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camera_lidar_fusion_based_detection.launch.xml
370 lines (344 loc) · 20.5 KB
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camera_lidar_fusion_based_detection.launch.xml
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<?xml version="1.0"?>
<launch>
<!-- Interface parameters -->
<arg name="output/objects" default="objects"/>
<!-- LiDAR parameters -->
<arg name="input/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
<arg name="container_name" default="pointcloud_container"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="score_threshold" default="0.35"/>
<arg name="use_object_filter" default="true" description="use object filter"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
<arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
<arg name="remove_unknown" default="true"/>
<arg name="trust_distance" default="30.0"/>
<arg name="use_roi_based_cluster" default="false"/>
<!-- Camera parameters -->
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
<arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
<arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
<arg name="image_raw1" default="/image_raw1"/>
<arg name="camera_info1" default="/camera_info1"/>
<arg name="detection_rois1" default="/perception/object_recognition/detection/rois1"/>
<arg name="image_raw2" default="/image_raw2"/>
<arg name="camera_info2" default="/camera_info2"/>
<arg name="detection_rois2" default="/perception/object_recognition/detection/rois2"/>
<arg name="image_raw3" default="/image_raw3"/>
<arg name="camera_info3" default="/camera_info3"/>
<arg name="detection_rois3" default="/perception/object_recognition/detection/rois3"/>
<arg name="image_raw4" default="/image_raw4"/>
<arg name="camera_info4" default="/camera_info4"/>
<arg name="detection_rois4" default="/perception/object_recognition/detection/rois4"/>
<arg name="image_raw5" default="/image_raw5"/>
<arg name="camera_info5" default="/camera_info5"/>
<arg name="detection_rois5" default="/perception/object_recognition/detection/rois5"/>
<arg name="image_raw6" default="/image_raw6"/>
<arg name="camera_info6" default="/camera_info6"/>
<arg name="detection_rois6" default="/perception/object_recognition/detection/rois6"/>
<arg name="image_raw7" default="/image_raw7"/>
<arg name="camera_info7" default="/camera_info7"/>
<arg name="detection_rois7" default="/perception/object_recognition/detection/rois7"/>
<arg name="image_number" default="1" description="choose image raw number(1-8)"/>
<!-- Jetson AGX -->
<!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="image_raw1" value="$(var image_raw1)"/>
<arg name="image_raw2" value="$(var image_raw2)"/>
<arg name="image_raw3" value="$(var image_raw3)"/>
<arg name="image_raw4" value="$(var image_raw4)"/>
<arg name="image_raw5" value="$(var image_raw5)"/>
<arg name="image_raw6" value="$(var image_raw6)"/>
<arg name="image_raw7" value="$(var image_raw7)"/>
<arg name="image_number" value="$(var image_number)"/>
</include> -->
<!-- Pointcloud filter -->
<group>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
<arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
<arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
</include>
</group>
<!-- Clustering -->
<group>
<push-ros-namespace namespace="clustering"/>
<group>
<let name="euclidean_cluster_output" value="euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
<let name="euclidean_cluster_output" value="clusters" unless="$(var use_roi_based_cluster)"/>
<include file="$(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="output_clusters" value="$(var euclidean_cluster_output)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
</include>
</group>
<!-- roi based clustering -->
<group>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
<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="$(var image_raw7)"/>
<arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
<arg name="output_clusters" value="roi_cluster/clusters"/>
</include>
</group>
<!-- simple_cluster_merger -->
<group>
<include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
<arg name="input/cluster0" value="euclidean_cluster/clusters"/>
<arg name="input/cluster1" value="roi_cluster/clusters"/>
<arg name="output/clusters" value="clusters"/>
</include>
</group>
<group>
<include file="$(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>
<group>
<let name="input/clustering" value="/perception/object_recognition/detection/clustering/clusters"/>
<push-ros-namespace namespace="camera_lidar_fusion"/>
<!-- Fusion camera-lidar to classify -->
<!-- euclidean clustering -->
<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="$(var detection_rois0)"/>
<arg name="input/camera_info1" value="$(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/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="$(var image_raw7)"/>
<arg name="output/clusters" value="clusters"/>
<arg name="remove_unknown" value="$(var remove_unknown)"/>
<arg name="trust_distance" value="$(var trust_distance)"/>
</include>
</group>
<group>
<include file="$(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="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="objects_with_feature"/>
<arg name="output" value="objects"/>
</include>
</group>
</group>
</group>
<!-- DetectionByTracker -->
<group>
<push-ros-namespace namespace="detection_by_tracker"/>
<include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml"/>
</group>
<!-- CenterPoint -->
<group if="$(eval "'$(var lidar_detection_model)'=='centerpoint'")">
<push-ros-namespace namespace="centerpoint"/>
<group>
<include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="objects"/>
<arg name="score_threshold" value="$(var score_threshold)"/>
<arg name="model_name" value="$(var centerpoint_model_name)"/>
<arg name="model_path" value="$(var centerpoint_model_path)"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
</include>
</group>
</group>
<!-- Lidar Apollo Instance Segmentation -->
<group if="$(eval "'$(var lidar_detection_model)'=='apollo'")">
<push-ros-namespace namespace="apollo"/>
<group>
<include file="$(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"/>
<arg name="use_vehicle_reference_shape_size" value="false"/>
</include>
</group>
<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
<group>
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="objects_with_feature"/>
<arg name="output" value="objects"/>
</include>
</group>
</group>
<!-- PointPainting -->
<group if="$(eval "'$(var lidar_detection_model)'=='pointpainting'")">
<push-ros-namespace namespace="pointpainting"/>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/pointpainting_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="$(var image_raw7)"/>
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="objects"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
<arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
</include>
</group>
<group>
<include file="$(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="$(var image_raw7)"/>
<arg name="input/objects" value="$(var lidar_detection_model)/objects"/>
<arg name="output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
</include>
</group>
<!-- Validator -->
<group if="$(eval "'$(var objects_validation_method)'=='obstacle_pointcloud'")">
<let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
<let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
<include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml" if="$(var use_validator)">
<arg name="input/detected_objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
<arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
<arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
</include>
</group>
<group if="$(eval "'$(var objects_validation_method)'=='occupancy_grid'")">
<include file="$(find-pkg-share detected_object_validation)/launch/occupancy_grid_based_validator.launch.xml" if="$(var use_validator)">
<arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
<arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
</include>
</group>
<!-- Merger -->
<group>
<let name="merger/input/objects" value="$(var lidar_detection_model)/validation/objects" if="$(var use_validator)"/>
<let name="merger/input/objects" value="$(var lidar_detection_model)/objects" unless="$(var use_validator)"/>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="$(var merger/input/objects)"/>
<arg name="input/object1" value="clustering/camera_lidar_fusion/objects"/>
<arg name="output/object" value="$(var lidar_detection_model)_roi_cluster_fusion/objects"/>
<arg name="priority_mode" value="0"/>
<arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
<arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
</include>
</group>
<group>
<let name="merger/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
<let name="merger/output/objects" value="$(var output/objects)" unless="$(var use_object_filter)"/>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="$(var lidar_detection_model)_roi_cluster_fusion/objects"/>
<arg name="input/object1" value="detection_by_tracker/objects"/>
<arg name="priority_mode" value="0"/>
<arg name="output/object" value="$(var merger/output/objects)"/>
<arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
<arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
</include>
</group>
<!-- Filter -->
<group if="$(eval "'$(var objects_filter_method)'=='lanelet_filter'")">
<include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
<arg name="input/object" value="objects_before_filter"/>
<arg name="output/object" value="$(var output/objects)"/>
<arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
</include>
</group>
<group if="$(eval "'$(var objects_filter_method)'=='position_filter'")">
<include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml" if="$(var use_object_filter)">
<arg name="input/object" value="objects_before_filter"/>
<arg name="output/object" value="$(var output/objects)"/>
<arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
</include>
</group>
</launch>