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chore: update object detection input paths
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This commit updates the input paths for object detection. It ensures that the correct paths are used for the detection process.

Signed-off-by: Taekjin LEE <[email protected]>
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technolojin committed Jun 19, 2024
1 parent 814f95f commit eed5260
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Showing 2 changed files with 16 additions and 8 deletions.
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Expand Up @@ -82,17 +82,25 @@
<let name="switch/detector/camera_lidar" value="true"/>
<let name="switch/detector/lidar_dnn" value="true"/>
<let name="switch/detector/radar" value="true"/>
<let name="switch/filter/camera_lidar_object" value="true" if="$(var use_multi_channel_tracker_merger)"/>
<let name="switch/filter/lidar_object" value="true" if="$(var use_multi_channel_tracker_merger)"/>
<let name="switch/merger/camera_lidar_radar" value="true" unless="$(var use_multi_channel_tracker_merger)"/>
<group scoped="false" if="$(var use_multi_channel_tracker_merger)">
<let name="switch/filter/camera_lidar_object" value="true"/>
<let name="switch/filter/lidar_object" value="true"/>
<let name="camera_lidar_rule_detector/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/unfiltered/objects"/>
<let name="camera_lidar_object_filter/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/objects"/>
</group>
</group>
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
<let name="switch/filter/pointcloud" value="true"/>
<let name="switch/detector/camera_lidar" value="true"/>
<let name="switch/detector/lidar_dnn" value="true"/>
<let name="switch/filter/camera_lidar_object" value="true" if="$(var use_multi_channel_tracker_merger)"/>
<let name="switch/filter/lidar_object" value="true" if="$(var use_multi_channel_tracker_merger)"/>
<let name="switch/merger/camera_lidar" value="true" unless="$(var use_multi_channel_tracker_merger)"/>
<group scoped="false" if="$(var use_multi_channel_tracker_merger)">
<let name="switch/filter/camera_lidar_object" value="true"/>
<let name="switch/filter/lidar_object" value="true"/>
<let name="camera_lidar_rule_detector/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/unfiltered/objects"/>
<let name="camera_lidar_object_filter/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/objects"/>
</group>
</group>
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
<let name="switch/filter/pointcloud" value="true"/>
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Expand Up @@ -70,14 +70,14 @@
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
<let
name="detection_enabled_channels"
value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion_filtered','detection_by_tracker','radar_far']"
value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','detection_by_tracker','radar_far']"
if="$(var use_detection_by_tracker)"
/>
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion_filtered','radar_far']" unless="$(var use_detection_by_tracker)"/>
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','radar_far']" unless="$(var use_detection_by_tracker)"/>
</group>
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion_filtered','detection_by_tracker']" if="$(var use_detection_by_tracker)"/>
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion_filtered']" unless="$(var use_detection_by_tracker)"/>
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion','detection_by_tracker']" if="$(var use_detection_by_tracker)"/>
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','camera_lidar_fusion']" unless="$(var use_detection_by_tracker)"/>
</group>
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
<let name="detection_enabled_channels" value="['lidar_$(var lidar_detection_model)_validated','detection_by_tracker','radar_far']" if="$(var use_detection_by_tracker)"/>
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