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refactor(image_projection_based_fusion): update rois topic names defi…
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…nitions (autowarefoundation#4356)

Signed-off-by: ismetatabay <[email protected]>
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@ismetatabay
ismetatabay authored Jul 24, 2023
1 parent ebcc5d1 commit 7e2ef7c
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Showing 2 changed files with 32 additions and 16 deletions.
40 changes: 24 additions & 16 deletions ...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
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<arg name="output/objects" default="objects"/>
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
<arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
<arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
<arg name="image_raw1" default="/image_raw1"/>
<arg name="camera_info1" default="/camera_info1"/>
<arg name="detection_rois1" default="/perception/object_recognition/detection/rois1"/>
<arg name="image_raw2" default="/image_raw2"/>
<arg name="camera_info2" default="/camera_info2"/>
<arg name="detection_rois2" default="/perception/object_recognition/detection/rois2"/>
<arg name="image_raw3" default="/image_raw3"/>
<arg name="camera_info3" default="/camera_info3"/>
<arg name="detection_rois3" default="/perception/object_recognition/detection/rois3"/>
<arg name="image_raw4" default="/image_raw4"/>
<arg name="camera_info4" default="/camera_info4"/>
<arg name="detection_rois4" default="/perception/object_recognition/detection/rois4"/>
<arg name="image_raw5" default="/image_raw5"/>
<arg name="camera_info5" default="/camera_info5"/>
<arg name="detection_rois5" default="/perception/object_recognition/detection/rois5"/>
<arg name="image_raw6" default="/image_raw6"/>
<arg name="camera_info6" default="/camera_info6"/>
<arg name="detection_rois6" default="/perception/object_recognition/detection/rois6"/>
<arg name="image_raw7" default="/image_raw7"/>
<arg name="camera_info7" default="/camera_info7"/>
<arg name="detection_rois7" default="/perception/object_recognition/detection/rois7"/>
<arg name="image_number" default="1" description="choose image raw number(1-8)"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
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<group>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
<arg name="input/rois0" value="/perception/object_recognition/detection/rois0"/>
<arg name="input/rois0" value="$(var detection_rois0)"/>
<arg name="input/camera_info1" value="$(var camera_info1)"/>
<arg name="input/rois1" value="/perception/object_recognition/detection/rois1"/>
<arg name="input/rois1" value="$(var detection_rois1)"/>
<arg name="input/camera_info2" value="$(var camera_info2)"/>
<arg name="input/rois2" value="/perception/object_recognition/detection/rois2"/>
<arg name="input/rois2" value="$(var detection_rois2)"/>
<arg name="input/camera_info3" value="$(var camera_info3)"/>
<arg name="input/rois3" value="/perception/object_recognition/detection/rois3"/>
<arg name="input/rois3" value="$(var detection_rois3)"/>
<arg name="input/camera_info4" value="$(var camera_info4)"/>
<arg name="input/rois4" value="/perception/object_recognition/detection/rois4"/>
<arg name="input/rois4" value="$(var detection_rois4)"/>
<arg name="input/camera_info5" value="$(var camera_info5)"/>
<arg name="input/rois5" value="/perception/object_recognition/detection/rois5"/>
<arg name="input/rois5" value="$(var detection_rois5)"/>
<arg name="input/camera_info6" value="$(var camera_info6)"/>
<arg name="input/rois6" value="/perception/object_recognition/detection/rois6"/>
<arg name="input/rois6" value="$(var detection_rois6)"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
<arg name="input/rois7" value="$(var detection_rois7)"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/clusters" value="$(var input/clustering)"/>
<arg name="input/image0" value="$(var image_raw0)"/>
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<push-ros-namespace namespace="pointpainting"/>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/pointpainting_fusion.launch.xml">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
<arg name="input/rois0" value="/perception/object_recognition/detection/rois0"/>
<arg name="input/rois0" value="$(var detection_rois0)"/>
<arg name="input/camera_info1" value="$(var camera_info1)"/>
<arg name="input/rois1" value="/perception/object_recognition/detection/rois1"/>
<arg name="input/rois1" value="$(var detection_rois1)"/>
<arg name="input/camera_info2" value="$(var camera_info2)"/>
<arg name="input/rois2" value="/perception/object_recognition/detection/rois2"/>
<arg name="input/rois2" value="$(var detection_rois2)"/>
<arg name="input/camera_info3" value="$(var camera_info3)"/>
<arg name="input/rois3" value="/perception/object_recognition/detection/rois3"/>
<arg name="input/rois3" value="$(var detection_rois3)"/>
<arg name="input/camera_info4" value="$(var camera_info4)"/>
<arg name="input/rois4" value="/perception/object_recognition/detection/rois4"/>
<arg name="input/rois4" value="$(var detection_rois4)"/>
<arg name="input/camera_info5" value="$(var camera_info5)"/>
<arg name="input/rois5" value="/perception/object_recognition/detection/rois5"/>
<arg name="input/rois5" value="$(var detection_rois5)"/>
<arg name="input/camera_info6" value="$(var camera_info6)"/>
<arg name="input/rois6" value="/perception/object_recognition/detection/rois6"/>
<arg name="input/rois6" value="$(var detection_rois6)"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
<arg name="input/rois7" value="$(var detection_rois7)"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/image0" value="$(var image_raw0)"/>
<arg name="input/image1" value="$(var image_raw1)"/>
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8 changes: 8 additions & 0 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
<arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
<arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
<arg name="image_raw1" default="/sensing/camera/camera1/image_rect_color"/>
<arg name="camera_info1" default="/sensing/camera/camera1/camera_info"/>
<arg name="detection_rois1" default="/perception/object_recognition/detection/rois1"/>
<arg name="image_raw2" default="/sensing/camera/camera2/image_rect_color"/>
<arg name="camera_info2" default="/sensing/camera/camera2/camera_info"/>
<arg name="detection_rois2" default="/perception/object_recognition/detection/rois2"/>
<arg name="image_raw3" default="/sensing/camera/camera3/image_rect_color"/>
<arg name="camera_info3" default="/sensing/camera/camera3/camera_info"/>
<arg name="detection_rois3" default="/perception/object_recognition/detection/rois3"/>
<arg name="image_raw4" default="/sensing/camera/camera4/image_rect_color"/>
<arg name="camera_info4" default="/sensing/camera/camera4/camera_info"/>
<arg name="detection_rois4" default="/perception/object_recognition/detection/rois4"/>
<arg name="image_raw5" default="/sensing/camera/camera5/image_rect_color"/>
<arg name="camera_info5" default="/sensing/camera/camera5/camera_info"/>
<arg name="detection_rois5" default="/perception/object_recognition/detection/rois5"/>
<arg name="image_raw6" default="/sensing/camera/camera6/image_rect_color"/>
<arg name="camera_info6" default="/sensing/camera/camera6/camera_info"/>
<arg name="detection_rois6" default="/perception/object_recognition/detection/rois6"/>
<arg name="image_raw7" default="/sensing/camera/camera7/image_rect_color"/>
<arg name="camera_info7" default="/sensing/camera/camera7/camera_info"/>
<arg name="detection_rois7" default="/perception/object_recognition/detection/rois7"/>
<arg name="image_number" default="6" description="choose image raw number(1-8)"/>
<arg name="use_vector_map" default="true" description="use vector map in prediction"/>
<arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
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