refactor(image_projection_based_fusion): rework param (#6289)

autowarefoundation · May 31, 2024 · 8335096 · 8335096
1 parent 7970b4f
commit 8335096
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Showing 8 changed files with 13 additions and 14 deletions.
diff --git a/...n_based_fusion/config/roi_sync.param.yaml → ...ed_fusion/config/fusion_common.param.yaml b/...n_based_fusion/config/roi_sync.param.yaml → ...ed_fusion/config/fusion_common.param.yaml
diff --git a/perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml b/perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml
@@ -31,10 +31,9 @@
 
     # debug
     debug_mode: false
-    filter_scope_min_x: -100
-    filter_scope_max_x: 100
-    filter_scope_min_y: -100
-    filter_scope_max_y: 100
-    filter_scope_min_z: -100
-    filter_scope_max_z: 100
-    image_buffer_size: 15
+    filter_scope_min_x: -100.0
+    filter_scope_max_x: 100.0
+    filter_scope_min_y: -100.0
+    filter_scope_max_y: 100.0
+    filter_scope_min_z: -100.0
+    filter_scope_max_z: 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
@@ -24,7 +24,7 @@
   <arg name="model_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/pointpainting.param.yaml"/>
   <arg name="ml_package_param_path" default="$(var model_path)/$(var model_name)_ml_package.param.yaml"/>
   <arg name="class_remapper_param_path" default="$(var model_path)/detection_class_remapper.param.yaml"/>
-  <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
+  <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/fusion_common.param.yaml"/>
   <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
 
   <arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>

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
@@ -19,7 +19,7 @@
   <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="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/fusion_common.param.yaml"/>
 
   <!-- debug -->
   <arg name="input/image0" default="/image_raw0"/>

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
@@ -19,7 +19,7 @@
   <arg name="input/objects" default="objects"/>
   <arg name="output/objects" default="fused_objects"/>
   <arg name="param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_detected_object_fusion.param.yaml"/>
-  <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
+  <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/fusion_common.param.yaml"/>
 
   <!-- for eval variable-->
   <arg name="input_rois_number" default="$(var input/rois_number)"/>

diff --git a/perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml
@@ -21,7 +21,7 @@
   <arg name="output_clusters" default="output_clusters"/>
   <arg name="debug/clusters" default="roi_pointcloud_fusion/debug/clusters"/>
   <arg name="param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_pointcloud_fusion.param.yaml"/>
-  <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
+  <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/fusion_common.param.yaml"/>
 
   <!-- for eval variable-->
   <arg name="input_rois_number" default="$(var input/rois_number)"/>

diff --git a/perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml b/perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml
@@ -18,7 +18,7 @@
   <arg name="input/camera_info7" default="/sensing/camera/camera0/camera_info"/>
   <arg name="input/pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud"/>
   <arg name="output/pointcloud" default="output/pointcloud"/>
-  <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
+  <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/fusion_common.param.yaml"/>
   <arg name="semantic_segmentation_based_filter_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/segmentation_pointcloud_fusion.param.yaml"/>
   <arg name="input/image0" default="/image_raw0"/>
   <arg name="input/image1" default="/image_raw1"/>

diff --git a/..._based_fusion/schema/roi_sync.schema.json → ...d_fusion/schema/fusion_common.schema.json b/..._based_fusion/schema/roi_sync.schema.json → ...d_fusion/schema/fusion_common.schema.json
@@ -3,7 +3,7 @@
   "title": "Parameters for Synchronization of RoI Fusion Nodes",
   "type": "object",
   "definitions": {
-    "roi_sync": {
+    "fusion_common": {
       "type": "object",
       "properties": {
         "input_offset_ms": {
@@ -74,7 +74,7 @@
       "type": "object",
       "properties": {
         "ros__parameters": {
-          "$ref": "#/definitions/roi_sync"
+          "$ref": "#/definitions/fusion_common"
         }
       },
       "required": ["ros__parameters"]