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chore(tier4_perception_launch): perception launcher refactoring second round (#7440)
* feat: separate filters Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: object validator to modular Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: remove default values from subsequent launch files Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: group interfaces and junctions Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * Revert "chore: group interfaces and junctions" This reverts commit 9d723c3. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: group interfaces and junctions Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: radar input Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: remove defaults from camera inputs Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: rename camera args Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: reorder Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: remove defaults from lidar interface Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * Add use_pointcloud_map and use_validator arguments to detection.launch.xml Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: remove default from validators and filters Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: pointcloud container node name Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * Add use_low_intensity_cluster_filter argument to launch files Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: on off detector and merger Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: radar_far/objects default Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: radar object filter parameter Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
1 parent 822d5b5 commit e84d32d

11 files changed

+540
-440
lines changed

‎launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml

+239-208
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‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

+120-119
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‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml

+3-2
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,7 @@
22
<launch>
33
<!-- Lidar parameters -->
44
<arg name="input/pointcloud"/>
5+
<arg name="node/pointcloud_container"/>
56
<arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `clustering`"/>
67

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<!-- Lidar detector centerpoint parameters -->
@@ -27,7 +28,7 @@
2728
<arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
2829

2930
<arg name="use_pointcloud_container" value="true"/>
30-
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
31+
<arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
3132
</include>
3233
</group>
3334
</group>
@@ -48,7 +49,7 @@
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<arg name="class_remapper_param_path" value="$(var centerpoint_model_path)/detection_class_remapper.param.yaml"/>
4950

5051
<arg name="use_pointcloud_container" value="true"/>
51-
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
52+
<arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
5253
</include>
5354
</group>
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</group>

‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml

+7-5
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@@ -1,8 +1,10 @@
11
<?xml version="1.0"?>
22
<launch>
33
<!-- Lidar parameters -->
4-
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
5-
<arg name="pointcloud_container_name" default="pointcloud_container"/>
4+
<arg name="input/pointcloud_map/pointcloud"/>
5+
<arg name="input/obstacle_segmentation/pointcloud"/>
6+
<arg name="node/pointcloud_container"/>
7+
<arg name="use_pointcloud_map"/>
68

79
<!-- Pointcloud filter -->
810
<group>
@@ -11,7 +13,7 @@
1113
<arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
1214
<arg name="use_intra_process" value="true"/>
1315
<arg name="use_multithread" value="true"/>
14-
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
16+
<arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
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<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
1618
</include>
1719
</group>
@@ -21,12 +23,12 @@
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<push-ros-namespace namespace="clustering"/>
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<group>
2325
<include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
24-
<arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
26+
<arg name="input_pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
2527
<arg name="output_clusters" value="clusters"/>
2628
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
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<arg name="use_pointcloud_container" value="true"/>
29-
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
31+
<arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
3032
</include>
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</group>
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‎launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml

+3-3
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@@ -1,11 +1,11 @@
11
<?xml version="1.0"?>
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<launch>
33
<!-- Pipeline junctions -->
4-
<arg name="objects_filter_method" default="lanelet_filter" description="lanelet_filter or position_filter"/>
4+
<arg name="objects_filter_method" default="lanelet_filter" description="options: `lanelet_filter` or `position_filter`"/>
55

66
<!-- external interfaces -->
7-
<arg name="input/objects" default="clustering/camera_lidar_fusion/objects"/>
8-
<arg name="output/objects" default="clustering/camera_lidar_fusion/filtered/objects"/>
7+
<arg name="input/objects"/>
8+
<arg name="output/objects"/>
99

1010
<!-- Filter -->
1111
<group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">

‎launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml

+4-4
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@@ -1,12 +1,12 @@
11
<?xml version="1.0"?>
22
<launch>
33
<!-- Pipeline junctions -->
4-
<arg name="objects_validation_method" default="obstacle_pointcloud" description="obstacle_pointcloud or occupancy_grid"/>
4+
<arg name="objects_validation_method" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>
55

66
<!-- external interfaces -->
7-
<arg name="input/obstacle_pointcloud" default="pointcloud_map_filtered/pointcloud" description="Only required when 'obstacle_pointcloud'"/>
8-
<arg name="input/objects" default="centerpoint/objects"/>
9-
<arg name="output/objects" default="centerpoint/validation/objects"/>
7+
<arg name="input/obstacle_pointcloud" description="Only required when 'obstacle_pointcloud'"/>
8+
<arg name="input/objects"/>
9+
<arg name="output/objects"/>
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1111
<!-- Validator -->
1212
<group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">

‎launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml

+4-4
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@@ -4,12 +4,12 @@
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<arg name="radar_crossing_objects_noise_filter_param_path"/>
55
<arg name="object_velocity_splitter_param_path" default="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
66
<arg name="object_range_splitter_param_path" default="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
7-
<arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
7+
<arg name="radar_lanelet_filtering_range_param_path" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
88
<arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
99

1010
<!-- External interfaces -->
11-
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
12-
<arg name="output/objects" default="far_objects"/>
11+
<arg name="input/radar"/>
12+
<arg name="output/objects"/>
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1414
<!-- Radar filter pipeline -->
1515
<include file="$(find-pkg-share radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
@@ -36,7 +36,7 @@
3636
<include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
3737
<arg name="input/object" value="far_high_speed_objects"/>
3838
<arg name="output/object" value="lanelet_filtered_objects"/>
39-
<arg name="filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
39+
<arg name="filtering_range_param" value="$(var radar_lanelet_filtering_range_param_path)"/>
4040
</include>
4141

4242
<include file="$(find-pkg-share radar_object_clustering)/launch/radar_object_clustering.launch.xml">

‎launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml

+57-32
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@@ -8,17 +8,42 @@
88
<arg name="lidar_detection_model"/>
99
<arg name="use_detection_by_tracker"/>
1010

11-
<arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
11+
<arg name="use_validator"/>
12+
<arg name="objects_validation_method"/>
1213
<arg name="use_pointcloud_map"/>
13-
<arg name="objects_validation_method" default="obstacle_pointcloud"/>
1414

15-
<arg name="objects_filter_method" default="lanelet_filter"/>
16-
<arg name="use_object_filter" default="true" description="use object filter"/>
15+
<arg name="use_object_filter" description="use object filter"/>
16+
<arg name="objects_filter_method"/>
1717
<let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
1818

1919
<!-- external interfaces -->
20-
<arg name="input/pointcloud_map/pointcloud" default="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
21-
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
20+
<arg name="number_of_cameras"/>
21+
<arg name="input/camera0/image"/>
22+
<arg name="input/camera0/info"/>
23+
<arg name="input/camera0/rois"/>
24+
<arg name="input/camera1/image"/>
25+
<arg name="input/camera1/info"/>
26+
<arg name="input/camera1/rois"/>
27+
<arg name="input/camera2/image"/>
28+
<arg name="input/camera2/info"/>
29+
<arg name="input/camera2/rois"/>
30+
<arg name="input/camera3/image"/>
31+
<arg name="input/camera3/info"/>
32+
<arg name="input/camera3/rois"/>
33+
<arg name="input/camera4/image"/>
34+
<arg name="input/camera4/info"/>
35+
<arg name="input/camera4/rois"/>
36+
<arg name="input/camera5/image"/>
37+
<arg name="input/camera5/info"/>
38+
<arg name="input/camera5/rois"/>
39+
<arg name="input/camera6/image"/>
40+
<arg name="input/camera6/info"/>
41+
<arg name="input/camera6/rois"/>
42+
<arg name="input/camera7/image"/>
43+
<arg name="input/camera7/info"/>
44+
<arg name="input/camera7/rois"/>
45+
<arg name="input/pointcloud_map/pointcloud"/>
46+
<arg name="input/obstacle_segmentation/pointcloud"/>
2247
<arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
2348
<arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
2449
<arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
@@ -51,39 +76,39 @@
5176
<!-- Camera ROI fusion -->
5277
<group>
5378
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
54-
<arg name="input/camera_info0" value="$(var camera_info0)"/>
55-
<arg name="input/rois0" value="$(var detection_rois0)"/>
56-
<arg name="input/camera_info1" value="$(var camera_info1)"/>
57-
<arg name="input/rois1" value="$(var detection_rois1)"/>
58-
<arg name="input/camera_info2" value="$(var camera_info2)"/>
59-
<arg name="input/rois2" value="$(var detection_rois2)"/>
60-
<arg name="input/camera_info3" value="$(var camera_info3)"/>
61-
<arg name="input/rois3" value="$(var detection_rois3)"/>
62-
<arg name="input/camera_info4" value="$(var camera_info4)"/>
63-
<arg name="input/rois4" value="$(var detection_rois4)"/>
64-
<arg name="input/camera_info5" value="$(var camera_info5)"/>
65-
<arg name="input/rois5" value="$(var detection_rois5)"/>
66-
<arg name="input/camera_info6" value="$(var camera_info6)"/>
67-
<arg name="input/rois6" value="$(var detection_rois6)"/>
68-
<arg name="input/camera_info7" value="$(var camera_info7)"/>
69-
<arg name="input/rois7" value="$(var detection_rois7)"/>
70-
<arg name="input/rois_number" value="$(var image_number)"/>
71-
<arg name="input/image0" value="$(var image_raw0)"/>
72-
<arg name="input/image1" value="$(var image_raw1)"/>
73-
<arg name="input/image2" value="$(var image_raw2)"/>
74-
<arg name="input/image3" value="$(var image_raw3)"/>
75-
<arg name="input/image4" value="$(var image_raw4)"/>
76-
<arg name="input/image5" value="$(var image_raw5)"/>
77-
<arg name="input/image6" value="$(var image_raw6)"/>
78-
<arg name="input/image7" value="$(var image_raw7)"/>
79+
<arg name="input/rois_number" value="$(var number_of_cameras)"/>
80+
<arg name="input/rois0" value="$(var input/camera0/rois)"/>
81+
<arg name="input/rois1" value="$(var input/camera1/rois)"/>
82+
<arg name="input/rois2" value="$(var input/camera2/rois)"/>
83+
<arg name="input/rois3" value="$(var input/camera3/rois)"/>
84+
<arg name="input/rois4" value="$(var input/camera4/rois)"/>
85+
<arg name="input/rois5" value="$(var input/camera5/rois)"/>
86+
<arg name="input/rois6" value="$(var input/camera6/rois)"/>
87+
<arg name="input/rois7" value="$(var input/camera7/rois)"/>
88+
<arg name="input/camera_info0" value="$(var input/camera0/info)"/>
89+
<arg name="input/camera_info1" value="$(var input/camera1/info)"/>
90+
<arg name="input/camera_info2" value="$(var input/camera2/info)"/>
91+
<arg name="input/camera_info3" value="$(var input/camera3/info)"/>
92+
<arg name="input/camera_info4" value="$(var input/camera4/info)"/>
93+
<arg name="input/camera_info5" value="$(var input/camera5/info)"/>
94+
<arg name="input/camera_info6" value="$(var input/camera6/info)"/>
95+
<arg name="input/camera_info7" value="$(var input/camera7/info)"/>
96+
<arg name="input/image0" value="$(var input/camera0/image)"/>
97+
<arg name="input/image1" value="$(var input/camera1/image)"/>
98+
<arg name="input/image2" value="$(var input/camera2/image)"/>
99+
<arg name="input/image3" value="$(var input/camera3/image)"/>
100+
<arg name="input/image4" value="$(var input/camera4/image)"/>
101+
<arg name="input/image5" value="$(var input/camera5/image)"/>
102+
<arg name="input/image6" value="$(var input/camera6/image)"/>
103+
<arg name="input/image7" value="$(var input/camera7/image)"/>
79104
<arg name="input/objects" value="$(var camera_roi_fusion/input/objects)"/>
80105
<arg name="output/objects" value="$(var camera_roi_fusion/output/objects)"/>
81106
<arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
82107
</include>
83108
</group>
84109

85110
<!-- Validator -->
86-
<group>
111+
<group if="$(var use_validator)">
87112
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/object_validator.launch.xml">
88113
<arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
89114
<arg name="input/objects" value="$(var validator/input/objects)"/>

‎launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml

+58-33
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@@ -11,21 +11,46 @@
1111
<arg name="use_detection_by_tracker"/>
1212
<arg name="use_near_radar_fusion" default="false"/>
1313

14-
<arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
14+
<arg name="use_validator"/>
15+
<arg name="objects_validation_method"/>
1516
<arg name="use_pointcloud_map"/>
16-
<arg name="objects_validation_method" default="obstacle_pointcloud"/>
1717

18-
<arg name="objects_filter_method" default="lanelet_filter"/>
19-
<arg name="use_object_filter" default="true" description="use object filter"/>
18+
<arg name="use_object_filter" description="use object filter"/>
19+
<arg name="objects_filter_method"/>
2020
<let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
2121

2222
<!-- external interfaces -->
23-
<arg name="input/pointcloud_map/pointcloud" default="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
24-
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
23+
<arg name="number_of_cameras"/>
24+
<arg name="input/camera0/image"/>
25+
<arg name="input/camera0/info"/>
26+
<arg name="input/camera0/rois"/>
27+
<arg name="input/camera1/image"/>
28+
<arg name="input/camera1/info"/>
29+
<arg name="input/camera1/rois"/>
30+
<arg name="input/camera2/image"/>
31+
<arg name="input/camera2/info"/>
32+
<arg name="input/camera2/rois"/>
33+
<arg name="input/camera3/image"/>
34+
<arg name="input/camera3/info"/>
35+
<arg name="input/camera3/rois"/>
36+
<arg name="input/camera4/image"/>
37+
<arg name="input/camera4/info"/>
38+
<arg name="input/camera4/rois"/>
39+
<arg name="input/camera5/image"/>
40+
<arg name="input/camera5/info"/>
41+
<arg name="input/camera5/rois"/>
42+
<arg name="input/camera6/image"/>
43+
<arg name="input/camera6/info"/>
44+
<arg name="input/camera6/rois"/>
45+
<arg name="input/camera7/image"/>
46+
<arg name="input/camera7/info"/>
47+
<arg name="input/camera7/rois"/>
48+
<arg name="input/pointcloud_map/pointcloud"/>
49+
<arg name="input/obstacle_segmentation/pointcloud"/>
2550
<arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
2651
<arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
2752
<arg name="input/radar_near/objects" default="radar/noise_filtered_objects"/>
28-
<arg name="input/radar_far/objects" default="radar/noise_filtered_objects"/>
53+
<arg name="input/radar_far/objects" default="radar/far_objects"/>
2954
<arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
3055
<arg name="output/objects" default="objects"/>
3156

@@ -74,39 +99,39 @@
7499
<!-- Camera ROI fusion -->
75100
<group>
76101
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
77-
<arg name="input/camera_info0" value="$(var camera_info0)"/>
78-
<arg name="input/rois0" value="$(var detection_rois0)"/>
79-
<arg name="input/camera_info1" value="$(var camera_info1)"/>
80-
<arg name="input/rois1" value="$(var detection_rois1)"/>
81-
<arg name="input/camera_info2" value="$(var camera_info2)"/>
82-
<arg name="input/rois2" value="$(var detection_rois2)"/>
83-
<arg name="input/camera_info3" value="$(var camera_info3)"/>
84-
<arg name="input/rois3" value="$(var detection_rois3)"/>
85-
<arg name="input/camera_info4" value="$(var camera_info4)"/>
86-
<arg name="input/rois4" value="$(var detection_rois4)"/>
87-
<arg name="input/camera_info5" value="$(var camera_info5)"/>
88-
<arg name="input/rois5" value="$(var detection_rois5)"/>
89-
<arg name="input/camera_info6" value="$(var camera_info6)"/>
90-
<arg name="input/rois6" value="$(var detection_rois6)"/>
91-
<arg name="input/camera_info7" value="$(var camera_info7)"/>
92-
<arg name="input/rois7" value="$(var detection_rois7)"/>
93-
<arg name="input/rois_number" value="$(var image_number)"/>
94-
<arg name="input/image0" value="$(var image_raw0)"/>
95-
<arg name="input/image1" value="$(var image_raw1)"/>
96-
<arg name="input/image2" value="$(var image_raw2)"/>
97-
<arg name="input/image3" value="$(var image_raw3)"/>
98-
<arg name="input/image4" value="$(var image_raw4)"/>
99-
<arg name="input/image5" value="$(var image_raw5)"/>
100-
<arg name="input/image6" value="$(var image_raw6)"/>
101-
<arg name="input/image7" value="$(var image_raw7)"/>
102+
<arg name="input/rois_number" value="$(var number_of_cameras)"/>
103+
<arg name="input/rois0" value="$(var input/camera0/rois)"/>
104+
<arg name="input/rois1" value="$(var input/camera1/rois)"/>
105+
<arg name="input/rois2" value="$(var input/camera2/rois)"/>
106+
<arg name="input/rois3" value="$(var input/camera3/rois)"/>
107+
<arg name="input/rois4" value="$(var input/camera4/rois)"/>
108+
<arg name="input/rois5" value="$(var input/camera5/rois)"/>
109+
<arg name="input/rois6" value="$(var input/camera6/rois)"/>
110+
<arg name="input/rois7" value="$(var input/camera7/rois)"/>
111+
<arg name="input/camera_info0" value="$(var input/camera0/info)"/>
112+
<arg name="input/camera_info1" value="$(var input/camera1/info)"/>
113+
<arg name="input/camera_info2" value="$(var input/camera2/info)"/>
114+
<arg name="input/camera_info3" value="$(var input/camera3/info)"/>
115+
<arg name="input/camera_info4" value="$(var input/camera4/info)"/>
116+
<arg name="input/camera_info5" value="$(var input/camera5/info)"/>
117+
<arg name="input/camera_info6" value="$(var input/camera6/info)"/>
118+
<arg name="input/camera_info7" value="$(var input/camera7/info)"/>
119+
<arg name="input/image0" value="$(var input/camera0/image)"/>
120+
<arg name="input/image1" value="$(var input/camera1/image)"/>
121+
<arg name="input/image2" value="$(var input/camera2/image)"/>
122+
<arg name="input/image3" value="$(var input/camera3/image)"/>
123+
<arg name="input/image4" value="$(var input/camera4/image)"/>
124+
<arg name="input/image5" value="$(var input/camera5/image)"/>
125+
<arg name="input/image6" value="$(var input/camera6/image)"/>
126+
<arg name="input/image7" value="$(var input/camera7/image)"/>
102127
<arg name="input/objects" value="$(var camera_roi_fusion/input/objects)"/>
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<arg name="output/objects" value="$(var camera_roi_fusion/output/objects)"/>
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<arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
105130
</include>
106131
</group>
107132

108133
<!-- Validator -->
109-
<group>
134+
<group if="$(var use_validator)">
110135
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/object_validator.launch.xml">
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<arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
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<arg name="input/objects" value="$(var validator/input/objects)"/>

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