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feat(tier4_perception_launch): test to skip detection by tracker output from camera-lidar-radar fusion #940

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feat(tier4_perception_launch): test to skip detection by tracker output from camera-lidar-radar fusion #940

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df1a754
test to skip detection by tracker output from camera-lidar-radar fusion
YoshiRi Oct 13, 2023
104dd65
Update launch/tier4_perception_launch/launch/object_recognition/detec…
badai-nguyen Oct 18, 2023
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7 changes: 4 additions & 3 deletions .../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -367,14 +367,15 @@
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="$(var merger/input/objects)"/>
<arg name="input/object1" value="clustering/camera_lidar_fusion/objects"/>
<arg name="output/object" value="$(var lidar_detection_model)_roi_cluster_fusion/objects"/>
<!-- <arg name="output/object" value="$(var lidar_detection_model)_roi_cluster_fusion/objects"/> -->
<arg name="output/object" value="(var merger/output/objects)"/>
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<arg name="priority_mode" value="0"/>
<arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
<arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
</include>
</group>

<group>
<!-- <group>
<let name="merger/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
<let name="merger/output/objects" value="$(var output/objects)" unless="$(var use_object_filter)"/>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
Expand All @@ -385,7 +386,7 @@
<arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
<arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
</include>
</group>
</group> -->

<!-- Filter -->
<group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
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