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technolojintechnolojin
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fix: on off detector and merger
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‎launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml

+97-147
Original file line numberDiff line numberDiff line change
@@ -47,8 +47,49 @@
4747
<!-- Radar interfaces -->
4848
<arg name="input/radar"/>
4949

50-
<!-- Camera-Lidar-Radar fusion based detection -->
51-
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
50+
<!-- Module switching -->
51+
<arg name="switch/detector/camera_lidar" default="false"/>
52+
<arg name="switch/detector/lidar_dnn" default="false"/>
53+
<arg name="switch/detector/lidar_rule" default="false"/>
54+
<arg name="switch/detector/radar" default="false"/>
55+
<arg name="switch/detector/radar_only" default="false"/>
56+
<arg name="switch/detector/tracker_based" default="false"/>
57+
<let name="switch/detector/tracker_based" value="true" if="$(var use_detection_by_tracker)"/>
58+
59+
<arg name="switch/merger/camera_lidar_radar" default="false"/>
60+
<arg name="switch/merger/camera_lidar" default="false"/>
61+
<arg name="switch/merger/lidar_radar" default="false"/>
62+
<arg name="switch/merger/lidar" default="false"/>
63+
64+
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
65+
<let name="switch/detector/camera_lidar" value="true"/>
66+
<let name="switch/detector/lidar_dnn" value="true"/>
67+
<let name="switch/detector/radar" value="true"/>
68+
<let name="switch/merger/camera_lidar_radar" value="true"/>
69+
</group>
70+
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
71+
<let name="switch/detector/camera_lidar" value="true"/>
72+
<let name="switch/detector/lidar_dnn" value="true"/>
73+
<let name="switch/merger/camera_lidar" value="true"/>
74+
</group>
75+
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
76+
<let name="switch/detector/lidar_dnn" value="true"/>
77+
<let name="switch/detector/lidar_rule" value="true"/>
78+
<let name="switch/detector/radar" value="true"/>
79+
<let name="switch/merger/lidar_radar" value="true"/>
80+
</group>
81+
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
82+
<let name="switch/detector/lidar_dnn" value="true"/>
83+
<let name="switch/detector/lidar_rule" value="true"/>
84+
<let name="switch/merger/lidar" value="true"/>
85+
</group>
86+
<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
87+
<let name="switch/detector/radar_only" value="true"/>
88+
<let name="switch/detector/tracker_based" value="false"/>
89+
</group>
90+
91+
<!-- Detector -->
92+
<group if="$(var switch/detector/camera_lidar)">
5293
<!-- Camera-Lidar detectors -->
5394
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
5495
<arg name="number_of_cameras" value="$(var number_of_cameras)"/>
@@ -87,32 +128,60 @@
87128
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
88129
<arg name="use_low_intensity_cluster_filter" value="$(var use_low_intensity_cluster_filter)"/>
89130
</include>
131+
</group>
132+
<group if="$(var switch/detector/lidar_dnn)">
90133
<!-- Lidar dnn-based detectors-->
91134
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
92135
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
93136
<arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
94137
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
95138
</include>
96-
<!-- Radar detector/filter-->
97-
<group>
98-
<push-ros-namespace namespace="radar"/>
99-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
100-
<arg name="input/radar" value="$(var input/radar)"/>
101-
<arg name="output/objects" value="far_objects"/>
102-
<arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
103-
<arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
104-
<arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
105-
<arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
106-
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
107-
</include>
108-
</group>
109-
<!-- DetectionByTracker -->
110-
<group if="$(var use_detection_by_tracker)">
111-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
112-
<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
113-
</include>
114-
</group>
115-
<!-- Object merger -->
139+
</group>
140+
<group if="$(var switch/detector/lidar_rule)">
141+
<!-- Lidar rule-based detectors-->
142+
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
143+
<arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
144+
<arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
145+
<arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
146+
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
147+
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
148+
</include>
149+
</group>
150+
<group if="$(var switch/detector/radar)">
151+
<!-- Radar detector/filter, in case of sensor fusion-->
152+
<push-ros-namespace namespace="radar"/>
153+
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
154+
<arg name="input/radar" value="$(var input/radar)"/>
155+
<arg name="output/objects" value="far_objects"/>
156+
<arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
157+
<arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
158+
<arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
159+
<arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
160+
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
161+
</include>
162+
</group>
163+
<group if="$(var switch/detector/radar_only)">
164+
<!-- Radar detector/filter, in case of radar only -->
165+
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
166+
<arg name="input/radar" value="$(var input/radar)"/>
167+
<arg name="output/objects" value="objects"/>
168+
<arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
169+
<arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
170+
<arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
171+
<arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
172+
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
173+
</include>
174+
</group>
175+
<!-- DetectionByTracker -->
176+
<group if="$(var switch/detector/tracker_based)">
177+
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
178+
<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
179+
</include>
180+
</group>
181+
182+
<!-- Merger -->
183+
<group if="$(var switch/merger/camera_lidar_radar)">
184+
<!-- Camera-Lidar-Radar merger -->
116185
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml">
117186
<arg name="number_of_cameras" value="$(var number_of_cameras)"/>
118187
<arg name="input/camera0/image" value="$(var input/camera0/image)"/>
@@ -153,58 +222,8 @@
153222
</include>
154223
</group>
155224

156-
<!-- Camera-Lidar fusion based detection -->
157-
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
158-
<!-- Camera-Lidar detectors -->
159-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
160-
<arg name="number_of_cameras" value="$(var number_of_cameras)"/>
161-
<arg name="input/camera0/image" value="$(var input/camera0/image)"/>
162-
<arg name="input/camera0/info" value="$(var input/camera0/info)"/>
163-
<arg name="input/camera0/rois" value="$(var input/camera0/rois)"/>
164-
<arg name="input/camera1/image" value="$(var input/camera1/image)"/>
165-
<arg name="input/camera1/info" value="$(var input/camera1/info)"/>
166-
<arg name="input/camera1/rois" value="$(var input/camera1/rois)"/>
167-
<arg name="input/camera2/image" value="$(var input/camera2/image)"/>
168-
<arg name="input/camera2/info" value="$(var input/camera2/info)"/>
169-
<arg name="input/camera2/rois" value="$(var input/camera2/rois)"/>
170-
<arg name="input/camera3/image" value="$(var input/camera3/image)"/>
171-
<arg name="input/camera3/info" value="$(var input/camera3/info)"/>
172-
<arg name="input/camera3/rois" value="$(var input/camera3/rois)"/>
173-
<arg name="input/camera4/image" value="$(var input/camera4/image)"/>
174-
<arg name="input/camera4/info" value="$(var input/camera4/info)"/>
175-
<arg name="input/camera4/rois" value="$(var input/camera4/rois)"/>
176-
<arg name="input/camera5/image" value="$(var input/camera5/image)"/>
177-
<arg name="input/camera5/info" value="$(var input/camera5/info)"/>
178-
<arg name="input/camera5/rois" value="$(var input/camera5/rois)"/>
179-
<arg name="input/camera6/image" value="$(var input/camera6/image)"/>
180-
<arg name="input/camera6/info" value="$(var input/camera6/info)"/>
181-
<arg name="input/camera6/rois" value="$(var input/camera6/rois)"/>
182-
<arg name="input/camera7/image" value="$(var input/camera7/image)"/>
183-
<arg name="input/camera7/info" value="$(var input/camera7/info)"/>
184-
<arg name="input/camera7/rois" value="$(var input/camera7/rois)"/>
185-
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
186-
<arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
187-
<arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
188-
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
189-
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
190-
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
191-
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
192-
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
193-
<arg name="use_low_intensity_cluster_filter" value="$(var use_low_intensity_cluster_filter)"/>
194-
</include>
195-
<!-- Lidar dnn-based detectors-->
196-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
197-
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
198-
<arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
199-
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
200-
</include>
201-
<!-- DetectionByTracker -->
202-
<group if="$(var use_detection_by_tracker)">
203-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
204-
<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
205-
</include>
206-
</group>
207-
<!-- Object merger -->
225+
<group if="$(var switch/merger/camera_lidar)">
226+
<!-- Camera-Lidar merger -->
208227
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
209228
<arg name="number_of_cameras" value="$(var number_of_cameras)"/>
210229
<arg name="input/camera0/image" value="$(var input/camera0/image)"/>
@@ -243,42 +262,8 @@
243262
</include>
244263
</group>
245264

246-
<!-- Lidar-Radar fusion based detection -->
247-
<group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
248-
<!-- Radar detector/filter-->
249-
<group>
250-
<push-ros-namespace namespace="radar"/>
251-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
252-
<arg name="input/radar" value="$(var input/radar)"/>
253-
<arg name="output/objects" value="far_objects"/>
254-
<arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
255-
<arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
256-
<arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
257-
<arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
258-
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
259-
</include>
260-
</group>
261-
<!-- Lidar dnn-based detectors-->
262-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
263-
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
264-
<arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
265-
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
266-
</include>
267-
<!-- Lidar rule-based detectors-->
268-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
269-
<arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
270-
<arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
271-
<arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
272-
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
273-
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
274-
</include>
275-
<!-- DetectionByTracker -->
276-
<group if="$(var use_detection_by_tracker)">
277-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
278-
<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
279-
</include>
280-
</group>
281-
<!-- Lidar object merger -->
265+
<group if="$(var switch/merger/lidar_radar)">
266+
<!-- Lidar object merger-->
282267
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
283268
<arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
284269
<arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
@@ -299,29 +284,8 @@
299284
</include>
300285
</group>
301286

302-
<!-- Lidar based detection -->
303-
<group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
304-
<!-- Lidar dnn-based detectors-->
305-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
306-
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
307-
<arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
308-
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
309-
</include>
310-
<!-- Lidar rule-based detectors-->
311-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
312-
<arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
313-
<arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
314-
<arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
315-
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
316-
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
317-
</include>
318-
<!-- DetectionByTracker -->
319-
<group if="$(var use_detection_by_tracker)">
320-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
321-
<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
322-
</include>
323-
</group>
324-
<!-- Lidar object merger -->
287+
<group if="$(var switch/merger/lidar)">
288+
<!-- Lidar object merger-->
325289
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
326290
<arg name="input/pointcloud_map/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
327291
<arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
@@ -335,18 +299,4 @@
335299
<arg name="objects_validation_method" value="$(var objects_validation_method)"/>
336300
</include>
337301
</group>
338-
339-
<!-- Radar based detection -->
340-
<group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
341-
<!-- Radar detector/filter-->
342-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
343-
<arg name="input/radar" value="$(var input/radar)"/>
344-
<arg name="output/objects" value="objects"/>
345-
<arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
346-
<arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
347-
<arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
348-
<arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
349-
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
350-
</include>
351-
</group>
352302
</launch>

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