fix: launch

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

Author: badai-nguyen

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

@@ -2,12 +2,7 @@
 <launch>
   <!-- Interface parameters -->
   <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
-  <arg name="use_detection_by_tracker"/>
-  <arg name="use_validator" description="use obstacle_pointcloud based validator"/>
-  <arg name="objects_validation_method" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>
-  <arg name="use_low_intensity_cluster_filter"/>
-  <arg name="use_image_segmentation_based_filter"/>
-  <arg name="use_multi_channel_tracker_merger"/>
+  <arg name="use_detection_by_tracker"/> 
 
   <!-- Lidar parameters -->
   <arg name="input/pointcloud"/>
@@ -65,7 +60,6 @@
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
-      <arg name="use_low_intensity_cluster_filter" value="$(var use_low_intensity_cluster_filter)"/>
     </include>
     <!-- Lidar dnn-based detectors-->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">

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

@@ -9,7 +9,8 @@
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="use_roi_based_cluster" default="false"/>
   <arg name="use_low_intensity_cluster_filter" default="false"/>
-  <arg name="use_image_segmentation_based_filter"/>
+  <arg name="use_image_segmentation_based_filter" default="false"/>
+  <arg name="input/pointcloud_map/pointcloud" default="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
 
   <!-- Camera parameters -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
@@ -105,7 +106,7 @@
     </include>
   </group>
 
-  <!-- Image_segmentation based filter, apply for camera0 only-->
+  <!-- Image_segmentation based filter, apply for camera0 only--> 
   <group>
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/segmentation_pointcloud_fusion.launch.xml" if="$(var use_image_segmentation_based_filter)">
       <arg name="input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>

launch/tier4_perception_launch/launch/perception.launch.xml

@@ -222,7 +222,6 @@
           <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
           <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-          <arg name="use_image_segmentation_based_filter" value="$(var use_image_segmentation_based_filter)"/>
           <arg name="use_object_filter" value="$(var use_object_filter)"/>
           <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
           <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>