From 8ec2aac302b09d6d70a9d0a9dc4c62332cc96421 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 30 May 2024 17:52:31 +0900
Subject: [PATCH 1/4] refactor(image_projection_based): rename roi_sync param
 file

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../config/{roi_sync.param.yaml => fusion_common.param.yaml}    | 0
 .../launch/pointpainting_fusion.launch.xml                      | 2 +-
 .../launch/roi_cluster_fusion.launch.xml                        | 2 +-
 .../launch/roi_detected_object_fusion.launch.xml                | 2 +-
 .../launch/roi_pointcloud_fusion.launch.xml                     | 2 +-
 .../launch/segmentation_pointcloud_fusion.launch.xml            | 2 +-
 6 files changed, 5 insertions(+), 5 deletions(-)
 rename perception/image_projection_based_fusion/config/{roi_sync.param.yaml => fusion_common.param.yaml} (100%)

diff --git a/perception/image_projection_based_fusion/config/roi_sync.param.yaml b/perception/image_projection_based_fusion/config/fusion_common.param.yaml
similarity index 100%
rename from perception/image_projection_based_fusion/config/roi_sync.param.yaml
rename to perception/image_projection_based_fusion/config/fusion_common.param.yaml
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 a22b2c2a13bda..d2f803f13d376 100644
--- 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
index 8df1a374b00b6..f624b099fccb3 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
@@ -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
index c9da81af9ddb0..f11280b7f7c67 100644
--- 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="$(var input/rois_number)"/>
diff --git a/perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml
index 046d88d06e2a1..cde06744aca58 100644
--- a/perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml
@@ -21,7 +21,7 @@
   <arg name="output_clusters" default="output_clusters"/>
   <arg name="debug/clusters" default="roi_pointcloud_fusion/debug/clusters"/>
   <arg name="param_path" default="$(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="$(var input/rois_number)"/>
diff --git a/perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml b/perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml
index 1db2bb20793ac..cf4d104b9e05a 100644
--- a/perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml
@@ -18,7 +18,7 @@
   <arg name="input/camera_info7" default="/sensing/camera/camera0/camera_info"/>
   <arg name="input/pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud"/>
   <arg name="output/pointcloud" default="output/pointcloud"/>
-  <arg name="sync_param_path" default="$(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"/>

From 4c3cecc1574ee2c26f56d02c63158721fe7e67c5 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 30 May 2024 20:32:11 +0900
Subject: [PATCH 2/4] fix: segmentation_pointcloud fusion param type

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../segmentation_pointcloud_fusion.param.yaml       | 13 ++++++-------
 1 file changed, 6 insertions(+), 7 deletions(-)

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
index 79a8b860ebdd3..2120a909cd672 100644
--- 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

From a728e117c86ed1ef27ec49600970ddfc8c120f6d Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 30 May 2024 20:40:15 +0900
Subject: [PATCH 3/4] chore: rename schema

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../schema/{roi_sync.schema.json => fusion_common.schema.json}    | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename perception/image_projection_based_fusion/schema/{roi_sync.schema.json => fusion_common.schema.json} (100%)

diff --git a/perception/image_projection_based_fusion/schema/roi_sync.schema.json b/perception/image_projection_based_fusion/schema/fusion_common.schema.json
similarity index 100%
rename from perception/image_projection_based_fusion/schema/roi_sync.schema.json
rename to perception/image_projection_based_fusion/schema/fusion_common.schema.json

From 928a216f4bcb5d31738d3bbc7c58418942f383cd Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Fri, 31 May 2024 15:42:14 +0900
Subject: [PATCH 4/4] chore: update schema

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../schema/fusion_common.schema.json                          | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/perception/image_projection_based_fusion/schema/fusion_common.schema.json b/perception/image_projection_based_fusion/schema/fusion_common.schema.json
index 411fb678a49a7..73ee1661adaea 100644
--- a/perception/image_projection_based_fusion/schema/fusion_common.schema.json
+++ b/perception/image_projection_based_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"]