Skip to content

Commit

Permalink
fix: rename radar detector to filter
Browse files Browse the repository at this point in the history
  • Loading branch information
technolojin committed Jun 11, 2024
1 parent 34fbb15 commit 72968d4
Show file tree
Hide file tree
Showing 5 changed files with 15 additions and 12 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -66,10 +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)"/>
Expand Down Expand Up @@ -181,10 +181,10 @@

<!-- 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)"/>
Expand Down Expand Up @@ -257,8 +257,8 @@

<!-- 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)"/>
Expand Down
Original file line number Diff line number Diff line change
@@ -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"/>
Expand Down
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<launch>
<!-- Merger parameters -->
<!-- Parameters -->
<arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
<arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>

Expand Down
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<launch>
<!-- Merger parameters -->
<!-- Parameters -->
<arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
<arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
<arg name="far_object_merger_sync_queue_size" default="20"/>
Expand Down
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<launch>
<!-- Merger parameters -->
<!-- Parameters -->
<arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
<arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>

Expand Down

0 comments on commit 72968d4

Please sign in to comment.