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fix(roi_detected_objects): update roi_detected_objects_fusion node parameters #14

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Nov 20, 2023
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fix(roi_detected_objects): update roi_detected_objects_fusion node parameters #14

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13 changes: 13 additions & 0 deletions edge_auto_launch/config/can_assign_matrix.yaml
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Original file line number Diff line number Diff line change
@@ -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
5 changes: 4 additions & 1 deletion edge_auto_launch/launch/component/roi_detected_objects_fusion.launch.xml
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Expand Up @@ -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="$(var input/rois_number)"/>
Expand All @@ -23,11 +24,13 @@
<param from="$(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>
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