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refactor(autoware_launch): add euclidean_clustering params #445

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merged 5 commits into from
Jul 14, 2023
Merged

refactor(autoware_launch): add euclidean_clustering params #445

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22061e0
add euclidean_clustering param
ismetatabay Jul 12, 2023
d367edc
style(pre-commit): autofix
pre-commit-ci[bot] Jul 12, 2023
af2d04f
update and rearrange comments
ismetatabay Jul 13, 2023
7f89340
style(pre-commit): autofix
pre-commit-ci[bot] Jul 13, 2023
7fdfe6c
Merge branch 'main' into refactor/euclidean_clustering
ismetatabay Jul 14, 2023
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20 changes: 20 additions & 0 deletions ...e_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml
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/**:
ros__parameters:

# distance threshold for compare compare
distance_threshold: 0.5

# publish voxelized map pointcloud for debug
publish_debug_pcd: False

# use dynamic map loading
use_dynamic_map_loading: True

# time interval to check dynamic map loading
timer_interval_ms: 100

# distance threshold for dynamic map update
map_update_distance_threshold: 10.0

# radius map for dynamic map loading
map_loader_radius: 150.0
6 changes: 6 additions & 0 deletions ...ch/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml
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/**:
ros__parameters:
max_cluster_size: 1000
min_cluster_size: 10
tolerance: 0.7
use_height: false
8 changes: 8 additions & 0 deletions autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml
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/**:
ros__parameters:
input_frame: base_link
output_frame: base_link
voxel_size_x: 0.3
voxel_size_y: 0.3
voxel_size_z: 100.0
voxel_points_threshold: 3
7 changes: 7 additions & 0 deletions ...re_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml
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/**:
ros__parameters:
input_frame: base_link
output_frame: base_link
voxel_size_x: 0.15
voxel_size_y: 0.15
voxel_size_z: 0.15
15 changes: 15 additions & 0 deletions ...ion/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
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/**:
ros__parameters:
tolerance: 0.7
voxel_leaf_size: 0.3
min_points_number_per_voxel: 1
min_cluster_size: 10
max_cluster_size: 3000
use_height: false
input_frame: "base_link"
max_x: 70.0
min_x: -70.0
max_y: 70.0
min_y: -70.0
max_z: 4.5
min_z: -4.5
0 ...recognition/detection/roi_sync.param.yaml → ...ojection_based_fusion/roi_sync.param.yaml
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0 ...etection/object_lanelet_filter.param.yaml → ...t_filter/object_lanelet_filter.param.yaml
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0 ...tection/object_position_filter.param.yaml → ..._filter/object_position_filter.param.yaml
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0 ...etection/pointcloud_map_filter.param.yaml → ...d_filter/pointcloud_map_filter.param.yaml
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34 changes: 28 additions & 6 deletions autoware_launch/launch/components/tier4_perception_component.launch.xml
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Expand Up @@ -9,24 +9,46 @@
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
<arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
<arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>

<!-- object recognition -->
<arg name="object_recognition_detection_compare_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/compare_map.param.yaml"/>
<arg
name="object_recognition_detection_euclidean_cluster_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml"
/>
<arg name="object_recognition_detection_outlier_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/outlier.param.yaml"/>
<arg
name="object_recognition_detection_voxel_grid_based_euclidean_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml"
/>
<arg
name="object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml"
/>
<arg
name="object_recognition_detection_object_lanelet_filter_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_lanelet_filter.param.yaml"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml"
/>
<arg
name="object_recognition_detection_object_position_filter_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_position_filter.param.yaml"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_filter/object_position_filter.param.yaml"
/>
<arg
name="object_recognition_detection_pointcloud_map_filter_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml"
/>
<arg
name="object_recognition_detection_fusion_sync_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml"
/>
<arg name="object_recognition_detection_fusion_sync_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/roi_sync.param.yaml"/>
<arg
name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
/>

<!-- obstacle segmentation -->
<arg
name="obstacle_segmentation_ground_segmentation_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml"
Expand All @@ -35,9 +57,9 @@
name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml"
/>
<arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>

<!-- occupancy grid map -->
<arg name="occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml"/>
<arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
<arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
</include>
</launch>
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