From 5973f8ece5d0845cd777cf0871a6a8fef98a75b4 Mon Sep 17 00:00:00 2001
From: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
Date: Tue, 16 Jan 2024 00:09:14 +0900
Subject: [PATCH] fix(image_projection_based_fusion): re-organize the
 parameters for image projection fusion (#6075)

re-organize the parameters for image projection fusion

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>
---
 .../camera_lidar_fusion_based_detection.launch.xml |  9 +++------
 ...a_lidar_radar_fusion_based_detection.launch.xml |  6 +++---
 .../detection/detection.launch.xml                 | 11 +++--------
 .../launch/perception.launch.xml                   | 14 ++++++--------
 4 files changed, 15 insertions(+), 25 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index cdd9af179433a..d269144067e0e 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -12,9 +12,6 @@
   <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
-  <arg name="remove_unknown" default="true"/>
-  <arg name="fusion_distance" default="100.0"/>
-  <arg name="trust_object_distance" default="100.0"/>
   <arg name="use_roi_based_cluster" default="false"/>
 
   <!-- Camera parameters -->
@@ -113,6 +110,7 @@
         <arg name="input/image7" value="$(var image_raw7)"/>
         <arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
         <arg name="output_clusters" value="roi_cluster/clusters"/>
+        <arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
       </include>
     </group>
 
@@ -167,9 +165,7 @@
           <arg name="input/image6" value="$(var image_raw6)"/>
           <arg name="input/image7" value="$(var image_raw7)"/>
           <arg name="output/clusters" value="clusters"/>
-          <arg name="remove_unknown" value="$(var remove_unknown)"/>
-          <arg name="fusion_distance" value="$(var fusion_distance)"/>
-          <arg name="trust_object_distance" value="$(var trust_object_distance)"/>
+          <arg name="param_path" value="$(var roi_cluster_fusion_param_path)"/>
         </include>
       </group>
 
@@ -307,6 +303,7 @@
       <arg name="input/image7" value="$(var image_raw7)"/>
       <arg name="input/objects" value="$(var lidar_detection_model)/objects"/>
       <arg name="output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
+      <arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
     </include>
   </group>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index b708533ef3af8..4838187ef8fbe 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -139,6 +139,7 @@
         <arg name="input/image7" value="$(var image_raw7)"/>
         <arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
         <arg name="output_clusters" value="roi_cluster/clusters"/>
+        <arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
       </include>
     </group>
 
@@ -193,9 +194,7 @@
           <arg name="input/image6" value="$(var image_raw6)"/>
           <arg name="input/image7" value="$(var image_raw7)"/>
           <arg name="output/clusters" value="clusters"/>
-          <arg name="remove_unknown" value="$(var remove_unknown)"/>
-          <arg name="fusion_distance" value="$(var fusion_distance)"/>
-          <arg name="trust_object_distance" value="$(var trust_object_distance)"/>
+          <arg name="param_path" value="$(var roi_cluster_fusion_param_path)"/>
         </include>
       </group>
 
@@ -346,6 +345,7 @@
       <arg name="input/image7" value="$(var image_raw7)"/>
       <arg name="input/objects" value="$(var target_objects)"/>
       <arg name="output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
+      <arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
     </include>
   </group>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index 0649d8c5d5116..68d5ea944e6cb 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -34,11 +34,6 @@
   <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
   <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
 
-  <!-- Camera-LiDAR fusion parameters -->
-  <arg name="remove_unknown" default="true"/>
-  <arg name="fusion_distance" default="100.0"/>
-  <arg name="trust_object_distance" default="100.0"/>
-
   <!-- Camera-LiDAR-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml">
@@ -65,14 +60,14 @@
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
-      <arg name="remove_unknown" value="$(var remove_unknown)"/>
-      <arg name="fusion_distance" value="$(var fusion_distance)"/>
-      <arg name="trust_object_distance" value="$(var trust_object_distance)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
+      <arg name="roi_cluster_fusion_param_path" value="$(var roi_cluster_fusion_param_path)"/>
+      <arg name="roi_pointcloud_fusion_param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
+      <arg name="roi_detected_object_fusion_param_path" value="$(var roi_detected_object_fusion_param_path)"/>
     </include>
   </group>
 
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 65d8ac99d93e6..4e9f0daafa736 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -10,6 +10,9 @@
   <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path"/>
   <arg name="object_recognition_detection_object_merger_distance_threshold_list_path"/>
   <arg name="object_recognition_detection_fusion_sync_param_path"/>
+  <arg name="object_recognition_detection_roi_cluster_fusion_param_path"/>
+  <arg name="object_recognition_detection_roi_pointcloud_fusion_param_path"/>
+  <arg name="object_recognition_detection_roi_detected_object_fusion_param_path"/>
   <arg name="object_recognition_detection_lidar_model_param_path"/>
   <arg name="object_recognition_detection_radar_lanelet_filtering_range_param"/>
   <arg name="object_recognition_detection_radar_object_clustering_param_path"/>
@@ -102,11 +105,6 @@
     description="options: `ped_traffic_light_classifier_mobilenetv2_batch_*` or `ped_traffic_light_classifier_efficientNet_b1_batch_*`. The batch number must be either one of 1, 4, 6"
   />
 
-  <!-- Camera-Lidar fusion parameters -->
-  <arg name="remove_unknown" default="true"/>
-  <arg name="fusion_distance" default="100.0"/>
-  <arg name="trust_object_distance" default="100.0"/>
-
   <!-- Whether to use detection by tracker -->
   <arg name="use_detection_by_tracker" default="true"/>
 
@@ -180,6 +178,9 @@
           <arg name="camera_info7" value="$(var camera_info7)"/>
           <arg name="image_number" value="$(var image_number)"/>
           <arg name="sync_param_path" value="$(var object_recognition_detection_fusion_sync_param_path)"/>
+          <arg name="roi_cluster_fusion_param_path" value="$(var object_recognition_detection_roi_cluster_fusion_param_path)"/>
+          <arg name="roi_pointcloud_fusion_param_path" value="$(var object_recognition_detection_roi_pointcloud_fusion_param_path)"/>
+          <arg name="roi_detected_object_fusion_param_path" value="$(var object_recognition_detection_roi_detected_object_fusion_param_path)"/>
           <arg name="lidar_model_param_path" value="$(var object_recognition_detection_lidar_model_param_path)"/>
           <arg name="euclidean_param_path" value="$(var object_recognition_detection_euclidean_cluster_param_path)"/>
           <arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
@@ -193,9 +194,6 @@
           <arg name="use_object_filter" value="$(var use_object_filter)"/>
           <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
           <arg name="container_name" value="$(var pointcloud_container_name)"/>
-          <arg name="remove_unknown" value="$(var remove_unknown)"/>
-          <arg name="fusion_distance" value="$(var fusion_distance)"/>
-          <arg name="trust_object_distance" value="$(var trust_object_distance)"/>
           <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
         </include>
       </group>