From 2796d0a2115398f5479d95990dc72deabd09942d Mon Sep 17 00:00:00 2001
From: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com>
Date: Fri, 14 Jul 2023 15:10:48 +0300
Subject: [PATCH] refactor(autoware_launch): add euclidean_clustering params
 (#445)

* add euclidean_clustering param

Signed-off-by: ismetatabay <ismet@leodrive.ai>

* style(pre-commit): autofix

Signed-off-by: ismetatabay <ismet@leodrive.ai>

* update and rearrange comments

Signed-off-by: ismetatabay <ismet@leodrive.ai>

* style(pre-commit): autofix

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>
---
 .../clustering/compare_map.param.yaml         | 20 +++++++++++
 .../clustering/euclidean_cluster.param.yaml   |  6 ++++
 .../detection/clustering/outlier.param.yaml   |  8 +++++
 .../clustering/voxel_grid.param.yaml          |  7 ++++
 ...el_grid_based_euclidean_cluster.param.yaml | 15 ++++++++
 .../roi_sync.param.yaml                       |  0
 .../object_lanelet_filter.param.yaml          |  0
 .../object_position_filter.param.yaml         |  0
 .../pointcloud_map_filter.param.yaml          |  0
 .../tier4_perception_component.launch.xml     | 34 +++++++++++++++----
 10 files changed, 84 insertions(+), 6 deletions(-)
 create mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml
 create mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml
 create mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml
 create mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml
 create mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
 rename autoware_launch/config/perception/object_recognition/detection/{ => image_projection_based_fusion}/roi_sync.param.yaml (100%)
 rename autoware_launch/config/perception/object_recognition/detection/{ => object_filter}/object_lanelet_filter.param.yaml (100%)
 rename autoware_launch/config/perception/object_recognition/detection/{ => object_filter}/object_position_filter.param.yaml (100%)
 rename autoware_launch/config/perception/object_recognition/detection/{ => pointcloud_filter}/pointcloud_map_filter.param.yaml (100%)

diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml
new file mode 100644
index 0000000000..3dd303464a
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml
@@ -0,0 +1,20 @@
+/**:
+  ros__parameters:
+
+    # distance threshold for compare compare
+    distance_threshold: 0.5
+
+    # publish voxelized map pointcloud for debug
+    publish_debug_pcd: False
+
+    # use dynamic map loading
+    use_dynamic_map_loading: True
+
+    # time interval to check dynamic map loading
+    timer_interval_ms: 100
+
+    # distance threshold for dynamic map update
+    map_update_distance_threshold: 10.0
+
+    # radius map for dynamic map loading
+    map_loader_radius: 150.0
diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml
new file mode 100644
index 0000000000..1411f766b4
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    max_cluster_size: 1000
+    min_cluster_size: 10
+    tolerance: 0.7
+    use_height: false
diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml
new file mode 100644
index 0000000000..1962fba1f3
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    input_frame: base_link
+    output_frame: base_link
+    voxel_size_x: 0.3
+    voxel_size_y: 0.3
+    voxel_size_z: 100.0
+    voxel_points_threshold: 3
diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml
new file mode 100644
index 0000000000..3ff32bfbb7
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    input_frame: base_link
+    output_frame: base_link
+    voxel_size_x: 0.15
+    voxel_size_y: 0.15
+    voxel_size_z: 0.15
diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
new file mode 100644
index 0000000000..2f3de2b789
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    tolerance: 0.7
+    voxel_leaf_size: 0.3
+    min_points_number_per_voxel: 1
+    min_cluster_size: 10
+    max_cluster_size: 3000
+    use_height: false
+    input_frame: "base_link"
+    max_x: 70.0
+    min_x: -70.0
+    max_y: 70.0
+    min_y: -70.0
+    max_z: 4.5
+    min_z: -4.5
diff --git a/autoware_launch/config/perception/object_recognition/detection/roi_sync.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml
similarity index 100%
rename from autoware_launch/config/perception/object_recognition/detection/roi_sync.param.yaml
rename to autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
similarity index 100%
rename from autoware_launch/config/perception/object_recognition/detection/object_lanelet_filter.param.yaml
rename to autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_position_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_position_filter.param.yaml
similarity index 100%
rename from autoware_launch/config/perception/object_recognition/detection/object_position_filter.param.yaml
rename to autoware_launch/config/perception/object_recognition/detection/object_filter/object_position_filter.param.yaml
diff --git a/autoware_launch/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
similarity index 100%
rename from autoware_launch/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml
rename to autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 5de556ac6f..84c3c1519d 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -9,24 +9,46 @@
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
+    <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
+    <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
 
+    <!-- object recognition -->
+    <arg name="object_recognition_detection_compare_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/compare_map.param.yaml"/>
+    <arg
+      name="object_recognition_detection_euclidean_cluster_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml"
+    />
+    <arg name="object_recognition_detection_outlier_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/outlier.param.yaml"/>
+    <arg
+      name="object_recognition_detection_voxel_grid_based_euclidean_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml"
+    />
     <arg
       name="object_recognition_detection_object_lanelet_filter_param_path"
-      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_lanelet_filter.param.yaml"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml"
     />
     <arg
       name="object_recognition_detection_object_position_filter_param_path"
-      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_position_filter.param.yaml"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/object_position_filter.param.yaml"
     />
     <arg
       name="object_recognition_detection_pointcloud_map_filter_param_path"
-      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_fusion_sync_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml"
     />
-    <arg name="object_recognition_detection_fusion_sync_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/roi_sync.param.yaml"/>
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
     />
+
+    <!-- obstacle segmentation -->
     <arg
       name="obstacle_segmentation_ground_segmentation_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml"
@@ -35,9 +57,9 @@
       name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml"
     />
-    <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
+
+    <!-- occupancy grid map -->
     <arg name="occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml"/>
-    <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
     <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
   </include>
 </launch>