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feature: update and fix detection launch (#1340)
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* cosmetic change

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* fix bug

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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yukkysaito and pre-commit-ci[bot] committed Jul 13, 2022
1 parent 7c4d1e8 commit 6cd912d
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Showing 3 changed files with 62 additions and 63 deletions.
118 changes: 59 additions & 59 deletions ...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -68,73 +68,74 @@
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="clusters"/>
<arg name="output/objects" value="objects_with_feature"/>
<arg name="node_name" value="shape_estimation_clustering"/>
</include>
</group>
<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
<group>
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="objects_with_feature"/>
<arg name="output" value="objects"/>
<arg name="node_name" value="detected_object_feature_remover_clustering"/>
</include>
</group>
<!-- Fusion camera-lidar to classify -->
<group>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
<arg name="input/rois0" value="/perception/object_recognition/detection/rois0"/>
<arg name="input/camera_info1" value="$(var camera_info1)"/>
<arg name="input/rois1" value="/perception/object_recognition/detection/rois1"/>
<arg name="input/camera_info2" value="$(var camera_info2)"/>
<arg name="input/rois2" value="/perception/object_recognition/detection/rois2"/>
<arg name="input/camera_info3" value="$(var camera_info3)"/>
<arg name="input/rois3" value="/perception/object_recognition/detection/rois3"/>
<arg name="input/camera_info4" value="$(var camera_info4)"/>
<arg name="input/rois4" value="/perception/object_recognition/detection/rois4"/>
<arg name="input/camera_info5" value="$(var camera_info5)"/>
<arg name="input/rois5" value="/perception/object_recognition/detection/rois5"/>
<arg name="input/camera_info6" value="$(var camera_info6)"/>
<arg name="input/rois6" value="/perception/object_recognition/detection/rois6"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/clusters" value="clusters"/>
<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="output/clusters" value="camera_lidar_fusion/clusters"/>
</include>
</group>

<group>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="camera_lidar_fusion/clusters"/>
<arg name="output/objects" value="camera_lidar_fusion/objects_with_feature"/>
<arg name="node_name" value="shape_estimation_camera_lidar_fusion"/>
</include>
</group>
<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
<group>
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="camera_lidar_fusion/objects_with_feature"/>
<arg name="output" value="camera_lidar_fusion/objects"/>
<arg name="node_name" value="detected_object_feature_camera_lidar_fusion"/>
</include>
</group>

<group>
<include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
<arg name="input/object" value="camera_lidar_fusion/objects"/>
<arg name="output/long_range_object" value="camera_lidar_fusion/long_range_objects"/>
<arg name="output/short_range_object" value="camera_lidar_fusion/short_range_objects"/>
<arg name="split_range" value="30.0"/>
</include>
<let name="input/clustering" value="/perception/object_recognition/detection/clustering/clusters"/>
<push-ros-namespace namespace="camera_lidar_fusion"/>
<!-- Fusion camera-lidar to classify -->
<group>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
<arg name="input/rois0" value="/perception/object_recognition/detection/rois0"/>
<arg name="input/camera_info1" value="$(var camera_info1)"/>
<arg name="input/rois1" value="/perception/object_recognition/detection/rois1"/>
<arg name="input/camera_info2" value="$(var camera_info2)"/>
<arg name="input/rois2" value="/perception/object_recognition/detection/rois2"/>
<arg name="input/camera_info3" value="$(var camera_info3)"/>
<arg name="input/rois3" value="/perception/object_recognition/detection/rois3"/>
<arg name="input/camera_info4" value="$(var camera_info4)"/>
<arg name="input/rois4" value="/perception/object_recognition/detection/rois4"/>
<arg name="input/camera_info5" value="$(var camera_info5)"/>
<arg name="input/rois5" value="/perception/object_recognition/detection/rois5"/>
<arg name="input/camera_info6" value="$(var camera_info6)"/>
<arg name="input/rois6" value="/perception/object_recognition/detection/rois6"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/clusters" value="$(var input/clustering)"/>
<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="output/clusters" value="clusters"/>
</include>
</group>

<group>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="clusters"/>
<arg name="output/objects" value="objects_with_feature"/>
</include>
</group>
<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
<group>
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="objects_with_feature"/>
<arg name="output" value="objects"/>
</include>
</group>

<group>
<include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
<arg name="input/object" value="camera_lidar_fusion/objects"/>
<arg name="output/long_range_object" value="camera_lidar_fusion/long_range_objects"/>
<arg name="output/short_range_object" value="camera_lidar_fusion/short_range_objects"/>
<arg name="split_range" value="30.0"/>
</include>
</group>
</group>
</group>

Expand All @@ -159,11 +160,13 @@
<group>
<include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="labeled_clusters"/>
</include>
</group>

<group>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="labeled_clusters"/>
<arg name="output/objects" value="objects_with_feature"/>
<arg name="use_vehicle_reference_yaw" value="true"/>
</include>
Expand Down Expand Up @@ -197,7 +200,6 @@
<arg name="input/object0" value="$(var merger/input/objects)"/>
<arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
<arg name="output/object" value="camera_lidar_fusion/objects"/>
<arg name="node_name" value="object_association_merger_camera_lidar_fusion"/>
</include>
</group>

Expand All @@ -206,7 +208,6 @@
<arg name="input/object0" value="detection_by_tracker/objects"/>
<arg name="input/object1" value="camera_lidar_fusion/objects"/>
<arg name="output/object" value="temporary_merged_objects"/>
<arg name="node_name" value="object_association_merger_detection_by_tracker"/>
</include>
</group>

Expand All @@ -215,7 +216,6 @@
<arg name="input/object0" value="temporary_merged_objects"/>
<arg name="input/object1" value="clustering/objects"/>
<arg name="output/object" value="objects_before_filter"/>
<arg name="node_name" value="object_association_merger_unknown_clustering"/>
</include>
</group>

Expand Down
4 changes: 2 additions & 2 deletions ...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -72,11 +72,13 @@
<group>
<include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="labeled_clusters"/>
</include>
</group>

<group>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="labeled_clusters"/>
<arg name="output/objects" value="objects_with_feature"/>
<arg name="use_vehicle_reference_yaw" value="true"/>
</include>
Expand Down Expand Up @@ -110,7 +112,6 @@
<arg name="input/object0" value="$(var merger/input/objects)"/>
<arg name="input/object1" value="clustering/objects"/>
<arg name="output/object" value="temporary_merged_objects"/>
<arg name="node_name" value="object_association_merger_unknown_clustering"/>
</include>
</group>

Expand All @@ -119,7 +120,6 @@
<arg name="input/object0" value="temporary_merged_objects"/>
<arg name="input/object1" value="detection_by_tracker/objects"/>
<arg name="output/object" value="objects_before_filter"/>
<arg name="node_name" value="object_association_merger_detection_by_tracker"/>
</include>
</group>

Expand Down
3 changes: 1 addition & 2 deletions perception/object_merger/launch/object_association_merger.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,9 +4,8 @@
<arg name="input/object1" default="object1"/>
<arg name="output/object" default="merged_object"/>
<arg name="data_association_matrix_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
<arg name="node_name" default="object_association_merger"/>

<node pkg="object_merger" exec="object_association_merger_node" name="$(var node_name)" output="screen">
<node pkg="object_merger" exec="object_association_merger_node" name="$(anon object_association_merger)" output="screen">
<remap from="input/object0" to="$(var input/object0)"/>
<remap from="input/object1" to="$(var input/object1)"/>
<remap from="output/object" to="$(var output/object)"/>
Expand Down

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