From eb922be2fed3dfd104ec2bf07e2e9f99194cab67 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 16 Jan 2025 14:56:20 +0900
Subject: [PATCH] fix(tier4_perception_launch): rearrange roi based cluster
 pipeline

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../detector/camera_lidar_detector.launch.xml | 47 ++++++++++++-------
 1 file changed, 30 insertions(+), 17 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index da30500070850..3e45e905d048b 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -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)"/>
@@ -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">
@@ -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)"/>