From 19314d11c8e65b0f56f3acd64321fa3f72a43979 Mon Sep 17 00:00:00 2001 From: a-maumau Date: Mon, 9 Dec 2024 15:25:45 +0900 Subject: [PATCH 1/3] add timekeeper option Signed-off-by: a-maumau --- .../image_projection_based_fusion/fusion_common.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml index 662362c4fd..347cb57b48 100644 --- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml @@ -12,3 +12,6 @@ filter_scope_max_x: 100.0 filter_scope_max_y: 100.0 filter_scope_max_z: 100.0 + + # debug parameters + publish_processing_time_detail: false From a1aedfaffc5e9428e4b9f334e6a48a63c121f2c9 Mon Sep 17 00:00:00 2001 From: a-maumau Date: Mon, 9 Dec 2024 15:29:00 +0900 Subject: [PATCH 2/3] add cache option and mod unrectified_image option Signed-off-by: a-maumau --- .../fusion_common.param.yaml | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml index 347cb57b48..553bb7e292 100644 --- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml @@ -4,7 +4,8 @@ timeout_ms: 70.0 match_threshold_ms: 50.0 image_buffer_size: 15 - point_project_to_unrectified_image: false + # projection setting for each ROI whether unrectify image + point_project_to_unrectified_image: [false, false, false, false, false, false] debug_mode: false filter_scope_min_x: -100.0 filter_scope_min_y: -100.0 @@ -13,5 +14,11 @@ filter_scope_max_y: 100.0 filter_scope_max_z: 100.0 + # camera cache setting for each ROI + approximate_camera_projection: [true, true, true, true, true, true] + # grid size in pixels + approximation_grid_width_size: 1.0 + approximation_grid_height_size: 1.0 + # debug parameters publish_processing_time_detail: false From 51b1972cde495e359dcc0c348ba9039b437047d1 Mon Sep 17 00:00:00 2001 From: a-maumau Date: Fri, 20 Dec 2024 13:24:42 +0900 Subject: [PATCH 3/3] fix parameter names Signed-off-by: a-maumau --- .../image_projection_based_fusion/fusion_common.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml index 553bb7e292..86db3bad4f 100644 --- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml @@ -17,8 +17,8 @@ # camera cache setting for each ROI approximate_camera_projection: [true, true, true, true, true, true] # grid size in pixels - approximation_grid_width_size: 1.0 - approximation_grid_height_size: 1.0 + approximation_grid_cell_width: 1.0 + approximation_grid_cell_height: 1.0 # debug parameters publish_processing_time_detail: false