From 8a9cc3cfe5bd6227aa349f32dd09ef43d5e09ca9 Mon Sep 17 00:00:00 2001
From: Benjamin Gilby <40575701+bgilby59@users.noreply.github.com>
Date: Mon, 20 Nov 2023 13:20:00 +0900
Subject: [PATCH] update fusion node params (#14)

---
 edge_auto_launch/config/can_assign_matrix.yaml      | 13 +++++++++++++
 .../roi_detected_objects_fusion.launch.xml          |  5 ++++-
 2 files changed, 17 insertions(+), 1 deletion(-)
 create mode 100644 edge_auto_launch/config/can_assign_matrix.yaml

diff --git a/edge_auto_launch/config/can_assign_matrix.yaml b/edge_auto_launch/config/can_assign_matrix.yaml
new file mode 100644
index 0000000..1fd5a38
--- /dev/null
+++ b/edge_auto_launch/config/can_assign_matrix.yaml
@@ -0,0 +1,13 @@
+/**:
+  ros__parameters:
+
+    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,   0,     0,   0,       0,         0,       0,         # CAR
+       0,       0,   1,     0,   0,       0,         0,       0,         # TRUCK
+       0,       0,   0,     1,   0,       0,         0,       0,         # BUS
+       0,       0,   0,     0,   1,       0,         0,       0,         # TRAILER
+       0,       0,   0,     0,   0,       1,         0,       0,         # MOTORBIKE
+       0,       0,   0,     0,   0,       0,         1,       0,         # BICYCLE
+       0,       0,   0,     0,   0,       0,         0,       1]         # PEDESTRIAN
diff --git a/edge_auto_launch/launch/component/roi_detected_objects_fusion.launch.xml b/edge_auto_launch/launch/component/roi_detected_objects_fusion.launch.xml
index bf00be6..757d20e 100644
--- a/edge_auto_launch/launch/component/roi_detected_objects_fusion.launch.xml
+++ b/edge_auto_launch/launch/component/roi_detected_objects_fusion.launch.xml
@@ -8,6 +8,7 @@
   <arg name="input/objects" default="input/objects"/>
   <arg name="output/objects" default="output/objects"/>
   <arg name="sync_param_path" default="$(find-pkg-share edge_auto_launch)/config/roi_sync.param.yaml"/>
+  <arg name="can_assign_matrix_param_path" default="$(find-pkg-share edge_auto_launch)/config/can_assign_matrix.yaml"/>
 
   <!-- for eval variable-->
   <arg name="input_rois_number" default="$(var input/rois_number)"/>
@@ -23,11 +24,13 @@
       <param from="$(var sync_param_path)"/>
       <remap from="input" to="$(var input/objects)"/>
       <remap from="output" to="$(var output/objects)"/>
-      <param name="passthrough_lower_bound_probability_threshold" value="0.35"/>
+      <param name="passthrough_lower_bound_probability_thresholds" value="[0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35]"/>
       <param name="use_roi_probability" value="false"/>
       <param name="roi_probability_threshold" value="0.5"/>
       <param name="min_iou_threshold" value="0.3"/>
       <param name="debug_mode" value="false"/>
+      <param name="trust_distances" value="[100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0]"/>
+      <param from="$(var can_assign_matrix_param_path)"/>
     </node>
   </group>
 </launch>