feat: remove detection preprocess (#285)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
tier4 · Jul 11, 2022 · 21f632b · 21f632b
1 parent 3bb8bbf
commit 21f632b
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Showing 5 changed files with 7 additions and 147 deletions.
diff --git a/perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml b/perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml
diff --git a/perception_launch/config/object_recognition/detection/pointcloud_map_filter.param.yaml b/perception_launch/config/object_recognition/detection/pointcloud_map_filter.param.yaml
@@ -1,5 +1,5 @@
 /**:
   ros__parameters:
-    use_down_sample_filter: False
+    use_down_sample_filter: True
     down_sample_voxel_size: 0.1
     distance_threshold: 0.5
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
@@ -39,11 +39,12 @@
     <arg name="image_number" value="$(var image_number)"/>
   </include> -->
 
-  <!-- detection preprocess module -->
+  <!-- Pointcloud map filter -->
   <group>
     <push-ros-namespace namespace="obstacle_segmentation"/>
-    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/detection_preprocess.launch.py" if="$(var use_pointcloud_map)">
+    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)" />
+      <arg name="output_topic" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" />
       <arg name="use_intra_process" value="true" />
       <arg name="use_multithread" value="true" />
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />

diff --git a/perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py b/perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py
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
@@ -9,18 +9,18 @@
   <arg name="container_name" default=""/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
 
-  <!-- detection preprocess module -->
+  <!-- Pointcloud map filter -->
   <group>
     <push-ros-namespace namespace="obstacle_segmentation"/>
-    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/detection_preprocess.launch.py" if="$(var use_pointcloud_map)">
+    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)" />
+      <arg name="output_topic" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" />
       <arg name="use_intra_process" value="true" />
       <arg name="use_multithread" value="true" />
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
       <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
-
   <!-- Clustering -->
   <group>
     <push-ros-namespace namespace="clustering"/>