Add option to select lidar detection model (autowarefoundation#450)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
TomohitoAndo · Oct 12, 2021 · 60d4372 · 60d4372
1 parent 5354891
commit 60d4372
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Showing 3 changed files with 38 additions and 5 deletions.
diff --git a/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -18,6 +18,7 @@
   <arg name="camera_info7" default="/camera_info7"/>
   <arg name="image_number" default="1" description="choose image raw number(0-7)"/>
   <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
+  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
@@ -80,15 +81,24 @@
     </include>
   </group>
 
-  <group>
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
     <push-ros-namespace namespace="centerpoint"/>
     <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
       <arg name="output/objects" value="objects" />
     </include>
   </group>
 
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
+    <push-ros-namespace namespace="apollo"/>
+    <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
+    <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+      <arg name="output/objects" value="objects"/>
+      <arg name="use_map_current" value="$(var use_vector_map)"/>
+    </include>
+  </group>
+
   <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-    <arg name="input/object0" value="centerpoint/objects"/>
+    <arg name="input/object0" value="$(var lidar_detection_model)/objects"/>
     <arg name="input/object1" value="euclidean/camera_lidar_fusion/short_range_objects"/>
     <arg name="output/object" value="objects"/>
   </include>

diff --git a/perception_launch/launch/object_recognition/detection/detection.launch.xml b/perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -2,6 +2,7 @@
 
 <launch>
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
+  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <!-- "camera_lidar_fusion", "lidar" or "camera" -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
   <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
@@ -43,12 +44,14 @@
       <arg name="camera_info7" value="$(var camera_info7)"/>
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="use_vector_map" value="$(var use_vector_map)"/>
+      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     </include>
   </group>
   <!-- lidar based detection-->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
       <arg name="use_vector_map" value="$(var use_vector_map)"/>
+      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     </include>
   </group>
   <!-- camera based detection-->

diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -1,8 +1,9 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
+  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
 
-  <!-- Clustering-->
+  <!-- Clustering -->
   <group>
     <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
       <arg name="output_clusters" value="clusters"/>
@@ -18,7 +19,7 @@
   </group>
 
   <!-- CenterPoint -->
-  <group>
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
     <push-ros-namespace namespace="centerpoint"/>
     <group>
       <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml" />
@@ -32,10 +33,29 @@
     </group>
   </group>
 
+  <!-- Lidar Apollo Instance Segmentation -->
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
+    <push-ros-namespace namespace="apollo"/>
+    <group>
+      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
+      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+        <arg name="output/objects" value="objects"/>
+        <arg name="use_map_current" value="$(var use_vector_map)"/>
+      </include>
+    </group>
+    <group>
+      <include file="$(find-pkg-share dynamic_object_visualization)/launch/dynamic_object_visualizer.launch.xml">
+        <arg name="input" value="objects"/>
+        <arg name="with_feature" value="true"/>
+        <arg name="only_known_objects" value="true"/>
+      </include>
+    </group>
+  </group>
+
   <!-- Merger -->
   <group>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="centerpoint/objects"/>
+      <arg name="input/object0" value="$(var lidar_detection_model)/objects"/>
       <arg name="input/object1" value="detection_by_tracker/objects"/>
       <arg name="output/object" value="objects"/>
     </include>