From b3d23f710d30a3c9accfbcdf3fcc3e380019515d Mon Sep 17 00:00:00 2001
From: Tomoya Kimura <tomoya.kimura@tier4.jp>
Date: Wed, 6 Jul 2022 01:39:58 +0900
Subject: [PATCH] feat: add option to use validator node in detection module
 (#1233)

* feat: add option to use validator node in detection module

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* remove use_validator option in detection/perception.launch

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 .../camera_lidar_fusion_based_detection.launch.xml         | 7 +++++--
 .../detection/lidar_based_detection.launch.xml             | 7 +++++--
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index 2f576cd731751..ca0915753816e 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -23,6 +23,7 @@
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default=""/>
+  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
@@ -153,7 +154,7 @@
   <group>
     <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
     <let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml">
+    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml" if="$(var use_validator)">
       <arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
       <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
       <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
@@ -161,8 +162,10 @@
   </group>
 
   <!-- Merger -->
+  <let name="merger/input/objects" value="$(var lidar_detection_model)/validation/objects" if="$(var use_validator)"/>
+  <let name="merger/input/objects" value="$(var lidar_detection_model)/objects" unless="$(var use_validator)"/>
   <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-    <arg name="input/object0" value="$(var lidar_detection_model)/validation/objects"/>
+    <arg name="input/object0" value="$(var merger/input/objects)"/>
     <arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
     <arg name="output/object" value="camera_lidar_fusion/objects"/>
   </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 9614fe12c74da..98ad89b603637 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -6,6 +6,7 @@
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default=""/>
+  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
 
   <!-- Pointcloud map filter -->
   <group>
@@ -79,7 +80,7 @@
   <group>
     <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
     <let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml">
+    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml" if="$(var use_validator)">
       <arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
       <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
       <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
@@ -88,8 +89,10 @@
 
   <!-- Merger -->
   <group>
+    <let name="merger/input/objects" value="$(var lidar_detection_model)/validation/objects" if="$(var use_validator)"/>
+    <let name="merger/input/objects" value="$(var lidar_detection_model)/objects" unless="$(var use_validator)"/>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="$(var lidar_detection_model)/validation/objects"/>
+      <arg name="input/object0" value="$(var merger/input/objects)"/>
       <arg name="input/object1" value="clustering/objects"/>
       <arg name="output/object" value="temporary_merged_objects"/>
     </include>