From b0f4fa0335e4775a75587d4236a6b2c085bce484 Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Tue, 16 Jan 2024 00:08:54 +0900 Subject: [PATCH 1/2] fix(image_projection_based_fusion): add image_porojection_based_fusion params (#789) add image_porojection_based_fusion params Signed-off-by: Shunsuke Miura --- .../roi_cluster_fusion.param.yaml | 12 ++++++++++++ .../roi_detected_object_fusion.param.yaml | 19 +++++++++++++++++++ .../roi_pointcloud_fusion.param.yaml | 5 +++++ .../tier4_perception_component.launch.xml | 12 ++++++++++++ 4 files changed, 48 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml create mode 100755 autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml create mode 100644 autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml new file mode 100644 index 0000000000..90ba841d53 --- /dev/null +++ b/autoware_launch/config/perception/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/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml new file mode 100755 index 0000000000..bd49dc6574 --- /dev/null +++ b/autoware_launch/config/perception/object_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/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml new file mode 100644 index 0000000000..5b86b8e81d --- /dev/null +++ b/autoware_launch/config/perception/object_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 index c398131012..e3af7eb84b 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -59,6 +59,18 @@ 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" /> + + + Date: Thu, 18 Jan 2024 15:45:08 +0900 Subject: [PATCH 2/2] chore: update roi_cluster_fusion default param (#802) Signed-off-by: badai-nguyen --- .../image_projection_based_fusion/roi_cluster_fusion.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml index 90ba841d53..016a133227 100644 --- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml @@ -9,4 +9,4 @@ roi_scale_factor: 1.1 iou_threshold: 0.65 unknown_iou_threshold: 0.1 - remove_unknown: true + remove_unknown: false