fix: launch file

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

Author: badai-nguyen

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

@@ -18,6 +18,7 @@
   <arg name="fusion_distance" default="100.0"/>
   <arg name="trust_object_distance" default="100.0"/>
   <arg name="use_roi_based_cluster" default="false"/>
+  <arg name="use_image_segmentation_filter" default="false" description="use image sematic segmentation based pointcloud filter"/>
 
   <!-- Camera parameters -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
@@ -45,7 +46,6 @@
   <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)"/>
-  <arg name="use_image_segmentation_filter" default="false"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">

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

@@ -17,6 +17,7 @@
   <arg name="remove_unknown" default="true"/>
   <arg name="fusion_distance" default="100.0"/>
   <arg name="trust_object_distance" default="100.0"/>
+  <arg name="use_image_segmentation_filter" default="false" description="use image sematic segmentation based pointcloud filter"/>
 
   <!-- Camera parameters -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
@@ -97,14 +98,35 @@
     </include>
   </group>
 
+  <!-- Pointcloud filtering by image semantic segmentation model -->
+  <group if="$(var use_image_segmentation_filter)">
+    <let name="segmentation_filter/input_pointcloud" value="pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
+    <let name="segmentation_filter/input_pointcloud" value="input/obstacle_segmentation/pointcloud" unless="$(var use_pointcloud_map)"/>
+    <include file="$(find-pkg-share image_projection_based_fusion)/launch/segmentation_pointcloud_fusion.launch.xml">
+      <arg name="input/pointcloud" value="pointcloud_map_filtered/pointcloud"/>
+      <arg name="output/pointcloud" value="image_segmentation_filtered/pointcloud"/>
+    </include>
+  </group>
+
   <!-- Clustering -->
   <group>
     <push-ros-namespace namespace="clustering"/>
     <group>
+      <let name="clustering/input/pointcloud" value="/perception/object_recognition/detection/image_segmentation_filtered/pointcloud" if="$(var use_image_segmentation_filter)"/>
+      <let
+        name="clustering/input/pointcloud"
+        value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"
+        if="$(eval &quot;'$(var use_image_segmentation_filter)'=='false' and '$(var use_pointcloud_map)'=='true' &quot;)"
+      />
+      <let
+        name="clustering/input/pointcloud"
+        value="$(var input/obstacle_segmentation/pointcloud)"
+        if="$(eval &quot;'$(var use_image_segmentation_filter)'=='false' and '$(var use_pointcloud_map)'=='false' &quot;)"
+      />
       <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="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
+        <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
         <arg name="output_clusters" value="$(var euclidean_cluster_output)"/>
         <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       </include>

launch/tier4_perception_launch/launch/perception.launch.xml

@@ -63,6 +63,7 @@
   <arg name="use_low_height_cropbox" default="true" description="use low height crop filter in clustering"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_roi_based_cluster" default="true" description="use roi_based_cluster in clustering"/>
+  <arg name="use_image_segmentation_filter" default="false" description="use image sematic segmentation based pointcloud filter"/>
   <arg
     name="use_empty_dynamic_object_publisher"
     default="false"