From 22a9f043bb15bb5fec63eb4f03af800c78d68bbb Mon Sep 17 00:00:00 2001
From: ktro2828 <kotaro.uetake@tier4.jp>
Date: Wed, 6 Sep 2023 16:03:09 +0900
Subject: [PATCH] refactor: add configuration file and update launcher to load
 this

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
---
 .../config/roi_cluster_fusion.param.yaml            | 12 ++++++++++++
 .../launch/pointpainting_fusion.launch.xml          |  3 ---
 .../launch/roi_cluster_fusion.launch.xml            | 13 ++-----------
 .../schema/roi_cluster_fusion.schema.json           |  6 +++---
 .../schema/roi_detected_object_fusion.schema.json   |  4 ++--
 .../schema/roi_sync.schema.json                     |  3 +--
 6 files changed, 20 insertions(+), 21 deletions(-)
 create mode 100644 perception/image_projection_based_fusion/config/roi_cluster_fusion.param.yaml

diff --git a/perception/image_projection_based_fusion/config/roi_cluster_fusion.param.yaml b/perception/image_projection_based_fusion/config/roi_cluster_fusion.param.yaml
new file mode 100644
index 0000000000000..fbb0987f81efb
--- /dev/null
+++ b/perception/image_projection_based_fusion/config/roi_cluster_fusion.param.yaml
@@ -0,0 +1,12 @@
+/**:
+  ros__parameters:
+    use_iou: true
+    use_iou_x: false
+    use_iou_y: false
+    use_cluster_semantic_type: false
+    only_allow_inside_cluster: true
+    roi_scale_factor: 1.1
+    iou_threshold: 0.35
+    unknown_iou_threshold: 0.1
+    remove_unknown: false
+    trust_distance: 100.0
diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
index e6275a2ee83c7..91577318e88b6 100644
--- a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
@@ -41,9 +41,6 @@
     <node pkg="image_projection_based_fusion" exec="pointpainting_fusion_node" name="pointpainting" output="screen">
       <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
       <remap from="~/output/objects" to="$(var output/objects)"/>
-      <param name="score_threshold" value="0.35"/>
-      <param name="densification_world_frame_id" value="map"/>
-      <param name="densification_num_past_frames" value="1"/>
       <param name="trt_precision" value="fp16"/>
       <param name="encoder_onnx_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"/>
       <param name="encoder_engine_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).engine"/>
diff --git a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml
index 37fbd309d3ee5..15ca2abd80e25 100644
--- a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml
@@ -18,9 +18,8 @@
   <arg name="input/camera_info7" default="/camera_info7"/>
   <arg name="input/clusters" default="clusters"/>
   <arg name="output/clusters" default="labeled_clusters"/>
+  <arg name="param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_cluster_fusion.param.yaml"/>
   <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
-  <arg name="remove_unknown" default="true"/>
-  <arg name="trust_distance" default="100.0"/>
 
   <!-- for eval variable-->
   <arg name="input_rois_number" default="$(var input/rois_number)"/>
@@ -45,16 +44,8 @@
   <arg name="input/image7" default="/image_raw7"/>
   <group>
     <node pkg="image_projection_based_fusion" exec="roi_cluster_fusion_node" name="roi_cluster_fusion" output="screen">
-      <param name="use_iou" value="true"/>
-      <param name="use_iou_x" value="false"/>
-      <param name="use_iou_y" value="false"/>
-      <param name="only_allow_inside_cluster" value="true"/>
-      <param name="roi_scale_factor" value="1.1"/>
-      <param name="iou_threshold" value="0.35"/>
-      <param name="unknown_iou_threshold" value="0.1"/>
       <param name="rois_number" value="$(var input/rois_number)"/>
-      <param name="remove_unknown" value="$(var remove_unknown)"/>
-      <param name="trust_distance" value="$(var trust_distance)"/>
+      <param from="$(var param_path)"/>
       <param from="$(var sync_param_path)"/>
       <remap from="input" to="$(var input/clusters)"/>
       <remap from="output" to="$(var output/clusters)"/>
diff --git a/perception/image_projection_based_fusion/schema/roi_cluster_fusion.schema.json b/perception/image_projection_based_fusion/schema/roi_cluster_fusion.schema.json
index bfedf50811ed0..67686d8a2b0dd 100644
--- a/perception/image_projection_based_fusion/schema/roi_cluster_fusion.schema.json
+++ b/perception/image_projection_based_fusion/schema/roi_cluster_fusion.schema.json
@@ -9,12 +9,12 @@
         "use_iou": {
           "type": "boolean",
           "description": "If this parameter is true, calculate the common IoU score.",
-          "default": false
+          "default": true
         },
         "use_iou_x": {
           "type": "boolean",
           "description": "If this parameter is true, compute the IoU score in the x-direction",
-          "default": true
+          "default": false
         },
         "use_iou_y": {
           "type": "boolean",
@@ -41,7 +41,7 @@
         "iou_threshold": {
           "type": "number",
           "description": "An IoU score threshold. Note that the total IoU score is the sum of the IoU scores that are set to true in use_iou, use_iou_x and use_iou_y.",
-          "default": 0.3,
+          "default": 0.35,
           "minimum": 0.0
         },
         "unknown_iou_threshold": {
diff --git a/perception/image_projection_based_fusion/schema/roi_detected_object_fusion.schema.json b/perception/image_projection_based_fusion/schema/roi_detected_object_fusion.schema.json
index a77f12e5f4ef4..3030be1305d56 100644
--- a/perception/image_projection_based_fusion/schema/roi_detected_object_fusion.schema.json
+++ b/perception/image_projection_based_fusion/schema/roi_detected_object_fusion.schema.json
@@ -13,12 +13,12 @@
         },
         "trust_distances": {
           "type": "array",
-          "description": "An array of object distances thresholds. The objects that are closer than their respective thresholds kept.",
+          "description": "An array of object distances thresholds. Any objects that is farther than this value will be skipped in the clustering process, but will still be published.",
           "default": [50.0, 100.0, 100.0, 100.0, 100.0, 50.0, 50.0, 50.0]
         },
         "min_iou_threshold": {
           "type": "number",
-          "description": "An Iou threshold",
+          "description": "An Iou score threshold.",
           "default": 0.5,
           "minimum": 0.0,
           "maximum": 1.0
diff --git a/perception/image_projection_based_fusion/schema/roi_sync.schema.json b/perception/image_projection_based_fusion/schema/roi_sync.schema.json
index 20bb816a56d02..b60717ba77d1f 100644
--- a/perception/image_projection_based_fusion/schema/roi_sync.schema.json
+++ b/perception/image_projection_based_fusion/schema/roi_sync.schema.json
@@ -25,8 +25,7 @@
           "minimum": 0.0,
           "maximum": 100.0
         }
-      },
-      "required": ["input_offset_ms", "timeout_ms", "match_threshold_ms"]
+      }
     }
   },
   "properties": {