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feat(tier4_perception_launch): add image segmentation based pointcloud filter #7225

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merged 6 commits into from
Jul 5, 2024
Merged

feat(tier4_perception_launch): add image segmentation based pointcloud filter #7225

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952aedd
feat(tier4_perception_launch): add image segmentation based pointclou…
badai-nguyen Jun 3, 2024
18047c0
chore: typo
badai-nguyen Jun 3, 2024
f03adeb
Merge branch 'main' into fix/add_segmentation_based_pointcloud_filter…
badai-nguyen Jul 5, 2024
f7df7a3
fix: detection launch
badai-nguyen Jul 5, 2024
5adfef6
chore: add maintainer
badai-nguyen Jul 5, 2024
3134879
Revert "chore: add maintainer"
badai-nguyen Jul 5, 2024
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2 changes: 2 additions & 0 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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Expand Up @@ -13,6 +13,7 @@
<arg name="use_validator" description="use obstacle_pointcloud based validator"/>
<arg name="objects_validation_method" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>
<arg name="use_low_intensity_cluster_filter"/>
<arg name="use_image_segmentation_based_filter"/>
<arg name="use_multi_channel_tracker_merger"/>

<!-- External interfaces -->
Expand Down Expand Up @@ -163,6 +164,7 @@
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
<arg name="use_low_intensity_cluster_filter" value="$(var use_low_intensity_cluster_filter)"/>
<arg name="use_image_segmentation_based_filter" value="$(var use_image_segmentation_based_filter)"/>
</include>
</group>
<group if="$(var switch/detector/lidar_dnn)">
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13 changes: 12 additions & 1 deletion ...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
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Expand Up @@ -4,6 +4,7 @@
<arg name="lidar_detection_model" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="use_roi_based_cluster"/>
<arg name="use_low_intensity_cluster_filter"/>
<arg name="use_image_segmentation_based_filter"/>

<!-- External interfaces -->
<arg name="number_of_cameras"/>
Expand Down Expand Up @@ -95,14 +96,24 @@
</include>
</group>

<!-- Image_segmentation based filter, apply for camera0 only-->
<group>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/segmentation_pointcloud_fusion.launch.xml" if="$(var use_image_segmentation_based_filter)">
<arg name="input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
<arg name="output/pointcloud" value="/perception/object_recognition/detection/segmentation_based_filtered/pointcloud"/>
</include>
</group>

<!-- Clustering -->
<group>
<push-ros-namespace namespace="clustering"/>
<group>
<let name="euclidean_cluster_input" value="$(var input/pointcloud_map/pointcloud)" unless="$(var use_image_segmentation_based_filter)"/>
<let name="euclidean_cluster_input" value="/perception/object_recognition/detection/segmentation_based_filtered/pointcloud" if="$(var use_image_segmentation_based_filter)"/>
<let name="euclidean_cluster_output" value="euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
<let name="euclidean_cluster_output" value="clusters" unless="$(var use_roi_based_cluster)"/>
<include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
<arg name="input_pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
<arg name="input_pointcloud" value="$(var euclidean_cluster_input)"/>
<arg name="output_clusters" value="$(var euclidean_cluster_output)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
</include>
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2 changes: 2 additions & 0 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -80,6 +80,7 @@
<arg name="objects_filter_method" default="lanelet_filter" description="options: `lanelet_filter` or `position_filter`"/>
<arg name="use_roi_based_cluster" default="true" description="use roi_based_cluster in clustering"/>
<arg name="use_low_intensity_cluster_filter" default="true" description="use low_intensity_cluster_filter in clustering"/>
<arg name="use_image_segmentation_based_filter" default="false" description="use image_segmentation_based_filter in clustering"/>
<arg
name="use_empty_dynamic_object_publisher"
default="false"
Expand Down Expand Up @@ -240,6 +241,7 @@
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_low_intensity_cluster_filter" value="$(var use_low_intensity_cluster_filter)"/>
<arg name="use_image_segmentation_based_filter" value="$(var use_image_segmentation_based_filter)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
<arg name="objects_filter_method" value="$(var objects_filter_method)"/>
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
Expand Down
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