chore: group interfaces and junctions

autowarefoundation · Jun 13, 2024 · 368e644 · 368e644
1 parent 7c8b734
commit 368e644
Showing 1 changed file with 16 additions and 13 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
@@ -1,17 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Interface parameters -->
-  <arg name="mode" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
-  <arg name="use_detection_by_tracker"/>
-  <arg name="objects_validation_method"/>
-
-  <!-- Lidar parameters -->
-  <arg name="input/pointcloud"/>
-  <arg name="lidar_detection_model" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="use_object_filter" description="use object filter"/>
-  <arg name="pointcloud_container_name"/>
-
-  <!-- Camera parameters -->
+  <!-- Camera interfaces -->
   <arg name="image_raw0"/>
   <arg name="camera_info0"/>
   <arg name="image_raw1"/>
@@ -30,9 +19,23 @@
   <arg name="camera_info7"/>
   <arg name="image_number"/>
 
-  <!-- Radar parameters -->
+  <!-- Lidar interfaces -->
+  <arg name="input/pointcloud"/>
+  <arg name="pointcloud_container_name"/>
+
+  <!-- Radar interfaces -->
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
 
+  <!-- Pipeline junctions -->
+  <arg name="mode" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
+  <arg name="lidar_detection_model" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="lidar_centerpoint_model_name" description="options: `centerpoint`, `centerpoint_tiny` or `centerpoint_sigma`"/>
+  <arg name="use_object_filter" description="use object filter"/>
+  <arg name="use_detection_by_tracker"/>
+  <arg name="use_validator" description="use obstacle_pointcloud based validator"/>
+  <arg name="objects_validation_method" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>
+  <arg name="use_pointcloud_map" description="use pointcloud map in detection"/>
+
   <!-- Camera-Lidar-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
     <!-- Camera-Lidar detectors -->