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chore(tier4_perception_launch): perception launcher refactoring second round #7440

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merged 20 commits into from
Jun 20, 2024
Merged

chore(tier4_perception_launch): perception launcher refactoring second round #7440

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f8a8ba4
feat: separate filters
technolojin Jun 6, 2024
dca89aa
fix: object validator to modular
technolojin Jun 7, 2024
cd5f2b4
chore: remove default values from subsequent launch files
technolojin Jun 11, 2024
a04208a
chore: group interfaces and junctions
technolojin Jun 13, 2024
a6c79e5
Revert "chore: group interfaces and junctions"
technolojin Jun 14, 2024
dcea21c
chore: group interfaces and junctions
technolojin Jun 14, 2024
0431c42
fix: radar input
technolojin Jun 17, 2024
10d2663
fix: remove defaults from camera inputs
technolojin Jun 17, 2024
961e89c
chore: rename camera args
technolojin Jun 17, 2024
274f2f9
chore: reorder
technolojin Jun 17, 2024
9238688
fix: remove defaults from lidar interface
technolojin Jun 17, 2024
a4ce5db
Add use_pointcloud_map and use_validator arguments to detection.launc…
technolojin Jun 17, 2024
2324cc8
fix: remove default from validators and filters
technolojin Jun 17, 2024
d42c0c5
fix: pointcloud container node name
technolojin Jun 17, 2024
32d4e04
style(pre-commit): autofix
pre-commit-ci[bot] Jun 17, 2024
d56cff8
Add use_low_intensity_cluster_filter argument to launch files
technolojin Jun 17, 2024
c95d20a
fix: on off detector and merger
technolojin Jun 17, 2024
c5042a7
fix: radar_far/objects default
technolojin Jun 19, 2024
64ad0a0
fix: radar object filter parameter
technolojin Jun 19, 2024
cd076d6
Merge branch 'main' into chore/perception-launcher-refactoring2
technolojin Jun 20, 2024
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447 changes: 239 additions & 208 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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239 changes: 120 additions & 119 deletions ...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
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5 changes: 3 additions & 2 deletions ...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
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Expand Up @@ -2,6 +2,7 @@
<launch>
<!-- Lidar parameters -->
<arg name="input/pointcloud"/>
<arg name="node/pointcloud_container"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `clustering`"/>

<!-- Lidar detector centerpoint parameters -->
Expand All @@ -27,7 +28,7 @@
<arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>

<arg name="use_pointcloud_container" value="true"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
</include>
</group>
</group>
Expand All @@ -48,7 +49,7 @@
<arg name="class_remapper_param_path" value="$(var centerpoint_model_path)/detection_class_remapper.param.yaml"/>

<arg name="use_pointcloud_container" value="true"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
</include>
</group>
</group>
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12 changes: 7 additions & 5 deletions ...eption_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
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@@ -1,8 +1,10 @@
<?xml version="1.0"?>
<launch>
<!-- Lidar parameters -->
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="input/pointcloud_map/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud"/>
<arg name="node/pointcloud_container"/>
<arg name="use_pointcloud_map"/>

<!-- Pointcloud filter -->
<group>
Expand All @@ -11,7 +13,7 @@
<arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
</include>
</group>
Expand All @@ -21,12 +23,12 @@
<push-ros-namespace namespace="clustering"/>
<group>
<include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
<arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
<arg name="input_pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
<arg name="output_clusters" value="clusters"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>

<arg name="use_pointcloud_container" value="true"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
</include>
</group>

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6 changes: 3 additions & 3 deletions ...er4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml
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@@ -1,11 +1,11 @@
<?xml version="1.0"?>
<launch>
<!-- Pipeline junctions -->
<arg name="objects_filter_method" default="lanelet_filter" description="lanelet_filter or position_filter"/>
<arg name="objects_filter_method" default="lanelet_filter" description="options: `lanelet_filter` or `position_filter`"/>

<!-- external interfaces -->
<arg name="input/objects" default="clustering/camera_lidar_fusion/objects"/>
<arg name="output/objects" default="clustering/camera_lidar_fusion/filtered/objects"/>
<arg name="input/objects"/>
<arg name="output/objects"/>

<!-- Filter -->
<group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
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8 changes: 4 additions & 4 deletions ..._perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml
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@@ -1,12 +1,12 @@
<?xml version="1.0"?>
<launch>
<!-- Pipeline junctions -->
<arg name="objects_validation_method" default="obstacle_pointcloud" description="obstacle_pointcloud or occupancy_grid"/>
<arg name="objects_validation_method" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>

<!-- external interfaces -->
<arg name="input/obstacle_pointcloud" default="pointcloud_map_filtered/pointcloud" description="Only required when 'obstacle_pointcloud'"/>
<arg name="input/objects" default="centerpoint/objects"/>
<arg name="output/objects" default="centerpoint/validation/objects"/>
<arg name="input/obstacle_pointcloud" description="Only required when 'obstacle_pointcloud'"/>
<arg name="input/objects"/>
<arg name="output/objects"/>

<!-- Validator -->
<group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
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8 changes: 4 additions & 4 deletions ...ier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,12 +4,12 @@
<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="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
<arg name="radar_lanelet_filtering_range_param_path" default="$(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"/>

<!-- External interfaces -->
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
<arg name="output/objects" default="far_objects"/>
<arg name="input/radar"/>
<arg name="output/objects"/>

<!-- Radar filter pipeline -->
<include file="$(find-pkg-share radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
Expand All @@ -36,7 +36,7 @@
<include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
<arg name="input/object" value="far_high_speed_objects"/>
<arg name="output/object" value="lanelet_filtered_objects"/>
<arg name="filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
<arg name="filtering_range_param" value="$(var radar_lanelet_filtering_range_param_path)"/>
</include>

<include file="$(find-pkg-share radar_object_clustering)/launch/radar_object_clustering.launch.xml">
Expand Down
89 changes: 57 additions & 32 deletions ...rception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
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Expand Up @@ -8,17 +8,42 @@
<arg name="lidar_detection_model"/>
<arg name="use_detection_by_tracker"/>

<arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
<arg name="use_validator"/>
<arg name="objects_validation_method"/>
<arg name="use_pointcloud_map"/>
<arg name="objects_validation_method" default="obstacle_pointcloud"/>

<arg name="objects_filter_method" default="lanelet_filter"/>
<arg name="use_object_filter" default="true" description="use object filter"/>
<arg name="use_object_filter" description="use object filter"/>
<arg name="objects_filter_method"/>
<let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>

<!-- external interfaces -->
<arg name="input/pointcloud_map/pointcloud" default="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
<arg name="number_of_cameras"/>
<arg name="input/camera0/image"/>
<arg name="input/camera0/info"/>
<arg name="input/camera0/rois"/>
<arg name="input/camera1/image"/>
<arg name="input/camera1/info"/>
<arg name="input/camera1/rois"/>
<arg name="input/camera2/image"/>
<arg name="input/camera2/info"/>
<arg name="input/camera2/rois"/>
<arg name="input/camera3/image"/>
<arg name="input/camera3/info"/>
<arg name="input/camera3/rois"/>
<arg name="input/camera4/image"/>
<arg name="input/camera4/info"/>
<arg name="input/camera4/rois"/>
<arg name="input/camera5/image"/>
<arg name="input/camera5/info"/>
<arg name="input/camera5/rois"/>
<arg name="input/camera6/image"/>
<arg name="input/camera6/info"/>
<arg name="input/camera6/rois"/>
<arg name="input/camera7/image"/>
<arg name="input/camera7/info"/>
<arg name="input/camera7/rois"/>
<arg name="input/pointcloud_map/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud"/>
<arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
<arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
<arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
Expand Down Expand Up @@ -51,39 +76,39 @@
<!-- Camera ROI fusion -->
<group>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
<arg name="input/rois0" value="$(var detection_rois0)"/>
<arg name="input/camera_info1" value="$(var camera_info1)"/>
<arg name="input/rois1" value="$(var detection_rois1)"/>
<arg name="input/camera_info2" value="$(var camera_info2)"/>
<arg name="input/rois2" value="$(var detection_rois2)"/>
<arg name="input/camera_info3" value="$(var camera_info3)"/>
<arg name="input/rois3" value="$(var detection_rois3)"/>
<arg name="input/camera_info4" value="$(var camera_info4)"/>
<arg name="input/rois4" value="$(var detection_rois4)"/>
<arg name="input/camera_info5" value="$(var camera_info5)"/>
<arg name="input/rois5" value="$(var detection_rois5)"/>
<arg name="input/camera_info6" value="$(var camera_info6)"/>
<arg name="input/rois6" value="$(var detection_rois6)"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="$(var detection_rois7)"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/image0" value="$(var image_raw0)"/>
<arg name="input/image1" value="$(var image_raw1)"/>
<arg name="input/image2" value="$(var image_raw2)"/>
<arg name="input/image3" value="$(var image_raw3)"/>
<arg name="input/image4" value="$(var image_raw4)"/>
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/rois_number" value="$(var number_of_cameras)"/>
<arg name="input/rois0" value="$(var input/camera0/rois)"/>
<arg name="input/rois1" value="$(var input/camera1/rois)"/>
<arg name="input/rois2" value="$(var input/camera2/rois)"/>
<arg name="input/rois3" value="$(var input/camera3/rois)"/>
<arg name="input/rois4" value="$(var input/camera4/rois)"/>
<arg name="input/rois5" value="$(var input/camera5/rois)"/>
<arg name="input/rois6" value="$(var input/camera6/rois)"/>
<arg name="input/rois7" value="$(var input/camera7/rois)"/>
<arg name="input/camera_info0" value="$(var input/camera0/info)"/>
<arg name="input/camera_info1" value="$(var input/camera1/info)"/>
<arg name="input/camera_info2" value="$(var input/camera2/info)"/>
<arg name="input/camera_info3" value="$(var input/camera3/info)"/>
<arg name="input/camera_info4" value="$(var input/camera4/info)"/>
<arg name="input/camera_info5" value="$(var input/camera5/info)"/>
<arg name="input/camera_info6" value="$(var input/camera6/info)"/>
<arg name="input/camera_info7" value="$(var input/camera7/info)"/>
<arg name="input/image0" value="$(var input/camera0/image)"/>
<arg name="input/image1" value="$(var input/camera1/image)"/>
<arg name="input/image2" value="$(var input/camera2/image)"/>
<arg name="input/image3" value="$(var input/camera3/image)"/>
<arg name="input/image4" value="$(var input/camera4/image)"/>
<arg name="input/image5" value="$(var input/camera5/image)"/>
<arg name="input/image6" value="$(var input/camera6/image)"/>
<arg name="input/image7" value="$(var input/camera7/image)"/>
<arg name="input/objects" value="$(var camera_roi_fusion/input/objects)"/>
<arg name="output/objects" value="$(var camera_roi_fusion/output/objects)"/>
<arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
</include>
</group>

<!-- Validator -->
<group>
<group if="$(var use_validator)">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/object_validator.launch.xml">
<arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
<arg name="input/objects" value="$(var validator/input/objects)"/>
Expand Down
91 changes: 58 additions & 33 deletions ...on_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
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Expand Up @@ -11,21 +11,46 @@
<arg name="use_detection_by_tracker"/>
<arg name="use_near_radar_fusion" default="false"/>

<arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
<arg name="use_validator"/>
<arg name="objects_validation_method"/>
<arg name="use_pointcloud_map"/>
<arg name="objects_validation_method" default="obstacle_pointcloud"/>

<arg name="objects_filter_method" default="lanelet_filter"/>
<arg name="use_object_filter" default="true" description="use object filter"/>
<arg name="use_object_filter" description="use object filter"/>
<arg name="objects_filter_method"/>
<let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>

<!-- external interfaces -->
<arg name="input/pointcloud_map/pointcloud" default="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
<arg name="number_of_cameras"/>
<arg name="input/camera0/image"/>
<arg name="input/camera0/info"/>
<arg name="input/camera0/rois"/>
<arg name="input/camera1/image"/>
<arg name="input/camera1/info"/>
<arg name="input/camera1/rois"/>
<arg name="input/camera2/image"/>
<arg name="input/camera2/info"/>
<arg name="input/camera2/rois"/>
<arg name="input/camera3/image"/>
<arg name="input/camera3/info"/>
<arg name="input/camera3/rois"/>
<arg name="input/camera4/image"/>
<arg name="input/camera4/info"/>
<arg name="input/camera4/rois"/>
<arg name="input/camera5/image"/>
<arg name="input/camera5/info"/>
<arg name="input/camera5/rois"/>
<arg name="input/camera6/image"/>
<arg name="input/camera6/info"/>
<arg name="input/camera6/rois"/>
<arg name="input/camera7/image"/>
<arg name="input/camera7/info"/>
<arg name="input/camera7/rois"/>
<arg name="input/pointcloud_map/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud"/>
<arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
<arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
<arg name="input/radar_near/objects" default="radar/noise_filtered_objects"/>
<arg name="input/radar_far/objects" default="radar/noise_filtered_objects"/>
<arg name="input/radar_far/objects" default="radar/far_objects"/>
<arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
<arg name="output/objects" default="objects"/>

Expand Down Expand Up @@ -74,39 +99,39 @@
<!-- Camera ROI fusion -->
<group>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
<arg name="input/rois0" value="$(var detection_rois0)"/>
<arg name="input/camera_info1" value="$(var camera_info1)"/>
<arg name="input/rois1" value="$(var detection_rois1)"/>
<arg name="input/camera_info2" value="$(var camera_info2)"/>
<arg name="input/rois2" value="$(var detection_rois2)"/>
<arg name="input/camera_info3" value="$(var camera_info3)"/>
<arg name="input/rois3" value="$(var detection_rois3)"/>
<arg name="input/camera_info4" value="$(var camera_info4)"/>
<arg name="input/rois4" value="$(var detection_rois4)"/>
<arg name="input/camera_info5" value="$(var camera_info5)"/>
<arg name="input/rois5" value="$(var detection_rois5)"/>
<arg name="input/camera_info6" value="$(var camera_info6)"/>
<arg name="input/rois6" value="$(var detection_rois6)"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="$(var detection_rois7)"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/image0" value="$(var image_raw0)"/>
<arg name="input/image1" value="$(var image_raw1)"/>
<arg name="input/image2" value="$(var image_raw2)"/>
<arg name="input/image3" value="$(var image_raw3)"/>
<arg name="input/image4" value="$(var image_raw4)"/>
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/rois_number" value="$(var number_of_cameras)"/>
<arg name="input/rois0" value="$(var input/camera0/rois)"/>
<arg name="input/rois1" value="$(var input/camera1/rois)"/>
<arg name="input/rois2" value="$(var input/camera2/rois)"/>
<arg name="input/rois3" value="$(var input/camera3/rois)"/>
<arg name="input/rois4" value="$(var input/camera4/rois)"/>
<arg name="input/rois5" value="$(var input/camera5/rois)"/>
<arg name="input/rois6" value="$(var input/camera6/rois)"/>
<arg name="input/rois7" value="$(var input/camera7/rois)"/>
<arg name="input/camera_info0" value="$(var input/camera0/info)"/>
<arg name="input/camera_info1" value="$(var input/camera1/info)"/>
<arg name="input/camera_info2" value="$(var input/camera2/info)"/>
<arg name="input/camera_info3" value="$(var input/camera3/info)"/>
<arg name="input/camera_info4" value="$(var input/camera4/info)"/>
<arg name="input/camera_info5" value="$(var input/camera5/info)"/>
<arg name="input/camera_info6" value="$(var input/camera6/info)"/>
<arg name="input/camera_info7" value="$(var input/camera7/info)"/>
<arg name="input/image0" value="$(var input/camera0/image)"/>
<arg name="input/image1" value="$(var input/camera1/image)"/>
<arg name="input/image2" value="$(var input/camera2/image)"/>
<arg name="input/image3" value="$(var input/camera3/image)"/>
<arg name="input/image4" value="$(var input/camera4/image)"/>
<arg name="input/image5" value="$(var input/camera5/image)"/>
<arg name="input/image6" value="$(var input/camera6/image)"/>
<arg name="input/image7" value="$(var input/camera7/image)"/>
<arg name="input/objects" value="$(var camera_roi_fusion/input/objects)"/>
<arg name="output/objects" value="$(var camera_roi_fusion/output/objects)"/>
<arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
</include>
</group>

<!-- Validator -->
<group>
<group if="$(var use_validator)">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/object_validator.launch.xml">
<arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
<arg name="input/objects" value="$(var validator/input/objects)"/>
Expand Down
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