refactor: update funsion node configuration

Signed-off-by: ktro2828 <[email protected]>
autowarefoundation · Sep 12, 2023 · 7823ae4 · 7823ae4
1 parent 22a9f04
commit 7823ae4
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Showing 5 changed files with 53 additions and 26 deletions.
diff --git a/perception/image_projection_based_fusion/config/roi_sync.param.yaml b/perception/image_projection_based_fusion/config/roi_sync.param.yaml
@@ -3,3 +3,10 @@
     input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
     timeout_ms: 70.0
     match_threshold_ms: 50.0
+    image_buffer_size: 15
+    filter_scope_minx: -100.0
+    filter_scope_miny: -100.0
+    filter_scope_minz: -100.0
+    filter_scope_maxx: 100.0
+    filter_scope_maxy: 100.0
+    filter_scope_maxz: 100.0
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
@@ -1,5 +1,4 @@
 <launch>
-  <arg name="input/rois_number" default="1"/>
   <arg name="input/rois0" default="rois0"/>
   <arg name="input/camera_info0" default="/camera_info0"/>
   <arg name="input/rois1" default="rois1"/>
@@ -27,13 +26,6 @@
   <!-- debug -->
   <!-- cspell: ignore minx, maxx, miny, maxy, minz, maxz  -->
   <arg name="debug_mode" default="false"/>
-  <arg name="filter_scope_minx" default="-100"/>
-  <arg name="filter_scope_maxx" default="100"/>
-  <arg name="filter_scope_miny" default="-100"/>
-  <arg name="filter_scope_maxy" default="100"/>
-  <arg name="filter_scope_minz" default="-100"/>
-  <arg name="filter_scope_maxz" default="100"/>
-  <arg name="image_buffer_size" default="15"/>
   <arg name="input/image0" default="/image_raw0"/>
   <arg name="input/image1" default="/image_raw1"/>
   <arg name="input/image2" default="/image_raw2"/>
@@ -78,13 +70,6 @@
 
       <!-- debug -->
       <param name="debug_mode" value="$(var debug_mode)"/>
-      <param name="filter_scope_minx" value="$(var filter_scope_minx)"/>
-      <param name="filter_scope_maxx" value="$(var filter_scope_maxx)"/>
-      <param name="filter_scope_miny" value="$(var filter_scope_miny)"/>
-      <param name="filter_scope_maxy" value="$(var filter_scope_maxy)"/>
-      <param name="filter_scope_minz" value="$(var filter_scope_minz)"/>
-      <param name="filter_scope_maxz" value="$(var filter_scope_maxz)"/>
-      <param name="image_buffer_size" value="$(var image_buffer_size)"/>
     </node>
   </group>
 </launch>
diff --git a/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml
@@ -26,7 +26,6 @@
 
   <!-- debug -->
   <arg name="debug_mode" default="false"/>
-  <arg name="image_buffer_size" default="15"/>
   <arg name="input/image0" default="/image_raw0"/>
   <arg name="input/image1" default="/image_raw1"/>
   <arg name="input/image2" default="/image_raw2"/>
@@ -72,7 +71,6 @@
 
       <!-- debug -->
       <param name="debug_mode" value="$(var debug_mode)"/>
-      <param name="image_buffer_size" value="$(var image_buffer_size)"/>
     </node>
   </group>
 </launch>
diff --git a/perception/image_projection_based_fusion/schema/roi_sync.schema.json b/perception/image_projection_based_fusion/schema/roi_sync.schema.json
@@ -24,6 +24,42 @@
           "default": 50.0,
           "minimum": 0.0,
           "maximum": 100.0
+        },
+        "image_buffer_size": {
+          "type": "integer",
+          "description": "The number of image buffer size for debug.",
+          "default": 15,
+          "minimum": 1
+        },
+        "filter_scope_minx": {
+          "type": "number",
+          "description": "Minimum x position to be considered for debug [m].",
+          "default": -100.0
+        },
+        "filter_scope_miny": {
+          "type": "number",
+          "description": "Minimum y position to be considered for debug [m].",
+          "default": -100.0
+        },
+        "filter_scope_minz": {
+          "type": "number",
+          "description": "Minimum z position to be considered for debug [m].",
+          "default": -100.0
+        },
+        "filter_scope_maxx": {
+          "type": "number",
+          "description": "Maximum x position to be considered for debug [m].",
+          "default": 100.0
+        },
+        "filter_scope_maxy": {
+          "type": "number",
+          "description": "Maximum y position to be considered for debug [m].",
+          "default": 100.0
+        },
+        "filter_scope_maxz": {
+          "type": "number",
+          "description": "Maximum z position [m].",
+          "default": 100.0
         }
       }
     }

diff --git a/perception/image_projection_based_fusion/src/fusion_node.cpp b/perception/image_projection_based_fusion/src/fusion_node.cpp
@@ -46,7 +46,7 @@ FusionNode<Msg, ObjType>::FusionNode(
 : Node(node_name, options), tf_buffer_(this->get_clock()), tf_listener_(tf_buffer_)
 {
   // set rois_number
-  rois_number_ = static_cast<std::size_t>(declare_parameter("rois_number", 1));
+  rois_number_ = static_cast<std::size_t>(declare_parameter<int32_t>("rois_number"));
   if (rois_number_ < 1) {
     RCLCPP_WARN(
       this->get_logger(), "minimum rois_number is 1. current rois_number is %zu", rois_number_);
@@ -80,7 +80,7 @@ FusionNode<Msg, ObjType>::FusionNode(
       "/sensing/camera/camera" + std::to_string(roi_i) + "/image_rect_color");
   }
 
-  input_offset_ms_ = declare_parameter("input_offset_ms", std::vector<double>{});
+  input_offset_ms_ = declare_parameter<std::vector<double>>("input_offset_ms");
   if (!input_offset_ms_.empty() && rois_number_ != input_offset_ms_.size()) {
     throw std::runtime_error("The number of offsets does not match the number of topics.");
   }
@@ -122,7 +122,7 @@ FusionNode<Msg, ObjType>::FusionNode(
   // debugger
   if (declare_parameter("debug_mode", false)) {
     std::size_t image_buffer_size =
-      static_cast<std::size_t>(declare_parameter("image_buffer_size", 15));
+      static_cast<std::size_t>(declare_parameter<int32_t>("image_buffer_size"));
     debugger_ =
       std::make_shared<Debugger>(this, rois_number_, image_buffer_size, input_camera_topics_);
   }
@@ -136,14 +136,15 @@ FusionNode<Msg, ObjType>::FusionNode(
     stop_watch_ptr_->tic("cyclic_time");
     stop_watch_ptr_->tic("processing_time");
   }
+
   // cspell: ignore minx, maxx, miny, maxy, minz, maxz
   // FIXME: use min_x instead of minx
-  filter_scope_minx_ = declare_parameter("filter_scope_minx", -100);
-  filter_scope_maxx_ = declare_parameter("filter_scope_maxx", 100);
-  filter_scope_miny_ = declare_parameter("filter_scope_miny", -100);
-  filter_scope_maxy_ = declare_parameter("filter_scope_maxy", 100);
-  filter_scope_minz_ = declare_parameter("filter_scope_minz", -100);
-  filter_scope_maxz_ = declare_parameter("filter_scope_maxz", 100);
+  filter_scope_minx_ = declare_parameter<double>("filter_scope_minx");
+  filter_scope_maxx_ = declare_parameter<double>("filter_scope_maxx");
+  filter_scope_miny_ = declare_parameter<double>("filter_scope_miny");
+  filter_scope_maxy_ = declare_parameter<double>("filter_scope_maxy");
+  filter_scope_minz_ = declare_parameter<double>("filter_scope_minz");
+  filter_scope_maxz_ = declare_parameter<double>("filter_scope_maxz");
 }
 
 template <class Msg, class Obj>