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cosmetic change (#138)
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* cosmetic change

* add image topic

* fix bug
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@mitsudome-r
mitsudome-r committed Feb 17, 2021
1 parent a63d909 commit 28dedff
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Showing 2 changed files with 59 additions and 43 deletions.
90 changes: 53 additions & 37 deletions ...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
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Expand Up @@ -39,24 +39,32 @@
<arg name="output/clusters" value="lidar/clusters"/>
</include>
<include file="$(find-pkg-share roi_cluster_fusion)/launch/roi_cluster_fusion.launch.xml">
<arg name="input_camera_info0" value="$(var camera_info0)"/>
<arg name="input_rois0" value="/perception/object_recognition/detection/rois0"/>
<arg name="input_camera_info1" value="$(var camera_info1)"/>
<arg name="input_rois1" value="/perception/object_recognition/detection/rois1"/>
<arg name="input_camera_info2" value="$(var camera_info2)"/>
<arg name="input_rois2" value="/perception/object_recognition/detection/rois2"/>
<arg name="input_camera_info3" value="$(var camera_info3)"/>
<arg name="input_rois3" value="/perception/object_recognition/detection/rois3"/>
<arg name="input_camera_info4" value="$(var camera_info4)"/>
<arg name="input_rois4" value="/perception/object_recognition/detection/rois4"/>
<arg name="input_camera_info5" value="$(var camera_info5)"/>
<arg name="input_rois5" value="/perception/object_recognition/detection/rois5"/>
<arg name="input_camera_info6" value="$(var camera_info6)"/>
<arg name="input_rois6" value="/perception/object_recognition/detection/rois6"/>
<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="lidar/clusters"/>
<arg name="input/camera_info0" value="$(arg camera_info0)"/>
<arg name="input/rois0" value="/perception/object_recognition/detection/rois0"/>
<arg name="input/camera_info1" value="$(arg camera_info1)"/>
<arg name="input/rois1" value="/perception/object_recognition/detection/rois1"/>
<arg name="input/camera_info2" value="$(arg camera_info2)"/>
<arg name="input/rois2" value="/perception/object_recognition/detection/rois2"/>
<arg name="input/camera_info3" value="$(arg camera_info3)"/>
<arg name="input/rois3" value="/perception/object_recognition/detection/rois3"/>
<arg name="input/camera_info4" value="$(arg camera_info4)"/>
<arg name="input/rois4" value="/perception/object_recognition/detection/rois4"/>
<arg name="input/camera_info5" value="$(arg camera_info5)"/>
<arg name="input/rois5" value="/perception/object_recognition/detection/rois5"/>
<arg name="input/camera_info6" value="$(arg camera_info6)"/>
<arg name="input/rois6" value="/perception/object_recognition/detection/rois6"/>
<arg name="input/camera_info7" value="$(arg camera_info7)"/>
<arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
<arg name="input/rois_number" value="$(arg image_number)"/>
<arg name="input/clusters" value="lidar/clusters"/>
<arg name="input/image0" value="$(arg image_raw0)"/>
<arg name="input/image1" value="$(arg image_raw1)"/>
<arg name="input/image2" value="$(arg image_raw2)"/>
<arg name="input/image3" value="$(arg image_raw3)"/>
<arg name="input/image4" value="$(arg image_raw4)"/>
<arg name="input/image5" value="$(arg image_raw5)"/>
<arg name="input/image6" value="$(arg image_raw6)"/>
<arg name="input/image7" value="$(arg image_raw7)"/>
<arg name="output" value="camera_lidar_fusion/clusters"/>
</include>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
Expand Down Expand Up @@ -91,25 +99,33 @@
<arg name="split_range" value="15.0"/>
</include>
<include file="$(find-pkg-share roi_cluster_fusion)/launch/roi_cluster_fusion.launch.xml">
<arg name="input_camera_info0" value="$(var camera_info0)"/>
<arg name="input_rois0" value="/perception/object_recognition/detection/rois0"/>
<arg name="input_camera_info1" value="$(var camera_info1)"/>
<arg name="input_rois1" value="/perception/object_recognition/detection/rois1"/>
<arg name="input_camera_info2" value="$(var camera_info2)"/>
<arg name="input_rois2" value="/perception/object_recognition/detection/rois2"/>
<arg name="input_camera_info3" value="$(var camera_info3)"/>
<arg name="input_rois3" value="/perception/object_recognition/detection/rois3"/>
<arg name="input_camera_info4" value="$(var camera_info4)"/>
<arg name="input_rois4" value="/perception/object_recognition/detection/rois4"/>
<arg name="input_camera_info5" value="$(var camera_info5)"/>
<arg name="input_rois5" value="/perception/object_recognition/detection/rois5"/>
<arg name="input_camera_info6" value="$(var camera_info6)"/>
<arg name="input_rois6" value="/perception/object_recognition/detection/rois6"/>
<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="lidar/short_range_objects"/>
<arg name="output" value="camera_lidar_fusion/short_range_objects"/>
<arg name="input/camera_info0" default="$(arg camera_info0)"/>
<arg name="input/rois0" default="/perception/object_recognition/detection/rois0"/>
<arg name="input/camera_info1" default="$(arg camera_info1)"/>
<arg name="input/rois1" default="/perception/object_recognition/detection/rois1"/>
<arg name="input/camera_info2" default="$(arg camera_info2)"/>
<arg name="input/rois2" default="/perception/object_recognition/detection/rois2"/>
<arg name="input/camera_info3" default="$(arg camera_info3)"/>
<arg name="input/rois3" default="/perception/object_recognition/detection/rois3"/>
<arg name="input/camera_info4" default="$(arg camera_info4)"/>
<arg name="input/rois4" default="/perception/object_recognition/detection/rois4"/>
<arg name="input/camera_info5" default="$(arg camera_info5)"/>
<arg name="input/rois5" default="/perception/object_recognition/detection/rois5"/>
<arg name="input/camera_info6" default="$(arg camera_info6)"/>
<arg name="input/rois6" default="/perception/object_recognition/detection/rois6"/>
<arg name="input/camera_info7" default="$(arg camera_info7)"/>
<arg name="input/rois7" default="/perception/object_recognition/detection/rois7"/>
<arg name="input/rois_number" default="$(arg image_number)"/>
<arg name="input/clusters" default="lidar/short_range_objects"/>
<arg name="output" default="camera_lidar_fusion/short_range_objects"/>
<arg name="input/image0" default="$(arg image_raw0)"/>
<arg name="input/image1" default="$(arg image_raw1)"/>
<arg name="input/image2" default="$(arg image_raw2)"/>
<arg name="input/image3" default="$(arg image_raw3)"/>
<arg name="input/image4" default="$(arg image_raw4)"/>
<arg name="input/image5" default="$(arg image_raw5)"/>
<arg name="input/image6" default="$(arg image_raw6)"/>
<arg name="input/image7" default="$(arg image_raw7)"/>
</include>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="camera_lidar_fusion/short_range_objects"/>
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12 changes: 6 additions & 6 deletions perception_launch/launch/perception.launch.xml
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Expand Up @@ -4,17 +4,17 @@
<!-- common parameters -->
<arg name="mode" default="camera_lidar_fusion"/>
<!-- "camera_lidar_fusion", "lidar" or "camera" -->
<arg name="image_raw0" default="/sensing/camera/0/image_raw"/>
<arg name="image_raw0" default="/sensing/camera/0/image_rect_color"/>
<arg name="camera_info0" default="/sensing/camera/0/camera_info"/>
<arg name="image_raw1" default="/sensing/camera/1/image_raw"/>
<arg name="image_raw1" default="/sensing/camera/1/image_rect_color"/>
<arg name="camera_info1" default="/sensing/camera/1/camera_info"/>
<arg name="image_raw2" default="/sensing/camera/2/image_raw"/>
<arg name="image_raw2" default="/sensing/camera/2/image_rect_color"/>
<arg name="camera_info2" default="/sensing/camera/2/camera_info"/>
<arg name="image_raw3" default="/sensing/camera/3/image_raw"/>
<arg name="image_raw3" default="/sensing/camera/3/image_rect_color"/>
<arg name="camera_info3" default="/sensing/camera/3/camera_info"/>
<arg name="image_raw4" default="/sensing/camera/4/image_raw"/>
<arg name="image_raw4" default="/sensing/camera/4/image_rect_color"/>
<arg name="camera_info4" default="/sensing/camera/4/camera_info"/>
<arg name="image_raw5" default="/sensing/camera/5/image_raw"/>
<arg name="image_raw5" default="/sensing/camera/5/image_rect_color"/>
<arg name="camera_info5" default="/sensing/camera/5/camera_info"/>
<arg name="image_raw6" default=""/>
<arg name="camera_info6" default=""/>
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