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Commit e77d669

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chore: rename param
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
1 parent f73c162 commit e77d669

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3 files changed

+5
-4
lines changed

3 files changed

+5
-4
lines changed

perception/shape_estimation/config/shape_estimation.param.yaml

+1-1
Original file line numberDiff line numberDiff line change
@@ -5,4 +5,4 @@
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use_vehicle_reference_yaw: false
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use_vehicle_reference_shape_size: false
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use_boost_bbox_optimizer: false
8-
keep_supper_large_vehicle: true
8+
fix_filtered_objects_label_to_unknown: true

perception/shape_estimation/src/node.cpp

+3-2
Original file line numberDiff line numberDiff line change
@@ -47,7 +47,8 @@ ShapeEstimationNode::ShapeEstimationNode(const rclcpp::NodeOptions & node_option
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use_vehicle_reference_yaw_ = declare_parameter<bool>("use_vehicle_reference_yaw");
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use_vehicle_reference_shape_size_ = declare_parameter<bool>("use_vehicle_reference_shape_size");
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bool use_boost_bbox_optimizer = declare_parameter<bool>("use_boost_bbox_optimizer");
50-
keep_supper_large_vehicle_ = declare_parameter<bool>("keep_supper_large_vehicle");
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fix_filtered_objects_label_to_unknown_ =
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declare_parameter<bool>("fix_filtered_objects_label_to_unknown");
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RCLCPP_INFO(this->get_logger(), "using boost shape estimation : %d", use_boost_bbox_optimizer);
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estimator_ =
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std::make_unique<ShapeEstimator>(use_corrector, use_filter, use_boost_bbox_optimizer);
@@ -105,7 +106,7 @@ void ShapeEstimationNode::callback(const DetectedObjectsWithFeature::ConstShared
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label, *cluster, ref_yaw_info, ref_shape_size_info, shape, pose);
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// If the shape estimation fails, change to Unknown object.
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if (!keep_supper_large_vehicle_ && !estimated_success) {
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if (!fix_filtered_objects_label_to_unknown_ && !estimated_success) {
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continue;
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}
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output_msg.feature_objects.push_back(feature_object);

perception/shape_estimation/src/node.hpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -44,7 +44,7 @@ class ShapeEstimationNode : public rclcpp::Node
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std::unique_ptr<ShapeEstimator> estimator_;
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bool use_vehicle_reference_yaw_;
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bool use_vehicle_reference_shape_size_;
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bool keep_supper_large_vehicle_;
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bool fix_filtered_objects_label_to_unknown_;
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public:
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explicit ShapeEstimationNode(const rclcpp::NodeOptions & node_options);

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