_based_validator.launch.xml">
+      <arg name="input/detected_objects" value="$(var input/objects)"/>
+      <arg name="output/objects" value="$(var output/objects)"/>
+    </include>
+  </group>
+</launch>
diff --git a/...detection/pointcloud_map_filter.launch.py → ...on/filter/pointcloud_map_filter.launch.py b/...detection/pointcloud_map_filter.launch.py → ...on/filter/pointcloud_map_filter.launch.py
diff --git a/...ection/detector/radar_detector.launch.xml → .../detection/filter/radar_filter.launch.xml b/...ection/detector/radar_detector.launch.xml → .../detection/filter/radar_filter.launch.xml
@@ -1,14 +1,17 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
-  <arg name="output/objects" default="far_objects"/>
+  <!-- Parameters -->
   <arg name="radar_crossing_objects_noise_filter_param_path"/>
   <arg name="object_velocity_splitter_param_path" default="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
   <arg name="object_range_splitter_param_path" default="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
   <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"/>
 
-  <!-- Detection for far dynamic objects -->
+  <!-- External interfaces -->
+  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
+  <arg name="output/objects" default="far_objects"/>
+
+  <!-- Radar filter pipeline -->
   <include file="$(find-pkg-share radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
     <arg name="input/objects" value="$(var input/radar)"/>
     <arg name="output/noise_objects" value="noise_objects"/>