Skip to content

Commit

Permalink
Feature/porting camera lidar fusion (autowarefoundation#316)
Browse files Browse the repository at this point in the history 
* Feature/camera lidar fusion (autowarefoundation#248)

* change camera lidar fusion node

* change default mode of object recognition

* change spilit range parameter from 10 to 30 (autowarefoundation#272)

Co-authored-by: Yukihiro Saito <[email protected]>
  • Loading branch information
@wep21 @yukkysaito @kenji-miyake
2 people authored and kenji-miyake committed Nov 1, 2021
1 parent 9c1a369 commit c40d92c
Show file tree
Hide file tree
Showing 3 changed files with 7 additions and 55 deletions.
2 changes: 1 addition & 1 deletion autoware_launch/launch/autoware.launch.xml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@
<!-- Perception -->
<include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
<!-- options for mode: camera_lidar_fusion, lidar, camera -->
<arg name="mode" value="lidar" />
<arg name="mode" value="camera_lidar_fusion" />
</include>

<!-- Planning -->
Expand Down
2 changes: 1 addition & 1 deletion autoware_launch/launch/logging_simulator.launch.xml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,7 @@
<group>
<include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml" if="$(var perception)">
<!-- options for mode: camera_lidar_fusion, lidar, camera -->
<arg name="mode" value="lidar" />
<arg name="mode" value="camera_lidar_fusion" />
</include>
</group>

Expand Down
58 changes: 5 additions & 53 deletions ...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
View file
Original file line number Diff line number Diff line change
@@ -1,5 +1,4 @@
<?xml version="1.0"?>

<launch>
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
<arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
Expand Down Expand Up @@ -77,67 +76,20 @@
<arg name="input/object" value="camera_lidar_fusion/objects"/>
<arg name="output/long_range_object" value="camera_lidar_fusion/long_range_objects"/>
<arg name="output/short_range_object" value="camera_lidar_fusion/short_range_objects"/>
<arg name="split_range" value="10.0"/>
<arg name="split_range" value="30.0"/>
</include>
</group>

<group>
<push-ros-namespace namespace="apollo"/>
<include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
<arg name="output/objects" value="lidar/clusters"/>
</include>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="use_map_current" value="$(var use_vector_map)"/>
<arg name="input/objects" value="lidar/clusters" />
<arg name="output/objects" value="lidar/objects" />
<arg name="orientation_reliable" value="true"/>
</include>
<include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
<arg name="input/object" value="lidar/objects"/>
<arg name="output/long_range_object" value="lidar/long_range_objects"/>
<arg name="output/short_range_object" value="lidar/short_range_objects"/>
<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/image0" value="$(var image_raw0)"/>
<arg name="input/image1" value="$(var image_raw1)"/>
<arg name="input/image2" value="$(var image_raw2)"/>
<arg name="input/image3" value="$(var image_raw3)"/>
<arg name="input/image4" value="$(var image_raw4)"/>
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
</include>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="camera_lidar_fusion/short_range_objects"/>
<arg name="input/object1" value="lidar/long_range_objects"/>
<arg name="output/object" value="camera_lidar_fusion/objects"/>
<push-ros-namespace namespace="centerpoint"/>
<include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
<arg name="output/objects" value="objects" />
</include>
</group>

<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="apollo/camera_lidar_fusion/objects"/>
<arg name="input/object0" value="centerpoint/objects"/>
<arg name="input/object1" value="euclidean/camera_lidar_fusion/short_range_objects"/>
<arg name="output/object" value="objects"/>
</include>

</launch>

0 comments on commit c40d92c

Please sign in to comment.