From 7c15e169a321e7556efe71f9f0a2b0c8fd741242 Mon Sep 17 00:00:00 2001
From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
Date: Tue, 29 Aug 2023 21:09:17 +0900
Subject: [PATCH] fix(tier4_percetion_launch): fix order of Camera-Lidar-Radar
 fusion pipeline (#4779)

* fix(tier4_percetion_launch): fix order of Camera-Lidar-Radar fusion pipeline

Signed-off-by: scepter914 <scepter914@gmail.com>

* fix clustering update

Signed-off-by: scepter914 <scepter914@gmail.com>

* fix from Camera-LidAR fusion

Signed-off-by: scepter914 <scepter914@gmail.com>

* refactor

Signed-off-by: scepter914 <scepter914@gmail.com>

* refactor

Signed-off-by: scepter914 <scepter914@gmail.com>

* fix merge

Signed-off-by: scepter914 <scepter914@gmail.com>

* Update launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml

Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>

* style(pre-commit): autofix

---------

Signed-off-by: scepter914 <scepter914@gmail.com>
Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 ...ra_lidar_fusion_based_detection.launch.xml |  28 +-
 ...ar_radar_fusion_based_detection.launch.xml | 354 +++++++++++++++---
 2 files changed, 329 insertions(+), 53 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 aef7220680d67..941de9c7df11e 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
@@ -1,8 +1,25 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- Interface param -->
+  <arg name="output/objects" default="objects"/>
+
+  <!-- LiDAR param -->
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
-  <arg name="output/objects" default="objects"/>
+  <arg name="container_name" default="pointcloud_container"/>
+
+  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="score_threshold" default="0.35"/>
+
+  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
+  <arg name="use_downsample_pointcloud" default="true" description="use downsample pointcloud in perception"/>
+  <arg name="use_object_filter" default="true" description="use object filter"/>
+  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
+  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
+  <arg name="remove_unknown" default="true"/>
+  <arg name="trust_distance" default="30.0"/>
+
+  <!-- Camera param -->
   <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"/>
@@ -28,15 +45,6 @@
   <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"/>
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default="pointcloud_container"/>
-  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
-  <arg name="score_threshold" default="0.35"/>
-  <arg name="remove_unknown" default="true"/>
-  <arg name="trust_distance" default="30.0"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index 23f3bd0b532a0..8d4a285094651 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -1,68 +1,67 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- lidar param -->
+  <!-- Interface param -->
+  <arg name="output/objects" default="objects"/>
+
+  <!-- LiDAR param -->
   <arg name="input/pointcloud"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
+  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
+  <arg name="container_name" default="pointcloud_container"/>
+
+  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="score_threshold" default="0.35"/>
+
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default="pointcloud_container"/>
-  <arg name="score_threshold" default="0.20"/>
+  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
+  <arg name="remove_unknown" default="true"/>
+  <arg name="trust_distance" default="30.0"/>
 
-  <!-- camera param -->
+  <!-- Camera param -->
   <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)"/>
 
-  <!-- radar param -->
+  <!-- Radar param -->
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
 
-  <!-- camera lidar fusion based detection-->
-  <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="output/objects" value="camera_lidar_fusion/objects"/>
-      <arg name="image_raw0" value="$(var image_raw0)"/>
-      <arg name="camera_info0" value="$(var camera_info0)"/>
-      <arg name="image_raw1" value="$(var image_raw1)"/>
-      <arg name="camera_info1" value="$(var camera_info1)"/>
-      <arg name="image_raw2" value="$(var image_raw2)"/>
-      <arg name="camera_info2" value="$(var camera_info2)"/>
-      <arg name="image_raw3" value="$(var image_raw3)"/>
-      <arg name="camera_info3" value="$(var camera_info3)"/>
-      <arg name="image_raw4" value="$(var image_raw4)"/>
-      <arg name="camera_info4" value="$(var camera_info4)"/>
-      <arg name="image_raw5" value="$(var image_raw5)"/>
-      <arg name="camera_info5" value="$(var camera_info5)"/>
-      <arg name="image_raw6" value="$(var image_raw6)"/>
-      <arg name="camera_info6" value="$(var camera_info6)"/>
-      <arg name="image_raw7" value="$(var image_raw7)"/>
-      <arg name="camera_info7" value="$(var camera_info7)"/>
-      <arg name="image_number" value="$(var image_number)"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var container_name)"/>
-      <arg name="score_threshold" value="$(var score_threshold)"/>
-    </include>
-  </group>
+  <!-- Jetson AGX -->
+  <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
+    <arg name="image_raw0" value="$(var image_raw0)"/>
+    <arg name="image_raw1" value="$(var image_raw1)"/>
+    <arg name="image_raw2" value="$(var image_raw2)"/>
+    <arg name="image_raw3" value="$(var image_raw3)"/>
+    <arg name="image_raw4" value="$(var image_raw4)"/>
+    <arg name="image_raw5" value="$(var image_raw5)"/>
+    <arg name="image_raw6" value="$(var image_raw6)"/>
+    <arg name="image_raw7" value="$(var image_raw7)"/>
+    <arg name="image_number" value="$(var image_number)"/>
+  </include> -->
 
-  <!-- radar detection-->
+  <!-- Radar detection-->
   <group>
     <push-ros-namespace namespace="radar"/>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
@@ -78,10 +77,279 @@
     </include>
   </group>
 
-  <!-- lidar radar fusion-->
-  <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
-    <arg name="input/objects" value="camera_lidar_fusion/objects"/>
-    <arg name="input/radars" value="radar/noise_filtered_objects"/>
-    <arg name="output/objects" value="objects"/>
-  </include>
+  <!-- Pointcloud map filter -->
+  <group>
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
+      <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
+      <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
+      <arg name="use_intra_process" value="true"/>
+      <arg name="use_multithread" value="true"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="container_name" value="$(var container_name)"/>
+    </include>
+  </group>
+
+  <!-- Clustering -->
+  <group>
+    <push-ros-namespace namespace="clustering"/>
+    <group>
+      <let name="clustering/input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
+      <let name="clustering/input/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
+      <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
+        <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
+        <arg name="output_clusters" value="clusters"/>
+        <arg name="use_pointcloud_map" value="false"/>
+        <arg name="use_downsample_pointcloud" value="$(var use_downsample_pointcloud)"/>
+      </include>
+    </group>
+
+    <group>
+      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+        <arg name="input/objects" value="clusters"/>
+        <arg name="output/objects" value="objects_with_feature"/>
+      </include>
+    </group>
+
+    <group>
+      <let name="input/clustering" value="/perception/object_recognition/detection/clustering/clusters"/>
+      <push-ros-namespace namespace="camera_lidar_fusion"/>
+      <!-- Fusion camera-lidar to classify -->
+      <group>
+        <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
+          <arg name="input/camera_info0" value="$(var camera_info0)"/>
+          <arg name="input/rois0" value="$(var detection_rois0)"/>
+          <arg name="input/camera_info1" value="$(var camera_info1)"/>
+          <arg name="input/rois1" value="$(var detection_rois1)"/>
+          <arg name="input/camera_info2" value="$(var camera_info2)"/>
+          <arg name="input/rois2" value="$(var detection_rois2)"/>
+          <arg name="input/camera_info3" value="$(var camera_info3)"/>
+          <arg name="input/rois3" value="$(var detection_rois3)"/>
+          <arg name="input/camera_info4" value="$(var camera_info4)"/>
+          <arg name="input/rois4" value="$(var detection_rois4)"/>
+          <arg name="input/camera_info5" value="$(var camera_info5)"/>
+          <arg name="input/rois5" value="$(var detection_rois5)"/>
+          <arg name="input/camera_info6" value="$(var camera_info6)"/>
+          <arg name="input/rois6" value="$(var detection_rois6)"/>
+          <arg name="input/camera_info7" value="$(var camera_info7)"/>
+          <arg name="input/rois7" value="$(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="$(var image_raw0)"/>
+          <arg name="input/image1" value="$(var image_raw1)"/>
+          <arg name="input/image2" value="$(var image_raw2)"/>
+          <arg name="input/image3" value="$(var image_raw3)"/>
+          <arg name="input/image4" value="$(var image_raw4)"/>
+          <arg name="input/image5" value="$(var image_raw5)"/>
+          <arg name="input/image6" value="$(var image_raw6)"/>
+          <arg name="input/image7" value="$(var image_raw7)"/>
+          <arg name="output/clusters" value="clusters"/>
+          <arg name="remove_unknown" value="$(var remove_unknown)"/>
+          <arg name="trust_distance" value="$(var trust_distance)"/>
+        </include>
+      </group>
+
+      <group>
+        <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+          <arg name="input/objects" value="clusters"/>
+          <arg name="output/objects" value="objects_with_feature"/>
+        </include>
+      </group>
+      <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
+      <group>
+        <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
+          <arg name="input" value="objects_with_feature"/>
+          <arg name="output" value="objects"/>
+        </include>
+      </group>
+    </group>
+  </group>
+
+  <!-- DetectionByTracker -->
+  <group>
+    <push-ros-namespace namespace="detection_by_tracker"/>
+    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml"/>
+  </group>
+
+  <!-- CenterPoint -->
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
+    <push-ros-namespace namespace="centerpoint"/>
+    <group>
+      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+        <arg name="output/objects" value="objects"/>
+        <arg name="score_threshold" value="$(var score_threshold)"/>
+        <arg name="model_name" value="$(var centerpoint_model_name)"/>
+        <arg name="model_path" value="$(var centerpoint_model_path)"/>
+        <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
+      </include>
+    </group>
+  </group>
+
+  <!-- Lidar Apollo Instance Segmentation -->
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
+    <push-ros-namespace namespace="apollo"/>
+    <group>
+      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+        <arg name="output/objects" value="labeled_clusters"/>
+      </include>
+    </group>
+
+    <group>
+      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+        <arg name="input/objects" value="labeled_clusters"/>
+        <arg name="output/objects" value="objects_with_feature"/>
+        <arg name="use_vehicle_reference_yaw" value="true"/>
+        <arg name="use_vehicle_reference_shape_size" value="false"/>
+      </include>
+    </group>
+
+    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
+    <group>
+      <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
+        <arg name="input" value="objects_with_feature"/>
+        <arg name="output" value="objects"/>
+      </include>
+    </group>
+  </group>
+
+  <!-- PointPainting -->
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='pointpainting'&quot;)">
+    <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="$(var detection_rois0)"/>
+      <arg name="input/camera_info1" value="$(var camera_info1)"/>
+      <arg name="input/rois1" value="$(var detection_rois1)"/>
+      <arg name="input/camera_info2" value="$(var camera_info2)"/>
+      <arg name="input/rois2" value="$(var detection_rois2)"/>
+      <arg name="input/camera_info3" value="$(var camera_info3)"/>
+      <arg name="input/rois3" value="$(var detection_rois3)"/>
+      <arg name="input/camera_info4" value="$(var camera_info4)"/>
+      <arg name="input/rois4" value="$(var detection_rois4)"/>
+      <arg name="input/camera_info5" value="$(var camera_info5)"/>
+      <arg name="input/rois5" value="$(var detection_rois5)"/>
+      <arg name="input/camera_info6" value="$(var camera_info6)"/>
+      <arg name="input/rois6" value="$(var detection_rois6)"/>
+      <arg name="input/camera_info7" value="$(var camera_info7)"/>
+      <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)"/>
+      <arg name="input/image2" value="$(var image_raw2)"/>
+      <arg name="input/image3" value="$(var image_raw3)"/>
+      <arg name="input/image4" value="$(var image_raw4)"/>
+      <arg name="input/image5" value="$(var image_raw5)"/>
+      <arg name="input/image6" value="$(var image_raw6)"/>
+      <arg name="input/image7" value="$(var image_raw7)"/>
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      <arg name="output/objects" value="objects"/>
+      <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
+      <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+    </include>
+  </group>
+
+  <!-- Radar fusion-->
+  <group>
+    <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
+      <arg name="input/objects" value="$(var lidar_detection_model)/objects"/>
+      <arg name="input/radars" value="radar/noise_filtered_objects"/>
+      <arg name="output/objects" value="radar_fusion/objects"/>
+    </include>
+  </group>
+
+  <!-- Camera late fusion-->
+  <group>
+    <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
+      <arg name="input/camera_info0" value="$(var camera_info0)"/>
+      <arg name="input/rois0" value="$(var detection_rois0)"/>
+      <arg name="input/camera_info1" value="$(var camera_info1)"/>
+      <arg name="input/rois1" value="$(var detection_rois1)"/>
+      <arg name="input/camera_info2" value="$(var camera_info2)"/>
+      <arg name="input/rois2" value="$(var detection_rois2)"/>
+      <arg name="input/camera_info3" value="$(var camera_info3)"/>
+      <arg name="input/rois3" value="$(var detection_rois3)"/>
+      <arg name="input/camera_info4" value="$(var camera_info4)"/>
+      <arg name="input/rois4" value="$(var detection_rois4)"/>
+      <arg name="input/camera_info5" value="$(var camera_info5)"/>
+      <arg name="input/rois5" value="$(var detection_rois5)"/>
+      <arg name="input/camera_info6" value="$(var camera_info6)"/>
+      <arg name="input/rois6" value="$(var detection_rois6)"/>
+      <arg name="input/camera_info7" value="$(var camera_info7)"/>
+      <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)"/>
+      <arg name="input/image2" value="$(var image_raw2)"/>
+      <arg name="input/image3" value="$(var image_raw3)"/>
+      <arg name="input/image4" value="$(var image_raw4)"/>
+      <arg name="input/image5" value="$(var image_raw5)"/>
+      <arg name="input/image6" value="$(var image_raw6)"/>
+      <arg name="input/image7" value="$(var image_raw7)"/>
+      <arg name="input/objects" value="radar_fusion/objects"/>
+      <arg name="output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
+    </include>
+  </group>
+
+  <!-- Validator -->
+  <group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
+    <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
+    <let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
+    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml" if="$(var use_validator)">
+      <arg name="input/detected_objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
+      <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
+      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
+    </include>
+  </group>
+
+  <group if="$(eval &quot;'$(var objects_validation_method)'=='occupancy_grid'&quot;)">
+    <include file="$(find-pkg-share detected_object_validation)/launch/occupancy_grid_based_validator.launch.xml" if="$(var use_validator)">
+      <arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
+      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
+    </include>
+  </group>
+
+  <!-- Merger -->
+  <group>
+    <let name="merger/input/objects" value="$(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="$(var merger/input/objects)"/>
+      <arg name="input/object1" value="clustering/camera_lidar_fusion/objects"/>
+      <arg name="output/object" value="$(var lidar_detection_model)_roi_cluster_fusion/objects"/>
+      <arg name="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>
+    <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">
+      <arg name="input/object0" value="$(var lidar_detection_model)_roi_cluster_fusion/objects"/>
+      <arg name="input/object1" value="detection_by_tracker/objects"/>
+      <arg name="priority_mode" value="0"/>
+      <arg name="output/object" value="$(var merger/output/objects)"/>
+      <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>
+
+  <!-- Filter -->
+  <group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
+    <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
+      <arg name="input/object" value="objects_before_filter"/>
+      <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
+    </include>
+  </group>
+
+  <group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
+    <include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml" if="$(var use_object_filter)">
+      <arg name="input/object" value="objects_before_filter"/>
+      <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
+    </include>
+  </group>
 </launch>