refactor(image_projection_based_fusion): convert input topic names to…

… ROS parameters (#4247) * init commit Signed-off-by: ismetatabay <ismet@leodrive.ai> * style(pre-commit): autofix Signed-off-by: ismetatabay <ismet@leodrive.ai> * update pointpainting and roi_detected_object_fusion_launch Signed-off-by: ismetatabay <ismet@leodrive.ai> * correct argument and param definitions Signed-off-by: ismetatabay <ismet@leodrive.ai> --------- Signed-off-by: ismetatabay <ismet@leodrive.ai> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Jul 20, 2023 · fc5ec80 · fc5ec80
1 parent 2c58e5e
commit fc5ec80
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Showing 7 changed files with 114 additions and 87 deletions.
diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp b/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp
@@ -28,6 +28,7 @@
 #include <boost/circular_buffer.hpp>
 
 #include <memory>
+#include <string>
 #include <vector>
 
 namespace image_projection_based_fusion
@@ -39,7 +40,8 @@ class Debugger
 {
 public:
   explicit Debugger(
-    rclcpp::Node * node_ptr, const std::size_t image_num, const std::size_t image_buffer_size);
+    rclcpp::Node * node_ptr, const std::size_t image_num, const std::size_t image_buffer_size,
+    std::vector<std::string> input_camera_topics);
 
   void publishImage(const std::size_t image_id, const rclcpp::Time & stamp);
 
@@ -55,6 +57,7 @@ class Debugger
 
   rclcpp::Node * node_ptr_;
   std::shared_ptr<image_transport::ImageTransport> image_transport_;
+  std::vector<std::string> input_camera_topics_;
   std::vector<image_transport::Subscriber> image_subs_;
   std::vector<image_transport::Publisher> image_pubs_;
   std::vector<boost::circular_buffer<sensor_msgs::msg::Image::ConstSharedPtr>> image_buffers_;

diff --git a/...ption/image_projection_based_fusion/include/image_projection_based_fusion/fusion_node.hpp b/...ption/image_projection_based_fusion/include/image_projection_based_fusion/fusion_node.hpp
@@ -100,13 +100,15 @@ class FusionNode : public rclcpp::Node
   rclcpp::TimerBase::SharedPtr timer_;
   double timeout_ms_{};
   double match_threshold_ms_{};
+  std::vector<std::string> input_rois_topics_;
+  std::vector<std::string> input_camera_info_topics_;
+  std::vector<std::string> input_camera_topics_;
 
   /** \brief A vector of subscriber. */
   typename rclcpp::Subscription<Msg>::SharedPtr sub_;
   std::vector<rclcpp::Subscription<DetectedObjectsWithFeature>::SharedPtr> rois_subs_;
 
-  /** \brief Input point cloud topics. */
-  std::vector<std::string> input_topics_;
+  // offsets between cameras and the lidars
   std::vector<double> input_offset_ms_;
 
   // cache for fusion

diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
@@ -38,32 +38,6 @@
   <arg name="input/image6" default="/image_raw6"/>
   <arg name="input/image7" default="/image_raw7"/>
   <group>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '1' &quot;)" from="input/rois0" to="$(var input/rois0)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '1' &quot;)" from="input/camera_info0" to="$(var input/camera_info0)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '2' &quot;)" from="input/rois1" to="$(var input/rois1)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '2' &quot;)" from="input/camera_info1" to="$(var input/camera_info1)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '3' &quot;)" from="input/rois2" to="$(var input/rois2)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '3' &quot;)" from="input/camera_info2" to="$(var input/camera_info2)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '4' &quot;)" from="input/rois3" to="$(var input/rois3)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '4' &quot;)" from="input/camera_info3" to="$(var input/camera_info3)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '5' &quot;)" from="input/rois4" to="$(var input/rois4)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '5' &quot;)" from="input/camera_info4" to="$(var input/camera_info4)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '6' &quot;)" from="input/rois5" to="$(var input/rois5)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '6' &quot;)" from="input/camera_info5" to="$(var input/camera_info5)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '7' &quot;)" from="input/rois6" to="$(var input/rois6)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '7' &quot;)" from="input/camera_info6" to="$(var input/camera_info6)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '8' &quot;)" from="input/rois7" to="$(var input/rois7)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '8' &quot;)" from="input/camera_info7" to="$(var input/camera_info7)"/>
-
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '1' &quot;)" from="input/image_raw0" to="$(var input/image0)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '2' &quot;)" from="input/image_raw1" to="$(var input/image1)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '3' &quot;)" from="input/image_raw2" to="$(var input/image2)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '4' &quot;)" from="input/image_raw3" to="$(var input/image3)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '5' &quot;)" from="input/image_raw4" to="$(var input/image4)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '6' &quot;)" from="input/image_raw5" to="$(var input/image5)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '7' &quot;)" from="input/image_raw6" to="$(var input/image6)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '8' &quot;)" from="input/image_raw7" to="$(var input/image7)"/>
-
     <node pkg="image_projection_based_fusion" exec="pointpainting_fusion_node" name="pointpainting" output="screen">
       <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
       <remap from="~/output/objects" to="$(var output/objects)"/>
@@ -80,6 +54,32 @@
       <param from="$(var class_remapper_param_path)"/>
       <param name="rois_number" value="$(var input/rois_number)"/>
 
+      <!-- rois, camera and info -->
+      <param name="input/rois0" value="$(var input/rois0)"/>
+      <param name="input/camera_info0" value="$(var input/camera_info0)"/>
+      <param name="input/image0" value="$(var input/image0)"/>
+      <param name="input/rois1" value="$(var input/rois1)"/>
+      <param name="input/camera_info1" value="$(var input/camera_info1)"/>
+      <param name="input/image1" value="$(var input/image1)"/>
+      <param name="input/rois2" value="$(var input/rois2)"/>
+      <param name="input/camera_info2" value="$(var input/camera_info2)"/>
+      <param name="input/image2" value="$(var input/image2)"/>
+      <param name="input/rois3" value="$(var input/rois3)"/>
+      <param name="input/camera_info3" value="$(var input/camera_info3)"/>
+      <param name="input/image3" value="$(var input/image3)"/>
+      <param name="input/rois4" value="$(var input/rois4)"/>
+      <param name="input/camera_info4" value="$(var input/camera_info4)"/>
+      <param name="input/image4" value="$(var input/image4)"/>
+      <param name="input/rois5" value="$(var input/rois5)"/>
+      <param name="input/camera_info5" value="$(var input/camera_info5)"/>
+      <param name="input/image5" value="$(var input/image5)"/>
+      <param name="input/rois6" value="$(var input/rois6)"/>
+      <param name="input/camera_info6" value="$(var input/camera_info6)"/>
+      <param name="input/image6" value="$(var input/image6)"/>
+      <param name="input/rois7" value="$(var input/rois7)"/>
+      <param name="input/camera_info7" value="$(var input/camera_info7)"/>
+      <param name="input/image7" value="$(var input/image7)"/>
+
       <!-- debug -->
       <param name="debug_mode" value="$(var debug_mode)"/>
     </node>

diff --git a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml
@@ -44,32 +44,6 @@
   <arg name="input/image6" default="/image_raw6"/>
   <arg name="input/image7" default="/image_raw7"/>
   <group>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '1' &quot;)" from="input/rois0" to="$(var input/rois0)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '1' &quot;)" from="input/camera_info0" to="$(var input/camera_info0)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '2' &quot;)" from="input/rois1" to="$(var input/rois1)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '2' &quot;)" from="input/camera_info1" to="$(var input/camera_info1)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '3' &quot;)" from="input/rois2" to="$(var input/rois2)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '3' &quot;)" from="input/camera_info2" to="$(var input/camera_info2)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '4' &quot;)" from="input/rois3" to="$(var input/rois3)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '4' &quot;)" from="input/camera_info3" to="$(var input/camera_info3)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '5' &quot;)" from="input/rois4" to="$(var input/rois4)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '5' &quot;)" from="input/camera_info4" to="$(var input/camera_info4)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '6' &quot;)" from="input/rois5" to="$(var input/rois5)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '6' &quot;)" from="input/camera_info5" to="$(var input/camera_info5)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '7' &quot;)" from="input/rois6" to="$(var input/rois6)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '7' &quot;)" from="input/camera_info6" to="$(var input/camera_info6)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '8' &quot;)" from="input/rois7" to="$(var input/rois7)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '8' &quot;)" from="input/camera_info7" to="$(var input/camera_info7)"/>
-
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '1' &quot;)" from="input/image_raw0" to="$(var input/image0)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '2' &quot;)" from="input/image_raw1" to="$(var input/image1)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '3' &quot;)" from="input/image_raw2" to="$(var input/image2)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '4' &quot;)" from="input/image_raw3" to="$(var input/image3)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '5' &quot;)" from="input/image_raw4" to="$(var input/image4)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '6' &quot;)" from="input/image_raw5" to="$(var input/image5)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '7' &quot;)" from="input/image_raw6" to="$(var input/image6)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '8' &quot;)" from="input/image_raw7" to="$(var input/image7)"/>
-
     <node pkg="image_projection_based_fusion" exec="roi_cluster_fusion_node" name="roi_cluster_fusion" output="screen">
       <param name="use_iou" value="true"/>
       <param name="use_iou_x" value="false"/>
@@ -84,6 +58,32 @@
       <remap from="input" to="$(var input/clusters)"/>
       <remap from="output" to="$(var output/clusters)"/>
 
+      <!-- rois, camera and info -->
+      <param name="input/rois0" value="$(var input/rois0)"/>
+      <param name="input/camera_info0" value="$(var input/camera_info0)"/>
+      <param name="input/image0" value="$(var input/image0)"/>
+      <param name="input/rois1" value="$(var input/rois1)"/>
+      <param name="input/camera_info1" value="$(var input/camera_info1)"/>
+      <param name="input/image1" value="$(var input/image1)"/>
+      <param name="input/rois2" value="$(var input/rois2)"/>
+      <param name="input/camera_info2" value="$(var input/camera_info2)"/>
+      <param name="input/image2" value="$(var input/image2)"/>
+      <param name="input/rois3" value="$(var input/rois3)"/>
+      <param name="input/camera_info3" value="$(var input/camera_info3)"/>
+      <param name="input/image3" value="$(var input/image3)"/>
+      <param name="input/rois4" value="$(var input/rois4)"/>
+      <param name="input/camera_info4" value="$(var input/camera_info4)"/>
+      <param name="input/image4" value="$(var input/image4)"/>
+      <param name="input/rois5" value="$(var input/rois5)"/>
+      <param name="input/camera_info5" value="$(var input/camera_info5)"/>
+      <param name="input/image5" value="$(var input/image5)"/>
+      <param name="input/rois6" value="$(var input/rois6)"/>
+      <param name="input/camera_info6" value="$(var input/camera_info6)"/>
+      <param name="input/image6" value="$(var input/image6)"/>
+      <param name="input/rois7" value="$(var input/rois7)"/>
+      <param name="input/camera_info7" value="$(var input/camera_info7)"/>
+      <param name="input/image7" value="$(var input/image7)"/>
+
       <!-- debug -->
       <param name="debug_mode" value="$(var debug_mode)"/>
       <param name="filter_scope_minx" value="$(var filter_scope_minx)"/>

diff --git a/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml
@@ -34,33 +34,8 @@
   <arg name="input/image5" default="/image_raw5"/>
   <arg name="input/image6" default="/image_raw6"/>
   <arg name="input/image7" default="/image_raw7"/>
-  <group>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '1' &quot;)" from="input/rois0" to="$(var input/rois0)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '1' &quot;)" from="input/camera_info0" to="$(var input/camera_info0)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '2' &quot;)" from="input/rois1" to="$(var input/rois1)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '2' &quot;)" from="input/camera_info1" to="$(var input/camera_info1)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '3' &quot;)" from="input/rois2" to="$(var input/rois2)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '3' &quot;)" from="input/camera_info2" to="$(var input/camera_info2)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '4' &quot;)" from="input/rois3" to="$(var input/rois3)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '4' &quot;)" from="input/camera_info3" to="$(var input/camera_info3)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '5' &quot;)" from="input/rois4" to="$(var input/rois4)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '5' &quot;)" from="input/camera_info4" to="$(var input/camera_info4)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '6' &quot;)" from="input/rois5" to="$(var input/rois5)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '6' &quot;)" from="input/camera_info5" to="$(var input/camera_info5)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '7' &quot;)" from="input/rois6" to="$(var input/rois6)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '7' &quot;)" from="input/camera_info6" to="$(var input/camera_info6)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '8' &quot;)" from="input/rois7" to="$(var input/rois7)"/>
-    <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '8' &quot;)" from="input/camera_info7" to="$(var input/camera_info7)"/>
-
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '1' &quot;)" from="input/image_raw0" to="$(var input/image0)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '2' &quot;)" from="input/image_raw1" to="$(var input/image1)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '3' &quot;)" from="input/image_raw2" to="$(var input/image2)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '4' &quot;)" from="input/image_raw3" to="$(var input/image3)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '5' &quot;)" from="input/image_raw4" to="$(var input/image4)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '6' &quot;)" from="input/image_raw5" to="$(var input/image5)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '7' &quot;)" from="input/image_raw6" to="$(var input/image6)"/>
-    <set_remap if="$(eval &quot; '$(var input_rois_number)' >= '8' &quot;)" from="input/image_raw7" to="$(var input/image7)"/>
 
+  <group>
     <node pkg="image_projection_based_fusion" exec="roi_detected_object_fusion_node" name="roi_detected_object_fusion" output="screen">
       <param name="rois_number" value="$(var input/rois_number)"/>
       <param from="$(var sync_param_path)"/>
@@ -70,6 +45,33 @@
       <param name="iou_threshold" value="0.3"/>
       <param name="use_roi_probability" value="false"/>
       <param name="roi_probability_threshold" value="0.5"/>
+      <param name="min_iou_threshold" value="0.5"/>
+
+      <!-- rois, camera and info -->
+      <param name="input/rois0" value="$(var input/rois0)"/>
+      <param name="input/camera_info0" value="$(var input/camera_info0)"/>
+      <param name="input/image0" value="$(var input/image0)"/>
+      <param name="input/rois1" value="$(var input/rois1)"/>
+      <param name="input/camera_info1" value="$(var input/camera_info1)"/>
+      <param name="input/image1" value="$(var input/image1)"/>
+      <param name="input/rois2" value="$(var input/rois2)"/>
+      <param name="input/camera_info2" value="$(var input/camera_info2)"/>
+      <param name="input/image2" value="$(var input/image2)"/>
+      <param name="input/rois3" value="$(var input/rois3)"/>
+      <param name="input/camera_info3" value="$(var input/camera_info3)"/>
+      <param name="input/image3" value="$(var input/image3)"/>
+      <param name="input/rois4" value="$(var input/rois4)"/>
+      <param name="input/camera_info4" value="$(var input/camera_info4)"/>
+      <param name="input/image4" value="$(var input/image4)"/>
+      <param name="input/rois5" value="$(var input/rois5)"/>
+      <param name="input/camera_info5" value="$(var input/camera_info5)"/>
+      <param name="input/image5" value="$(var input/image5)"/>
+      <param name="input/rois6" value="$(var input/rois6)"/>
+      <param name="input/camera_info6" value="$(var input/camera_info6)"/>
+      <param name="input/image6" value="$(var input/image6)"/>
+      <param name="input/rois7" value="$(var input/rois7)"/>
+      <param name="input/camera_info7" value="$(var input/camera_info7)"/>
+      <param name="input/image7" value="$(var input/image7)"/>
 
       <!-- debug -->
       <param name="debug_mode" value="$(var debug_mode)"/>

diff --git a/perception/image_projection_based_fusion/src/debugger.cpp b/perception/image_projection_based_fusion/src/debugger.cpp
@@ -39,14 +39,15 @@ void drawRoiOnImage(
 namespace image_projection_based_fusion
 {
 Debugger::Debugger(
-  rclcpp::Node * node_ptr, const std::size_t image_num, const std::size_t image_buffer_size)
-: node_ptr_(node_ptr)
+  rclcpp::Node * node_ptr, const std::size_t image_num, const std::size_t image_buffer_size,
+  std::vector<std::string> input_camera_topics)
+: node_ptr_(node_ptr), input_camera_topics_{input_camera_topics}
 {
   image_buffers_.resize(image_num);
   image_buffer_size_ = image_buffer_size;
   for (std::size_t img_i = 0; img_i < image_num; ++img_i) {
     auto sub = image_transport::create_subscription(
-      node_ptr, "input/image_raw" + std::to_string(img_i),
+      node_ptr, input_camera_topics.at(img_i),
       std::bind(&Debugger::imageCallback, this, std::placeholders::_1, img_i), "raw",
       rmw_qos_profile_sensor_data);
     image_subs_.push_back(sub);