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refactor(image_projection_based_fusion): rework param #6289

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merged 4 commits into from
May 31, 2024
Merged

refactor(image_projection_based_fusion): rework param #6289

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8ec2aac
refactor(image_projection_based): rename roi_sync param file
badai-nguyen May 30, 2024
4c3cecc
fix: segmentation_pointcloud fusion param type
badai-nguyen May 30, 2024
a728e11
chore: rename schema
badai-nguyen May 30, 2024
928a216
chore: update schema
badai-nguyen May 31, 2024
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0 ...n_based_fusion/config/roi_sync.param.yaml → ...ed_fusion/config/fusion_common.param.yaml
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13 changes: 6 additions & 7 deletions perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml
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Expand Up @@ -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
2 changes: 1 addition & 1 deletion perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
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Expand Up @@ -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"/>
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2 changes: 1 addition & 1 deletion perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml
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Expand Up @@ -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"/>
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2 changes: 1 addition & 1 deletion perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml
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Expand Up @@ -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="$(var input/rois_number)"/>
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2 changes: 1 addition & 1 deletion perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml
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Expand Up @@ -21,7 +21,7 @@
<arg name="output_clusters" default="output_clusters"/>
<arg name="debug/clusters" default="roi_pointcloud_fusion/debug/clusters"/>
<arg name="param_path" default="$(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="$(var input/rois_number)"/>
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2 changes: 1 addition & 1 deletion perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml
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Expand Up @@ -18,7 +18,7 @@
<arg name="input/camera_info7" default="/sensing/camera/camera0/camera_info"/>
<arg name="input/pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud"/>
<arg name="output/pointcloud" default="output/pointcloud"/>
<arg name="sync_param_path" default="$(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"/>
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4 changes: 2 additions & 2 deletions ..._based_fusion/schema/roi_sync.schema.json → ...d_fusion/schema/fusion_common.schema.json
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Expand Up @@ -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": {
Expand Down Expand Up @@ -74,7 +74,7 @@
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/roi_sync"
"$ref": "#/definitions/fusion_common"
}
},
"required": ["ros__parameters"]
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