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update launch to run 4 TLR pipeline
Signed-off-by: t4-x2 <grp-acl-git-x2@tier4.jp>
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‎launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml

+72-63
Original file line numberDiff line numberDiff line change
@@ -26,22 +26,18 @@
2626
<arg name="car_classifier_model_path" default="$(var traffic_light_classifier_model_path)/$(var car_traffic_light_classifier_model_name).onnx"/>
2727
<arg name="pedestrian_classifier_model_path" default="$(var traffic_light_classifier_model_path)/$(var pedestrian_traffic_light_classifier_model_name).onnx"/>
2828

29-
<let name="namespace2" value="$(eval 'eval(&quot;$(var camera_namespaces)&quot;)[1]')" if="$(eval '$(var image_number) >= 2')"/>
30-
<let name="namespace3" value="$(eval 'eval(&quot;$(var camera_namespaces)&quot;)[2]')" if="$(eval '$(var image_number) >= 3')"/>
31-
<let name="namespace4" value="$(eval 'eval(&quot;$(var camera_namespaces)&quot;)[3]')" if="$(eval '$(var image_number) >= 4')"/>
32-
3329
<!-- camera namespace1 -->
3430
<group if="$(eval '$(var image_number) >= 1')">
35-
<let name="namespace1" value="$(eval 'eval(&quot;$(var camera_namespaces)&quot;)[0]')"/>
36-
<push-ros-namespace namespace="$(var namespace1)"/>
37-
<let name="input/image" value="/sensing/camera/$(var namespace1)/image_raw"/>
38-
<let name="input/camera_info" value="/sensing/camera/$(var namespace1)/camera_info"/>
39-
<let name="output/rois1" value="/perception/traffic_light_recognition/$(var namespace1)/detection/rois"/>
40-
<let name="output/traffic_signals1" value="/perception/traffic_light_recognition/$(var namespace1)/classification/traffic_signals"/>
41-
<let name="output/car/traffic_signals1" value="/perception/traffic_light_recognition/$(var namespace1)/classification/car/traffic_signals"/>
42-
<let name="output/pedestrian/traffic_signals1" value="/perception/traffic_light_recognition/$(var namespace1)/classification/pedestrian/traffic_signals"/>
31+
<let name="namespace" value="$(eval 'eval(&quot;$(var camera_namespaces)&quot;)[0]')"/>
32+
<push-ros-namespace namespace="$(var namespace)"/>
33+
<let name="input/image" value="/sensing/camera/$(var namespace)/image_raw"/>
34+
<let name="input/camera_info" value="/sensing/camera/$(var namespace)/camera_info"/>
35+
<let name="output/rois" value="/perception/traffic_light_recognition/$(var namespace)/detection/rois"/>
36+
<let name="output/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/traffic_signals"/>
37+
<let name="output/car/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/car/traffic_signals"/>
38+
<let name="output/pedestrian/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/pedestrian/traffic_signals"/>
4339
<let name="map_based_detector_output_topic" value="rough/rois" if="$(var enable_fine_detection)"/>
44-
<let name="map_based_detector_output_topic" value="$(var output/rois1)" unless="$(var enable_fine_detection)"/>
40+
<let name="map_based_detector_output_topic" value="$(var output/rois)" unless="$(var enable_fine_detection)"/>
4541

4642
<group unless="$(var fusion_only)">
4743
<node pkg="topic_tools" exec="relay" name="traffic_light_camera_info_relay" args="$(var input/camera_info) camera_info"/>
@@ -68,10 +64,10 @@
6864
<arg name="pedestrian_classifier_label_path" value="$(var pedestrian_classifier_label_path)"/>
6965
<arg name="car_classifier_model_path" value="$(var car_classifier_model_path)"/>
7066
<arg name="pedestrian_classifier_model_path" value="$(var pedestrian_classifier_model_path)"/>
71-
<arg name="output/rois" value="$(var output/rois1)"/>
72-
<arg name="output/traffic_signals" value="$(var output/traffic_signals1)"/>
73-
<arg name="output/car/traffic_signals" value="$(var output/car/traffic_signals1)"/>
74-
<arg name="output/pedestrian/traffic_signals" value="$(var output/pedestrian/traffic_signals1)"/>
67+
<arg name="output/rois" value="$(var output/rois)"/>
68+
<arg name="output/traffic_signals" value="$(var output/traffic_signals)"/>
69+
<arg name="output/car/traffic_signals" value="$(var output/car/traffic_signals)"/>
70+
<arg name="output/pedestrian/traffic_signals" value="$(var output/pedestrian/traffic_signals)"/>
7571
</include>
7672
</group>
7773

@@ -80,24 +76,24 @@
8076
<include file="$(find-pkg-share traffic_light_occlusion_predictor)/launch/traffic_light_occlusion_predictor.launch.xml">
8177
<arg name="input/camera_info" value="$(var input/camera_info)"/>
8278
<arg name="input/cloud" value="$(var input/cloud)"/>
83-
<arg name="input/rois" value="$(var output/rois1)"/>
79+
<arg name="input/rois" value="$(var output/rois)"/>
8480
<arg name="input/car/traffic_signals" value="classified/car/traffic_signals"/>
8581
<arg name="input/pedestrian/traffic_signals" value="classified/pedestrian/traffic_signals"/>
86-
<arg name="output/traffic_signals" value="$(var output/traffic_signals1)"/>
82+
<arg name="output/traffic_signals" value="$(var output/traffic_signals)"/>
8783
</include>
8884
</group>
8985
</group>
9086

9187
<!-- camera namespace2 -->
9288
<group if="$(eval '$(var image_number) >= 2')">
93-
<let name="namespace2" value="$(eval 'eval(&quot;$(var camera_namespaces)&quot;)[1]')"/>
94-
<push-ros-namespace namespace="$(var namespace2)"/>
95-
<let name="input/image" value="/sensing/camera/$(var namespace2)/image_raw"/>
96-
<let name="input/camera_info" value="/sensing/camera/$(var namespace2)/camera_info"/>
97-
<let name="output/rois2" value="/perception/traffic_light_recognition/$(var namespace2)/detection/rois"/>
98-
<let name="output/traffic_signals2" value="/perception/traffic_light_recognition/$(var namespace2)/classification/traffic_signals"/>
99-
<let name="output/car/traffic_signals2" value="/perception/traffic_light_recognition/$(var namespace2)/classification/car/traffic_signals"/>
100-
<let name="output/pedestrian/traffic_signals2" value="/perception/traffic_light_recognition/$(var namespace2)/classification/pedestrian/traffic_signals"/>
89+
<let name="namespace" value="$(eval 'eval(&quot;$(var camera_namespaces)&quot;)[1]')"/>
90+
<push-ros-namespace namespace="$(var namespace)"/>
91+
<let name="input/image" value="/sensing/camera/$(var namespace)/image_raw"/>
92+
<let name="input/camera_info" value="/sensing/camera/$(var namespace)/camera_info"/>
93+
<let name="output/rois" value="/perception/traffic_light_recognition/$(var namespace)/detection/rois"/>
94+
<let name="output/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/traffic_signals"/>
95+
<let name="output/car/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/car/traffic_signals"/>
96+
<let name="output/pedestrian/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/pedestrian/traffic_signals"/>
10197
<let name="map_based_detector_output_topic" value="rough/rois" if="$(var enable_fine_detection)"/>
10298
<let name="map_based_detector_output_topic" value="rois" unless="$(var enable_fine_detection)"/>
10399

@@ -126,10 +122,10 @@
126122
<arg name="pedestrian_classifier_label_path" value="$(var pedestrian_classifier_label_path)"/>
127123
<arg name="car_classifier_model_path" value="$(var car_classifier_model_path)"/>
128124
<arg name="pedestrian_classifier_model_path" value="$(var pedestrian_classifier_model_path)"/>
129-
<arg name="output/rois" value="$(var output/rois2)"/>
130-
<arg name="output/traffic_signals" value="$(var output/traffic_signals2)"/>
131-
<arg name="output/car/traffic_signals" value="$(var output/car/traffic_signals2)"/>
132-
<arg name="output/pedestrian/traffic_signals" value="$(var output/pedestrian/traffic_signals2)"/>
125+
<arg name="output/rois" value="$(var output/rois)"/>
126+
<arg name="output/traffic_signals" value="$(var output/traffic_signals)"/>
127+
<arg name="output/car/traffic_signals" value="$(var output/car/traffic_signals)"/>
128+
<arg name="output/pedestrian/traffic_signals" value="$(var output/pedestrian/traffic_signals)"/>
133129
</include>
134130
</group>
135131

@@ -138,22 +134,24 @@
138134
<include file="$(find-pkg-share traffic_light_occlusion_predictor)/launch/traffic_light_occlusion_predictor.launch.xml">
139135
<arg name="input/camera_info" value="$(var input/camera_info)"/>
140136
<arg name="input/cloud" value="$(var input/cloud)"/>
141-
<arg name="input/rois" value="$(var output/rois2)"/>
137+
<arg name="input/rois" value="$(var output/rois)"/>
142138
<arg name="input/car/traffic_signals" value="classified/car/traffic_signals"/>
143139
<arg name="input/pedestrian/traffic_signals" value="classified/pedestrian/traffic_signals"/>
144-
<arg name="output/traffic_signals" value="$(var output/traffic_signals2)"/>
140+
<arg name="output/traffic_signals" value="$(var output/traffic_signals)"/>
145141
</include>
146142
</group>
147143
</group>
148144

149-
<!-- camera namespace3 -->
145+
<!-- camera namespace3 -->
150146
<group if="$(eval '$(var image_number) >= 3')">
151-
<let name="namespace3" value="$(eval 'eval(&quot;$(var camera_namespaces)&quot;)[2]')"/>
152-
<push-ros-namespace namespace="$(var namespace3)"/>
153-
<let name="input/image" value="/sensing/camera/$(var namespace3)/image_raw"/>
154-
<let name="input/camera_info" value="/sensing/camera/$(var namespace3)/camera_info"/>
155-
<let name="output/rois3" value="/perception/traffic_light_recognition/$(var namespace3)/detection/rois"/>
156-
<let name="output/traffic_signals3" value="/perception/traffic_light_recognition/$(var namespace3)/classification/traffic_signals"/>
147+
<let name="namespace" value="$(eval 'eval(&quot;$(var camera_namespaces)&quot;)[2]')"/>
148+
<push-ros-namespace namespace="$(var namespace)"/>
149+
<let name="input/image" value="/sensing/camera/$(var namespace)/image_raw"/>
150+
<let name="input/camera_info" value="/sensing/camera/$(var namespace)/camera_info"/>
151+
<let name="output/rois" value="/perception/traffic_light_recognition/$(var namespace)/detection/rois"/>
152+
<let name="output/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/traffic_signals"/>
153+
<let name="output/car/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/car/traffic_signals"/>
154+
<let name="output/pedestrian/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/pedestrian/traffic_signals"/>
157155
<let name="map_based_detector_output_topic" value="rough/rois" if="$(var enable_fine_detection)"/>
158156
<let name="map_based_detector_output_topic" value="rois" unless="$(var enable_fine_detection)"/>
159157

@@ -174,15 +172,18 @@
174172
<arg name="input/image" value="$(var input/image)"/>
175173
<arg name="enable_image_decompressor" value="$(var enable_image_decompressor)"/>
176174
<arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
177-
<arg name="use_crosswalk_traffic_light_estimator" value="$(var use_crosswalk_traffic_light_estimator)"/>
178175
<arg name="use_intra_process" value="true"/>
179176
<arg name="use_multithread" value="true"/>
180177
<arg name="fine_detector_label_path" value="$(var fine_detector_label_path)"/>
181178
<arg name="fine_detector_model_path" value="$(var fine_detector_model_path)"/>
182-
<arg name="classifier_label_path" value="$(var classifier_label_path)"/>
183-
<arg name="classifier_model_path" value="$(var classifier_model_path)"/>
184-
<arg name="output/rois" value="$(var output/rois3)"/>
185-
<arg name="output/traffic_signals" value="$(var output/traffic_signals3)"/>
179+
<arg name="car_classifier_label_path" value="$(var car_classifier_label_path)"/>
180+
<arg name="pedestrian_classifier_label_path" value="$(var pedestrian_classifier_label_path)"/>
181+
<arg name="car_classifier_model_path" value="$(var car_classifier_model_path)"/>
182+
<arg name="pedestrian_classifier_model_path" value="$(var pedestrian_classifier_model_path)"/>
183+
<arg name="output/rois" value="$(var output/rois)"/>
184+
<arg name="output/traffic_signals" value="$(var output/traffic_signals)"/>
185+
<arg name="output/car/traffic_signals" value="$(var output/car/traffic_signals)"/>
186+
<arg name="output/pedestrian/traffic_signals" value="$(var output/pedestrian/traffic_signals)"/>
186187
</include>
187188
</group>
188189

@@ -191,21 +192,24 @@
191192
<include file="$(find-pkg-share traffic_light_occlusion_predictor)/launch/traffic_light_occlusion_predictor.launch.xml">
192193
<arg name="input/camera_info" value="$(var input/camera_info)"/>
193194
<arg name="input/cloud" value="$(var input/cloud)"/>
194-
<arg name="input/rois" value="$(var output/rois3)"/>
195-
<arg name="input/traffic_signals" value="classified/traffic_signals"/>
196-
<arg name="output/traffic_signals" value="$(var output/traffic_signals3)"/>
195+
<arg name="input/rois" value="$(var output/rois)"/>
196+
<arg name="input/car/traffic_signals" value="classified/car/traffic_signals"/>
197+
<arg name="input/pedestrian/traffic_signals" value="classified/pedestrian/traffic_signals"/>
198+
<arg name="output/traffic_signals" value="$(var output/traffic_signals)"/>
197199
</include>
198200
</group>
199201
</group>
200202

201-
<!-- camera namespace4 -->
203+
<!-- camera namespace4 -->
202204
<group if="$(eval '$(var image_number) >= 4')">
203-
<let name="namespace4" value="$(eval 'eval(&quot;$(var camera_namespaces)&quot;)[3]')"/>
204-
<push-ros-namespace namespace="$(var namespace4)"/>
205-
<let name="input/image" value="/sensing/camera/$(var namespace4)/image_raw"/>
206-
<let name="input/camera_info" value="/sensing/camera/$(var namespace4)/camera_info"/>
207-
<let name="output/rois4" value="/perception/traffic_light_recognition/$(var namespace4)/detection/rois"/>
208-
<let name="output/traffic_signals4" value="/perception/traffic_light_recognition/$(var namespace4)/classification/traffic_signals"/>
205+
<let name="namespace" value="$(eval 'eval(&quot;$(var camera_namespaces)&quot;)[3]')"/>
206+
<push-ros-namespace namespace="$(var namespace)"/>
207+
<let name="input/image" value="/sensing/camera/$(var namespace)/image_raw"/>
208+
<let name="input/camera_info" value="/sensing/camera/$(var namespace)/camera_info"/>
209+
<let name="output/rois" value="/perception/traffic_light_recognition/$(var namespace)/detection/rois"/>
210+
<let name="output/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/traffic_signals"/>
211+
<let name="output/car/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/car/traffic_signals"/>
212+
<let name="output/pedestrian/traffic_signals" value="/perception/traffic_light_recognition/$(var namespace)/classification/pedestrian/traffic_signals"/>
209213
<let name="map_based_detector_output_topic" value="rough/rois" if="$(var enable_fine_detection)"/>
210214
<let name="map_based_detector_output_topic" value="rois" unless="$(var enable_fine_detection)"/>
211215

@@ -226,15 +230,18 @@
226230
<arg name="input/image" value="$(var input/image)"/>
227231
<arg name="enable_image_decompressor" value="$(var enable_image_decompressor)"/>
228232
<arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
229-
<arg name="use_crosswalk_traffic_light_estimator" value="$(var use_crosswalk_traffic_light_estimator)"/>
230233
<arg name="use_intra_process" value="true"/>
231234
<arg name="use_multithread" value="true"/>
232235
<arg name="fine_detector_label_path" value="$(var fine_detector_label_path)"/>
233236
<arg name="fine_detector_model_path" value="$(var fine_detector_model_path)"/>
234-
<arg name="classifier_label_path" value="$(var classifier_label_path)"/>
235-
<arg name="classifier_model_path" value="$(var classifier_model_path)"/>
236-
<arg name="output/rois" value="$(var output/rois4)"/>
237-
<arg name="output/traffic_signals" value="$(var output/traffic_signals4)"/>
237+
<arg name="car_classifier_label_path" value="$(var car_classifier_label_path)"/>
238+
<arg name="pedestrian_classifier_label_path" value="$(var pedestrian_classifier_label_path)"/>
239+
<arg name="car_classifier_model_path" value="$(var car_classifier_model_path)"/>
240+
<arg name="pedestrian_classifier_model_path" value="$(var pedestrian_classifier_model_path)"/>
241+
<arg name="output/rois" value="$(var output/rois)"/>
242+
<arg name="output/traffic_signals" value="$(var output/traffic_signals)"/>
243+
<arg name="output/car/traffic_signals" value="$(var output/car/traffic_signals)"/>
244+
<arg name="output/pedestrian/traffic_signals" value="$(var output/pedestrian/traffic_signals)"/>
238245
</include>
239246
</group>
240247

@@ -243,9 +250,10 @@
243250
<include file="$(find-pkg-share traffic_light_occlusion_predictor)/launch/traffic_light_occlusion_predictor.launch.xml">
244251
<arg name="input/camera_info" value="$(var input/camera_info)"/>
245252
<arg name="input/cloud" value="$(var input/cloud)"/>
246-
<arg name="input/rois" value="$(var output/rois4)"/>
247-
<arg name="input/traffic_signals" value="classified/traffic_signals"/>
248-
<arg name="output/traffic_signals" value="$(var output/traffic_signals4)"/>
253+
<arg name="input/rois" value="$(var output/rois)"/>
254+
<arg name="input/car/traffic_signals" value="classified/car/traffic_signals"/>
255+
<arg name="input/pedestrian/traffic_signals" value="classified/pedestrian/traffic_signals"/>
256+
<arg name="output/traffic_signals" value="$(var output/traffic_signals)"/>
249257
</include>
250258
</group>
251259
</group>
@@ -261,6 +269,7 @@
261269
</node>
262270
</group>
263271

272+
<!-- crosswalk traffic light estimator -->
264273
<group if="$(var use_crosswalk_traffic_light_estimator)">
265274
<node pkg="crosswalk_traffic_light_estimator" exec="crosswalk_traffic_light_estimator_node" name="crosswalk_traffic_light_estimator" output="screen">
266275
<remap from="~/input/vector_map" to="/map/vector_map"/>

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