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chore(traffic_light_map_based_detector): rework parameters #6200

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merged 11 commits into from
Feb 10, 2024
Merged

chore(traffic_light_map_based_detector): rework parameters #6200

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325d57d
chore: use config
tzhong518 Jan 29, 2024
4cf21f5
chore: use config
tzhong518 Jan 29, 2024
96e5ae8
fix: revert min_timestamp_offset
tzhong518 Feb 1, 2024
7612be5
fix: revert min_timestamp_offset
tzhong518 Feb 1, 2024
d3bf3c4
Merge branch 'main' into chore/traffic_light_map_based_detector/use_c…
kminoda Feb 1, 2024
f93adb2
fix: delete param
tzhong518 Feb 2, 2024
4a49b2d
style(pre-commit): autofix
pre-commit-ci[bot] Feb 2, 2024
695af9a
Update launch/tier4_perception_launch/launch/traffic_light_recognitio…
kminoda Feb 9, 2024
7b9f1d2
Update launch/tier4_perception_launch/launch/traffic_light_recognitio…
kminoda Feb 9, 2024
56ea1a1
Update launch/tier4_perception_launch/launch/traffic_light_recognitio…
kminoda Feb 9, 2024
6343310
revert: revert change in min&max timestamp offset
kminoda Feb 9, 2024
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10 changes: 6 additions & 4 deletions launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -49,10 +49,11 @@
<push-ros-namespace namespace="detection"/>
<include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
<arg name="input/camera_info" value="$(var input/camera_info)"/>
<arg name="min_timestamp_offset" value="-0.3"/>
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<arg name="expect/rois" value="expect/rois"/>
<arg name="output/rois" value="$(var map_based_detector_output_topic)"/>
<arg name="output/camera_info" value="camera_info"/>
<!-- This parameter should be configured differently for each camera considering their delay. -->
<arg name="min_timestamp_offset" value="-0.3"/>
<arg name="max_timestamp_offset" value="0.0"/>
</include>
</group>

Expand Down Expand Up @@ -106,10 +107,11 @@
<push-ros-namespace namespace="detection"/>
<include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
<arg name="input/camera_info" value="$(var input/camera_info)"/>
<arg name="min_timestamp_offset" value="-0.04"/>
<arg name="expect/rois" value="expect/rois"/>
<arg name="output/rois" value="$(var map_based_detector_output_topic)"/>
<arg name="output/camera_info" value="camera_info"/>
<!-- This parameter should be configured differently for each camera considering their delay. -->
<arg name="min_timestamp_offset" value="-0.04"/>
<arg name="max_timestamp_offset" value="0.0"/>
</include>
</group>

Expand Down
1 change: 1 addition & 0 deletions ...ption/traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,5 +6,6 @@
max_vibration_width: 0.5 # -0.25 ~ 0.25 m
max_vibration_depth: 0.5 # -0.25 ~ 0.25 m
max_detection_range: 200.0
timestamp_sample_len: 0.02
car_traffic_light_max_angle_range: 40.0
pedestrian_traffic_light_max_angle_range: 80.0
5 changes: 1 addition & 4 deletions ...ption/traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,12 +5,11 @@
<arg name="input/route" default="/planning/mission_planning/route"/>
<arg name="expect/rois" default="~/expect/rois"/>
<arg name="output/rois" default="~/output/rois"/>
<arg name="output/camera_info" default="~/camera_info"/>
<!--This parameter should be configured differently for each camera considering their delay.-->
<arg name="min_timestamp_offset" default="0.0"/>
<!--This parameter should be configured differently for each camera considering their delay.-->
<arg name="max_timestamp_offset" default="0.0"/>
<arg name="timestamp_sample_len" default="0.02"/>

<arg name="param_path" default="$(find-pkg-share traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml"/>

<node pkg="traffic_light_map_based_detector" exec="traffic_light_map_based_detector_node" name="traffic_light_map_based_detector" output="screen">
Expand All @@ -19,10 +18,8 @@
<remap from="~/expect/rois" to="$(var expect/rois)"/>
<remap from="~/input/route" to="$(var input/route)"/>
<remap from="~/output/rois" to="$(var output/rois)"/>
<remap from="~/output/camera_info" to="$(var output/camera_info)"/>
<param from="$(var param_path)"/>
<param name="min_timestamp_offset" value="$(var min_timestamp_offset)"/>
<param name="max_timestamp_offset" value="$(var max_timestamp_offset)"/>
<param name="timestamp_sample_len" value="$(var timestamp_sample_len)"/>
</node>
</launch>
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