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fix(tier4_perception_launch): rearrange roi based cluster pipeline #9938

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fix(tier4_perception_launch): rearrange roi based cluster pipeline #9938

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47 changes: 30 additions & 17 deletions ...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -56,20 +56,33 @@
<let name="euclidean_cluster/input/pointcloud" value="$(var segmentation_based_filtered/output/pointcloud)" if="$(var use_image_segmentation_based_filter)"/>
<let name="euclidean_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)" unless="$(var use_image_segmentation_based_filter)"/>
<let name="clustering/clusters" value="$(var ns)/clustering/clusters"/>
<let name="euclidean_cluster/output/clusters" value="$(var ns)/clustering/euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
<let name="euclidean_cluster/output/clusters" value="$(var clustering/clusters)" unless="$(var use_roi_based_cluster)"/>
<let name="roi_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
<let name="roi_cluster/output/clusters" value="$(var ns)/clustering/roi_cluster/clusters"/>
<let name="roi_merged_cluster/output/clusters" value="$(var clustering/clusters)"/>
<!-- <let name="euclidean_cluster/output/clusters" value="$(var ns)/clustering/euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/> -->
<let name="euclidean_cluster/output/clusters" value="$(var clustering/clusters)"/>
<let name="shape_estimation1/input/clusters" value="$(var clustering/clusters)"/>
<let name="shape_estimation1/output/objects" value="$(var output/clustering/cluster_objects)"/>

<let name="roi_cluster_fusion/input/clusters" value="$(var ns)/clustering/clusters"/>
<let name="roi_cluster_fusion/input/clusters" value="$(var euclidean_cluster/output/clusters)"/>
<let name="roi_cluster_fusion/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/clusters"/>
<let name="low_intensity_cluster_filter/input/clusters" value="$(var roi_cluster_fusion/output/clusters)"/>
<let name="low_intensity_cluster_filter/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/filtered/clusters"/>
<let name="shape_estimation2/input/clusters" value="$(var low_intensity_cluster_filter/output/clusters)" if="$(var use_low_intensity_cluster_filter)"/>
<let name="shape_estimation2/input/clusters" value="$(var roi_cluster_fusion/output/clusters)" unless="$(var use_low_intensity_cluster_filter)"/>

<let name="roi_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
<let name="roi_cluster/output/clusters" value="$(var ns)/clustering/roi_cluster/clusters"/>
<let name="roi_cluster_merger/input/clusters0" value="$(var low_intensity_cluster_filter/output/clusters)" if="$(var use_low_intensity_cluster_filter)"/>
<let name="roi_cluster_merger/input/clusters0" value="$(var roi_cluster_fusion/output/clusters)" unless="$(var use_low_intensity_cluster_filter)"/>
<let name="roi_cluster_merger/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/merger/clusters"/>

<let name="shape_estimation2/input/clusters" value="$(var roi_cluster_merger/output/clusters)" if="$(eval &quot;'$(var use_roi_based_cluster)' == 'true'&quot;)"/>
<let
name="shape_estimation2/input/clusters"
value="$(var low_intensity_cluster_filter/output/clusters)"
if="$(eval &quot;'$(var use_roi_based_cluster)' == 'false' and '$(var use_low_intensity_cluster_filter)' == 'true'&quot;)"
/>
<let
name="shape_estimation2/input/clusters"
value="$(var roi_cluster_fusion/output/clusters)"
if="$(eval &quot;'$(var use_roi_based_cluster)' == 'false' and '$(var use_low_intensity_cluster_filter)' == 'false'&quot;)"
/>
<let name="shape_estimation2/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/objects_with_feature"/>
<let name="detected_object_feature_remover/input/objects_with_feature" value="$(var shape_estimation2/output/objects)"/>
<let name="detected_object_feature_remover/output/objects" value="$(var output/rule_detector/objects)"/>
Expand Down Expand Up @@ -187,15 +200,6 @@
</group>
</group>

<!-- simple_cluster_merger -->
<group>
<include file="$(find-pkg-share autoware_cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
<arg name="input/cluster0" value="$(var euclidean_cluster/output/clusters)"/>
<arg name="input/cluster1" value="$(var roi_cluster/output/clusters)"/>
<arg name="output/clusters" value="$(var roi_merged_cluster/output/clusters)"/>
</include>
</group>

<!-- shape_estimation 1 -->
<group>
<include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
Expand Down Expand Up @@ -250,6 +254,15 @@
</include>
</group>

<!-- simple_cluster_merger -->
<group>
<include file="$(find-pkg-share autoware_cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
<arg name="input/cluster0" value="$(var roi_cluster_merger/input/clusters0)"/>
<arg name="input/cluster1" value="$(var roi_cluster/output/clusters)"/>
<arg name="output/clusters" value="$(var roi_cluster_merger/output/clusters)"/>
</include>
</group>

<group>
<include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="$(var shape_estimation2/input/clusters)"/>
Expand Down
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