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refactor(radar_object_clustering): move radar object clustering param…
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…eter to param file (#5451)

* move radar object clustering parameter to param file

Signed-off-by: yoshiri <[email protected]>

* remove default parameter settings and fix cmakelists

---------

Signed-off-by: yoshiri <[email protected]>
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@YoshiRi
YoshiRi authored Nov 16, 2023
1 parent e28a501 commit a0a481c
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Showing 9 changed files with 38 additions and 45 deletions.
5 changes: 2 additions & 3 deletions .../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
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Expand Up @@ -50,6 +50,7 @@
<arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
<arg name="use_near_radar_fusion" default="false"/>
<arg name="far_object_merger_sync_queue_size" default="20"/>
<arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>

<!-- Filter output name. Switch output topic name by 'use_radar_tracking_fusion' parameter defined in perception.launch -->
<let name="output_of_filtered_objects" value="$(var output/objects)" if="$(var use_radar_tracking_fusion)"/>
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<arg name="filter/velocity_threshold" value="3.0"/>
<arg name="split/velocity_threshold" value="4.5"/>
<arg name="split_range" value="70.0"/>
<arg name="clustering/angle_threshold" value="0.174"/>
<arg name="clustering/distance_threshold" value="10.0"/>
<arg name="clustering/velocity_threshold" value="4.0"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</group>

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2 changes: 2 additions & 0 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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Expand Up @@ -32,6 +32,7 @@
<!-- Radar parameters -->
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
<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"/>

<!-- Camera-LiDAR fusion parameters -->
<arg name="remove_unknown" default="true"/>
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<arg name="input/radar" value="$(var input/radar)"/>
<arg name="output/objects" value="objects"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</group>
</launch>
5 changes: 2 additions & 3 deletions ...ception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
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Expand Up @@ -11,6 +11,7 @@
<!-- Radar parameters -->
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
<arg name="radar_lanelet_filtering_range_param" default="$(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"/>

<!-- LiDAR detection-->
<group>
Expand All @@ -37,9 +38,7 @@
<arg name="filter/velocity_threshold" value="3.0"/>
<arg name="split/velocity_threshold" value="4.5"/>
<arg name="split_range" value="70.0"/>
<arg name="clustering/angle_threshold" value="0.174"/>
<arg name="clustering/distance_threshold" value="10.0"/>
<arg name="clustering/velocity_threshold" value="4.0"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</group>

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14 changes: 2 additions & 12 deletions ...r4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
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Expand Up @@ -6,10 +6,8 @@
<arg name="filter/velocity_threshold" default="1.5"/>
<arg name="split/velocity_threshold" default="5.5"/>
<arg name="split_range" default="80.0"/>
<arg name="clustering/angle_threshold" default="0.349"/>
<arg name="clustering/distance_threshold" default="10.0"/>
<arg name="clustering/velocity_threshold" default="5.0"/>
<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 -->
<include file="$(find-pkg-share radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
Expand Down Expand Up @@ -43,14 +41,6 @@
<include file="$(find-pkg-share radar_object_clustering)/launch/radar_object_clustering.launch.xml">
<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="$(var clustering/distance_threshold)"/>
<arg name="velocity_threshold" value="$(var clustering/velocity_threshold)"/>
<arg name="is_fixed_label" value="true"/>
<arg name="fixed_label" value="CAR"/>
<arg name="is_fixed_size" value="true"/>
<arg name="size_x" value="4.0"/>
<arg name="size_y" value="1.5"/>
<arg name="size_z" value="1.5"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</launch>
3 changes: 3 additions & 0 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -12,6 +12,7 @@
<arg name="object_recognition_detection_fusion_sync_param_path"/>
<arg name="object_recognition_detection_lidar_model_param_path"/>
<arg name="object_recognition_detection_radar_lanelet_filtering_range_param"/>
<arg name="object_recognition_detection_radar_object_clustering_param_path"/>
<arg name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"/>
<arg name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"/>
<arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path"/>
Expand Down Expand Up @@ -175,7 +176,9 @@
<arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
<arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var object_recognition_detection_radar_lanelet_filtering_range_param)"/>
<arg name="radar_object_clustering_param_path" value="$(var object_recognition_detection_radar_object_clustering_param_path)"/>
<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>

<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
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1 change: 1 addition & 0 deletions perception/radar_object_clustering/CMakeLists.txt
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Expand Up @@ -37,4 +37,5 @@ endif()
ament_auto_package(
INSTALL_TO_SHARE
launch
config
)
15 changes: 15 additions & 0 deletions perception/radar_object_clustering/config/radar_object_clustering.param.yaml
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@@ -0,0 +1,15 @@
/**:
ros__parameters:
# clustering parameter
angle_threshold: 0.174 # [rad] (10 deg)
distance_threshold: 10.0 # [m]
velocity_threshold: 4.0 # [m/s]

# output object settings
# set false if you want to use the object information from radar
is_fixed_label: true
fixed_label: "CAR"
is_fixed_size: true
size_x: 4.0 # [m]
size_y: 1.5 # [m]
size_z: 1.5 # [m]
20 changes: 2 additions & 18 deletions perception/radar_object_clustering/launch/radar_object_clustering.launch.xml
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Expand Up @@ -4,28 +4,12 @@
<!-- Output -->
<arg name="output/objects" default="~/output/objects"/>
<!-- Parameter -->
<arg name="angle_threshold" default="0.174"/>
<arg name="distance_threshold" default="10.0"/>
<arg name="velocity_threshold" default="4.0"/>
<arg name="is_fixed_label" default="false"/>
<arg name="fixed_label" default="UNKNOWN"/>
<arg name="is_fixed_size" default="false"/>
<arg name="size_x" default="4.0"/>
<arg name="size_y" default="1.5"/>
<arg name="size_z" default="1.5"/>
<arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>

<!-- Node -->
<node pkg="radar_object_clustering" exec="radar_object_clustering_node" name="radar_object_clustering" output="screen">
<remap from="~/input/objects" to="$(var input/objects)"/>
<remap from="~/output/objects" to="$(var output/objects)"/>
<param name="angle_threshold" value="$(var angle_threshold)"/>
<param name="distance_threshold" value="$(var distance_threshold)"/>
<param name="velocity_threshold" value="$(var velocity_threshold)"/>
<param name="is_fixed_label" value="$(var is_fixed_label)"/>
<param name="fixed_label" value="$(var fixed_label)"/>
<param name="is_fixed_size" value="$(var is_fixed_size)"/>
<param name="size_x" value="$(var size_x)"/>
<param name="size_y" value="$(var size_y)"/>
<param name="size_z" value="$(var size_z)"/>
<param from="$(var radar_object_clustering_param_path)"/>
</node>
</launch>
18 changes: 9 additions & 9 deletions ...radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp
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Expand Up @@ -71,15 +71,15 @@ RadarObjectClusteringNode::RadarObjectClusteringNode(const rclcpp::NodeOptions &
std::bind(&RadarObjectClusteringNode::onSetParam, this, std::placeholders::_1));

// Node Parameter
node_param_.angle_threshold = declare_parameter<double>("angle_threshold", 0.174);
node_param_.distance_threshold = declare_parameter<double>("distance_threshold", 4.0);
node_param_.velocity_threshold = declare_parameter<double>("velocity_threshold", 2.0);
node_param_.is_fixed_label = declare_parameter<bool>("is_fixed_label", false);
node_param_.fixed_label = declare_parameter<std::string>("fixed_label", "UNKNOWN");
node_param_.is_fixed_size = declare_parameter<bool>("is_fixed_size", false);
node_param_.size_x = declare_parameter<double>("size_x", 4.0);
node_param_.size_y = declare_parameter<double>("size_y", 1.5);
node_param_.size_z = declare_parameter<double>("size_z", 1.5);
node_param_.angle_threshold = declare_parameter<double>("angle_threshold");
node_param_.distance_threshold = declare_parameter<double>("distance_threshold");
node_param_.velocity_threshold = declare_parameter<double>("velocity_threshold");
node_param_.is_fixed_label = declare_parameter<bool>("is_fixed_label");
node_param_.fixed_label = declare_parameter<std::string>("fixed_label");
node_param_.is_fixed_size = declare_parameter<bool>("is_fixed_size");
node_param_.size_x = declare_parameter<double>("size_x");
node_param_.size_y = declare_parameter<double>("size_y");
node_param_.size_z = declare_parameter<double>("size_z");

// Subscriber
sub_objects_ = create_subscription<DetectedObjects>(
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