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fix(roi_pointcloud_fusion): merge into pointcloud container #10334

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merged 1 commit into from
Mar 26, 2025
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fix(roi_pointcloud_fusion): merge into pointcloud container #10334

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1 change: 1 addition & 0 deletions ...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -185,6 +185,7 @@
<arg name="input/pointcloud" value="$(var roi_cluster/input/pointcloud)"/>
<arg name="output/clusters" value="$(var roi_cluster/output/clusters)"/>
<arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
<arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
</include>
</group>
</group>
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69 changes: 36 additions & 33 deletions perception/autoware_image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
<launch>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="input/rois_number" default="6"/>
<arg name="input/rois0" default="rois0"/>
<arg name="input/camera_info0" default="/camera_info0"/>
Expand Down Expand Up @@ -33,39 +34,41 @@
<arg name="input/image6" default="/image_raw6"/>
<arg name="input/image7" default="/image_raw7"/>
<group>
<node pkg="autoware_image_projection_based_fusion" exec="roi_pointcloud_fusion_node" name="roi_pointcloud_fusion" output="screen">
<param name="rois_number" value="$(var input/rois_number)"/>
<param from="$(var param_path)"/>
<param from="$(var sync_param_path)"/>
<remap from="input" to="$(var input/pointcloud)"/>
<remap from="output" to="$(var output/clusters)"/>
<remap from="debug/clusters" to="$(var debug/clusters)"/>
<node_container pkg="rclcpp_components" exec="component_container" name="$(var pointcloud_container_name)" namespace="/">
<composable_node pkg="autoware_image_projection_based_fusion" plugin="autoware::image_projection_based_fusion::RoiPointCloudFusionNode" name="roi_pointcloud_fusion">
<param name="rois_number" value="$(var input/rois_number)"/>
<param from="$(var param_path)"/>
<param from="$(var sync_param_path)" allow_substs="true"/>
<remap from="input" to="$(var input/pointcloud)"/>
<remap from="output" to="$(var output/clusters)"/>
<remap from="debug/clusters" to="$(var debug/clusters)"/>

<!-- rois, camera and info -->
<param name="input/rois0" value="$(var input/rois0)"/>
<param name="input/camera_info0" value="$(var input/camera_info0)"/>
<param name="input/image0" value="$(var input/image0)"/>
<param name="input/rois1" value="$(var input/rois1)"/>
<param name="input/camera_info1" value="$(var input/camera_info1)"/>
<param name="input/image1" value="$(var input/image1)"/>
<param name="input/rois2" value="$(var input/rois2)"/>
<param name="input/camera_info2" value="$(var input/camera_info2)"/>
<param name="input/image2" value="$(var input/image2)"/>
<param name="input/rois3" value="$(var input/rois3)"/>
<param name="input/camera_info3" value="$(var input/camera_info3)"/>
<param name="input/image3" value="$(var input/image3)"/>
<param name="input/rois4" value="$(var input/rois4)"/>
<param name="input/camera_info4" value="$(var input/camera_info4)"/>
<param name="input/image4" value="$(var input/image4)"/>
<param name="input/rois5" value="$(var input/rois5)"/>
<param name="input/camera_info5" value="$(var input/camera_info5)"/>
<param name="input/image5" value="$(var input/image5)"/>
<param name="input/rois6" value="$(var input/rois6)"/>
<param name="input/camera_info6" value="$(var input/camera_info6)"/>
<param name="input/image6" value="$(var input/image6)"/>
<param name="input/rois7" value="$(var input/rois7)"/>
<param name="input/camera_info7" value="$(var input/camera_info7)"/>
<param name="input/image7" value="$(var input/image7)"/>
</node>
<!-- rois, camera and info -->
<param name="input/rois0" value="$(var input/rois0)"/>
<param name="input/camera_info0" value="$(var input/camera_info0)"/>
<param name="input/image0" value="$(var input/image0)"/>
<param name="input/rois1" value="$(var input/rois1)"/>
<param name="input/camera_info1" value="$(var input/camera_info1)"/>
<param name="input/image1" value="$(var input/image1)"/>
<param name="input/rois2" value="$(var input/rois2)"/>
<param name="input/camera_info2" value="$(var input/camera_info2)"/>
<param name="input/image2" value="$(var input/image2)"/>
<param name="input/rois3" value="$(var input/rois3)"/>
<param name="input/camera_info3" value="$(var input/camera_info3)"/>
<param name="input/image3" value="$(var input/image3)"/>
<param name="input/rois4" value="$(var input/rois4)"/>
<param name="input/camera_info4" value="$(var input/camera_info4)"/>
<param name="input/image4" value="$(var input/image4)"/>
<param name="input/rois5" value="$(var input/rois5)"/>
<param name="input/camera_info5" value="$(var input/camera_info5)"/>
<param name="input/image5" value="$(var input/image5)"/>
<param name="input/rois6" value="$(var input/rois6)"/>
<param name="input/camera_info6" value="$(var input/camera_info6)"/>
<param name="input/image6" value="$(var input/image6)"/>
<param name="input/rois7" value="$(var input/rois7)"/>
<param name="input/camera_info7" value="$(var input/camera_info7)"/>
<param name="input/image7" value="$(var input/image7)"/>
</composable_node>
</node_container>
</group>
</launch>
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