From eed5260818c1057197c894aa7f45e778720ba42d Mon Sep 17 00:00:00 2001
From: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Wed, 19 Jun 2024 18:15:30 +0900
Subject: [PATCH] chore: update object detection input paths

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 <taekjin.lee@tier4.jp>
---
 .../detection/detection.launch.xml               | 16 ++++++++++++----
 .../tracking/tracking.launch.xml                 |  8 ++++----
 2 files changed, 16 insertions(+), 8 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
index 304a5cb5725cc..bc1d5b946dab7 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -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"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
index ec27eb50d88af..95b6dcaf82c49 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -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)"/>