fix(image_projection_based_fusion): add image_porojection_based_fusio…

…n params (#789) add image_porojection_based_fusion params Signed-off-by: Shunsuke Miura <[email protected]>
autowarefoundation · Jan 15, 2024 · 5b6dab3 · 5b6dab3
1 parent 7e145bc
commit 5b6dab3
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diff --git a/.../object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml b/.../object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml
@@ -0,0 +1,12 @@
+/**:
+  ros__parameters:
+    fusion_distance: 100.0
+    trust_object_distance: 100.0
+    trust_object_iou_mode: "iou"
+    non_trust_object_iou_mode: "iou_x"
+    use_cluster_semantic_type: false
+    only_allow_inside_cluster: true
+    roi_scale_factor: 1.1
+    iou_threshold: 0.65
+    unknown_iou_threshold: 0.1
+    remove_unknown: true
diff --git a/...recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml b/...recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml
@@ -0,0 +1,19 @@
+/**:
+  ros__parameters:
+    # UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+    passthrough_lower_bound_probability_thresholds: [0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.50]
+    trust_distances: [50.0, 100.0, 100.0, 100.0, 100.0, 50.0, 50.0, 50.0]
+    min_iou_threshold: 0.5
+    use_roi_probability: false
+    roi_probability_threshold: 0.5
+
+    can_assign_matrix:
+      #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN <-roi_msg
+      [1,       0,   0,     0,   0,       0,         0,       0,         # UNKNOWN <-detected_objects
+       0,       1,   1,     1,   1,       0,         0,       0,         # CAR
+       0,       1,   1,     1,   1,       0,         0,       0,         # TRUCK
+       0,       1,   1,     1,   1,       0,         0,       0,         # BUS
+       0,       1,   1,     1,   1,       0,         0,       0,         # TRAILER
+       0,       0,   0,     0,   0,       1,         1,       1,         # MOTORBIKE
+       0,       0,   0,     0,   0,       1,         1,       1,         # BICYCLE
+       0,       0,   0,     0,   0,       1,         1,       1]         # PEDESTRIAN
diff --git a/...ject_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml b/...ject_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    fuse_unknown_only: true
+    min_cluster_size: 2
+    cluster_2d_tolerance: 0.5
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -48,6 +48,18 @@
       name="object_recognition_detection_fusion_sync_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml"
     />
+    <arg
+      name="object_recognition_detection_roi_cluster_fusion_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_roi_pointcloud_fusion_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_roi_detected_object_fusion_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml"
+    />
     <arg
       name="object_recognition_detection_obstacle_pointcloud_based_validator_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml"