chore: add optional param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

Author: badai-nguyen

perception/shape_estimation/config/shape_estimation.param.yaml

@@ -5,3 +5,4 @@
       use_vehicle_reference_yaw: false
       use_vehicle_reference_shape_size: false
       use_boost_bbox_optimizer: false
+      keep_supper_large_vehicle: true

perception/shape_estimation/src/node.cpp

@@ -47,6 +47,7 @@ ShapeEstimationNode::ShapeEstimationNode(const rclcpp::NodeOptions & node_option
   use_vehicle_reference_yaw_ = declare_parameter<bool>("use_vehicle_reference_yaw");
   use_vehicle_reference_shape_size_ = declare_parameter<bool>("use_vehicle_reference_shape_size");
   bool use_boost_bbox_optimizer = declare_parameter<bool>("use_boost_bbox_optimizer");
+  keep_supper_large_vehicle_ = declare_parameter<bool>("keep_supper_large_vehicle");
   RCLCPP_INFO(this->get_logger(), "using boost shape estimation : %d", use_boost_bbox_optimizer);
   estimator_ =
     std::make_unique<ShapeEstimator>(use_corrector, use_filter, use_boost_bbox_optimizer);
@@ -104,6 +105,9 @@ void ShapeEstimationNode::callback(const DetectedObjectsWithFeature::ConstShared
       label, *cluster, ref_yaw_info, ref_shape_size_info, shape, pose);
 
     // If the shape estimation fails, change to Unknown object.
+    if (!keep_supper_large_vehicle_ && !estimated_success) {
+      continue;
+    }
     output_msg.feature_objects.push_back(feature_object);
     if (!estimated_success) {
       output_msg.feature_objects.back().object.classification.front().label = Label::UNKNOWN;

perception/shape_estimation/src/node.hpp

@@ -44,6 +44,7 @@ class ShapeEstimationNode : public rclcpp::Node
   std::unique_ptr<ShapeEstimator> estimator_;
   bool use_vehicle_reference_yaw_;
   bool use_vehicle_reference_shape_size_;
+  bool keep_supper_large_vehicle_;
 
 public:
   explicit ShapeEstimationNode(const rclcpp::NodeOptions & node_options);