fix: update parameter value (autowarefoundation#4955)

Signed-off-by: ktro2828 <[email protected]>
brkay54 · Sep 12, 2023 · 64ed461 · 64ed461
1 parent 57b1ef1
commit 64ed461
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Showing 3 changed files with 16 additions and 15 deletions.
diff --git a/...projection_based_fusion/include/image_projection_based_fusion/roi_cluster_fusion/node.hpp b/...projection_based_fusion/include/image_projection_based_fusion/roi_cluster_fusion/node.hpp
@@ -43,13 +43,13 @@ class RoiClusterFusionNode
   bool use_iou_{false};
   bool use_cluster_semantic_type_{false};
   bool only_allow_inside_cluster_{false};
-  float roi_scale_factor_{1.1f};
-  float iou_threshold_{0.0f};
-  float unknown_iou_threshold_{0.0f};
+  double roi_scale_factor_{1.1};
+  double iou_threshold_{0.0};
+  double unknown_iou_threshold_{0.0};
   const float min_roi_existence_prob_ =
     0.1;  // keep small value to lessen affect on merger object stage
   bool remove_unknown_;
-  float trust_distance_;
+  double trust_distance_;
 
   bool filter_by_distance(const DetectedObjectWithFeature & obj);
   bool out_of_scope(const DetectedObjectWithFeature & obj);

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
@@ -48,9 +48,10 @@
       <param name="use_iou" value="true"/>
       <param name="use_iou_x" value="false"/>
       <param name="use_iou_y" value="false"/>
+      <param name="use_cluster_semantic_type" value="false"/>
       <param name="only_allow_inside_cluster" value="true"/>
       <param name="roi_scale_factor" value="1.1"/>
-      <param name="iou_threshold" value="0.35"/>
+      <param name="iou_threshold" value="0.65"/>
       <param name="unknown_iou_threshold" value="0.1"/>
       <param name="rois_number" value="$(var input/rois_number)"/>
       <param name="remove_unknown" value="$(var remove_unknown)"/>

diff --git a/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp b/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp
@@ -36,16 +36,16 @@ namespace image_projection_based_fusion
 RoiClusterFusionNode::RoiClusterFusionNode(const rclcpp::NodeOptions & options)
 : FusionNode<DetectedObjectsWithFeature, DetectedObjectWithFeature>("roi_cluster_fusion", options)
 {
-  use_iou_x_ = declare_parameter("use_iou_x", true);
-  use_iou_y_ = declare_parameter("use_iou_y", false);
-  use_iou_ = declare_parameter("use_iou", false);
-  use_cluster_semantic_type_ = declare_parameter("use_cluster_semantic_type", false);
-  only_allow_inside_cluster_ = declare_parameter("only_allow_inside_cluster_", true);
-  roi_scale_factor_ = declare_parameter("roi_scale_factor", 1.1);
-  iou_threshold_ = declare_parameter("iou_threshold", 0.1);
-  unknown_iou_threshold_ = declare_parameter("unknown_iou_threshold", 0.1);
-  remove_unknown_ = declare_parameter("remove_unknown", false);
-  trust_distance_ = declare_parameter("trust_distance", 100.0);
+  use_iou_x_ = declare_parameter<bool>("use_iou_x");
+  use_iou_y_ = declare_parameter<bool>("use_iou_y");
+  use_iou_ = declare_parameter<bool>("use_iou");
+  use_cluster_semantic_type_ = declare_parameter<bool>("use_cluster_semantic_type");
+  only_allow_inside_cluster_ = declare_parameter<bool>("only_allow_inside_cluster");
+  roi_scale_factor_ = declare_parameter<double>("roi_scale_factor");
+  iou_threshold_ = declare_parameter<double>("iou_threshold");
+  unknown_iou_threshold_ = declare_parameter<double>("unknown_iou_threshold");
+  remove_unknown_ = declare_parameter<bool>("remove_unknown");
+  trust_distance_ = declare_parameter<double>("trust_distance");
 }
 
 void RoiClusterFusionNode::preprocess(DetectedObjectsWithFeature & output_cluster_msg)