feat: update camera and lidar merger launch files to use detected obj…

…ect ROI filter Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
autowarefoundation · Feb 19, 2025 · a48c74c · a48c74c
1 parent cf8a8d0
commit a48c74c
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Showing 2 changed files with 12 additions and 12 deletions.
diff --git a/...rception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/...rception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
@@ -44,10 +44,10 @@
   <arg name="output/objects" default="objects"/>
 
   <!-- internal interfaces -->
-  <let name="camera_roi_fusion/input/objects" value="$(var input/lidar_ml/objects)"/>
-  <let name="camera_roi_fusion/output/objects" value="$(var lidar_detection_model_type)/roi_fusion/objects"/>
+  <let name="detected_object_roi_filter/input/objects" value="$(var input/lidar_ml/objects)"/>
+  <let name="detected_object_roi_filter/output/objects" value="$(var lidar_detection_model_type)/roi_fusion/objects"/>
 
-  <let name="merger1/input/objects0" value="$(var camera_roi_fusion/output/objects)"/>
+  <let name="merger1/input/objects0" value="$(var detected_object_roi_filter/output/objects)"/>
   <let name="merger1/input/objects1" value="$(var input/lidar_rule/objects)"/>
   <let name="merger1/output/objects" value="$(var output/objects)" if="$(var without_dbt_and_filter)"/>
   <let name="merger1/output/objects" value="$(var lidar_detection_model_type)_roi_cluster_fusion/objects" unless="$(var without_dbt_and_filter)"/>
@@ -61,7 +61,7 @@
   <let name="filter/input/objects" value="$(var merger1/output/objects)" unless="$(var use_detection_by_tracker)"/>
   <let name="filter/output/objects" value="$(var output/objects)"/>
 
-  <!-- Camera ROI fusion -->
+  <!-- Detected object filter by ROI -->
   <group>
     <include file="$(find-pkg-share autoware_image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
       <arg name="input/rois_number" value="$(var number_of_cameras)"/>
@@ -89,8 +89,8 @@
       <arg name="input/image5" value="$(var input/camera5/image)"/>
       <arg name="input/image6" value="$(var input/camera6/image)"/>
       <arg name="input/image7" value="$(var input/camera7/image)"/>
-      <arg name="input/objects" value="$(var camera_roi_fusion/input/objects)"/>
-      <arg name="output/objects" value="$(var camera_roi_fusion/output/objects)"/>
+      <arg name="input/objects" value="$(var detected_object_roi_filter/input/objects)"/>
+      <arg name="output/objects" value="$(var detected_object_roi_filter/output/objects)"/>
       <arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
     </include>
   </group>

diff --git a/...on_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/...on_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
@@ -52,10 +52,10 @@
   <let name="radar_objects_fusion/input/radars" value="$(var input/radar/objects)"/>
   <let name="radar_objects_fusion/output/objects" value="radar_fusion/objects"/>
 
-  <let name="camera_roi_fusion/input/objects" value="$(var input/lidar_ml/objects)"/>
-  <let name="camera_roi_fusion/output/objects" value="$(var lidar_detection_model_type)/roi_fusion/objects"/>
+  <let name="detected_object_roi_filter/input/objects" value="$(var input/lidar_ml/objects)"/>
+  <let name="detected_object_roi_filter/output/objects" value="$(var lidar_detection_model_type)/roi_fusion/objects"/>
 
-  <let name="merger1/input/objects0" value="$(var camera_roi_fusion/output/objects)"/>
+  <let name="merger1/input/objects0" value="$(var detected_object_roi_filter/output/objects)"/>
   <let name="merger1/input/objects1" value="$(var input/lidar_rule/objects)"/>
   <let name="merger1/output/objects" value="$(var output/objects)" if="$(var without_dbt_and_filter)"/>
   <let name="merger1/output/objects" value="$(var lidar_detection_model_type)_roi_cluster_fusion/objects" unless="$(var without_dbt_and_filter)"/>
@@ -73,7 +73,7 @@
   <let name="merger3/input/objects1" value="$(var input/radar_far/objects)"/>
   <let name="merger3/output/objects" value="$(var output/objects)"/>
 
-  <!-- Camera ROI- Detected object fusion -->
+  <!-- Detected object filter by ROI -->
   <group>
     <include file="$(find-pkg-share autoware_image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
       <arg name="input/rois_number" value="$(var number_of_cameras)"/>
@@ -101,8 +101,8 @@
       <arg name="input/image5" value="$(var input/camera5/image)"/>
       <arg name="input/image6" value="$(var input/camera6/image)"/>
       <arg name="input/image7" value="$(var input/camera7/image)"/>
-      <arg name="input/objects" value="$(var camera_roi_fusion/input/objects)"/>
-      <arg name="output/objects" value="$(var camera_roi_fusion/output/objects)"/>
+      <arg name="input/objects" value="$(var detected_object_roi_filter/input/objects)"/>
+      <arg name="output/objects" value="$(var detected_object_roi_filter/output/objects)"/>
       <arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
     </include>
   </group>