Merge pull request tier4#157 from tier4/sync-upstream

chore: sync upstream
kazuki527 · Mar 14, 2022 · ce09ab7 · ce09ab7
2 parents 0f773a9 + 3378903
commit ce09ab7
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Showing 3 changed files with 77 additions and 22 deletions.
diff --git a/...onfig/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/...onfig/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
@@ -50,3 +50,13 @@
        3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150,  #MOTORBIKE
        3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150,  #PEDESTRIAN
        3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150]  #ANIMAL
+    min_iou_matrix:
+      #UNKNOWN, CAR,   TRUCK, BUS,    BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
+      [0.1,     0.1,   0.1,   0.1,    0.1,     0.1,       0.1,        0.1,  #UNKNOWN
+       0.1,     0.3,   0.2,   0.2,    0.1,     0.1,       0.1,        0.1,  #CAR
+       0.1,     0.2,   0.3,   0.3,    0.1,     0.1,       0.1,        0.1,  #TRUCK
+       0.1,     0.2,   0.3,   0.3,    0.1,     0.1,       0.1,        0.1,  #BUS
+       0.1,     0.1,   0.1,   0.1,    0.1,     0.1,       0.1,        0.1,  #BICYCLE
+       0.1,     0.1,   0.1,   0.1,    0.1,     0.1,       0.1,        0.1,  #MOTORBIKE
+       0.1,     0.1,   0.1,   0.1,    0.1,     0.1,       0.1,        0.1,  #PEDESTRIAN
+       0.1,     0.1,   0.1,   0.1,    0.1,     0.1,       0.1,        0.1]  #ANIMAL
diff --git a/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -34,9 +34,10 @@
   </include> -->
 
   <group>
-    <push-ros-namespace namespace="euclidean"/>
+    <push-ros-namespace namespace="clustering"/>
     <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-      <arg name="output_clusters" value="lidar/clusters"/>
+      <arg name="output_clusters" value="clusters"/>
+      <arg name="use_pointcloud_map" value="false"/>
     </include>
     <include file="$(find-pkg-share roi_cluster_fusion)/launch/roi_cluster_fusion.launch.xml">
       <arg name="input/camera_info0" value="$(var camera_info0)"/>
@@ -56,7 +57,7 @@
       <arg name="input/camera_info7" value="$(var camera_info7)"/>
       <arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
       <arg name="input/rois_number" value="$(var image_number)"/>
-      <arg name="input/clusters" value="clustering/lidar/clusters"/>
+      <arg name="input/clusters" value="clusters"/>
       <arg name="input/image0" value="$(var image_raw0)"/>
       <arg name="input/image1" value="$(var image_raw1)"/>
       <arg name="input/image2" value="$(var image_raw2)"/>
@@ -68,10 +69,8 @@
       <arg name="output" value="camera_lidar_fusion/clusters"/>
     </include>
     <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-      <arg name="use_map_current" value="$(var use_vector_map)"/>
       <arg name="input/objects" value="camera_lidar_fusion/clusters" />
       <arg name="output/objects" value="camera_lidar_fusion/objects_with_feature" />
-      <arg name="orientation_reliable" value="false"/>
     </include>
     <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
     <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
@@ -101,7 +100,7 @@
       <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="output/objects" value="objects_with_feature"/>
-        <arg name="use_map_current" value="$(var use_vector_map)"/>
+        <arg name="use_vehicle_reference_yaw" value="true"/>
       </include>
       <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
       <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
@@ -111,9 +110,23 @@
     </group>
   </group>
 
+  <!-- DetectionByTracker -->
+  <group>
+    <push-ros-namespace namespace="detection_by_tracker"/>
+    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
+    </include>
+  </group>
+
+  <!-- Merger -->
   <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
     <arg name="input/object0" value="$(var lidar_detection_model)/objects"/>
-    <arg name="input/object1" value="euclidean/camera_lidar_fusion/short_range_objects"/>
+    <arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
+    <arg name="output/object" value="camera_lidar_fusion/objects"/>
+  </include>
+  <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <arg name="input/object0" value="detection_by_tracker/objects"/>
+    <arg name="input/object1" value="camera_lidar_fusion/objects"/>
     <arg name="output/object" value="objects"/>
   </include>
+
 </launch>
diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -1,23 +1,55 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
+  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
 
-  <!-- <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" /> -->
+  <!-- Clustering -->
+  <group>
+    <push-ros-namespace namespace="clustering"/>
+    <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
+      <arg name="output_clusters" value="clusters"/>
+      <arg name="use_pointcloud_map" value="false"/>
+    </include>
+  </group>
 
-  <include file="$(find-pkg-share euclidean_cluster)/launch/euclidean_cluster.launch.xml">
-    <arg name="voxel_grid_param_path" value="$(find-pkg-share perception_launch)/config/object_recognition/detection/euclidean_cluster/voxel_grid.param.yaml" />
-    <arg name="euclidean_param_path" value="$(find-pkg-share perception_launch)/config/object_recognition/detection/euclidean_cluster/euclidean_cluster.param.yaml" />
-  </include>
+  <!-- DetectionByTracker -->
+  <group>
+    <push-ros-namespace namespace="detection_by_tracker"/>
+    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
+    </include>
+  </group>
 
-  <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-    <arg name="use_map_current" value="$(var use_vector_map)"/>
-    <arg name="input/objects" value="clusters"/>
-    <arg name="output/objects" value="objects_with_feature"/>
-  </include>
+  <!-- CenterPoint -->
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
+    <push-ros-namespace namespace="centerpoint"/>
+    <group>
+      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml" />
+    </group>
+  </group>
 
-  <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
-  <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-    <arg name="input" value="objects_with_feature" />
-    <arg name="output" value="objects" />
-  </include>
+  <!-- Lidar Apollo Instance Segmentation -->
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
+    <push-ros-namespace namespace="apollo"/>
+    <group>
+      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
+      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+        <arg name="output/objects" value="objects_with_feature"/>
+        <arg name="use_vehicle_reference_yaw" value="true"/>
+      </include>
+      <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
+      <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
+        <arg name="input" value="objects_with_feature" />
+        <arg name="output" value="objects" />
+      </include>
+    </group>
+  </group>
+
+  <!-- Merger -->
+  <group>
+    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="input/object0" value="$(var lidar_detection_model)/objects"/>
+      <arg name="input/object1" value="detection_by_tracker/objects"/>
+      <arg name="output/object" value="objects"/>
+    </include>
+  </group>
 </launch>