refactor(image_projection_based_fusion): rework param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
badai-nguyen · Feb 1, 2024 · 665ebcf · 665ebcf
1 parent a1d4df1
commit 665ebcf
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Showing 7 changed files with 51 additions and 29 deletions.
diff --git a/perception/image_projection_based_fusion/config/pointpainting.param.yaml b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
@@ -24,3 +24,13 @@
     omp_params:
       # omp params
       num_threads: 1
+
+    # fusion interface common params
+    debug_mode: false
+    image_buffer_size: 15
+    filter_scope_min_x: -100.0
+    filter_scope_min_y: -100.0
+    filter_scope_min_z: -100.0
+    filter_scope_max_x: 100.0
+    filter_scope_max_y: 100.0
+    filter_scope_max_z: 100.0
diff --git a/perception/image_projection_based_fusion/config/roi_cluster_fusion.param.yaml b/perception/image_projection_based_fusion/config/roi_cluster_fusion.param.yaml
@@ -10,3 +10,13 @@
     iou_threshold: 0.65
     unknown_iou_threshold: 0.1
     remove_unknown: true
+
+    # fusion interface common params
+    debug_mode: false
+    image_buffer_size: 15
+    filter_scope_min_x: -100.0
+    filter_scope_min_y: -100.0
+    filter_scope_min_z: -100.0
+    filter_scope_max_x: 100.0
+    filter_scope_max_y: 100.0
+    filter_scope_max_z: 100.0
diff --git a/perception/image_projection_based_fusion/config/roi_detected_object_fusion.param.yaml b/perception/image_projection_based_fusion/config/roi_detected_object_fusion.param.yaml
@@ -17,3 +17,13 @@
        0,       0,   0,     0,   0,       1,         1,       1,         # MOTORBIKE
        0,       0,   0,     0,   0,       1,         1,       1,         # BICYCLE
        0,       0,   0,     0,   0,       1,         1,       1]         # PEDESTRIAN
+
+    # fusion interface common params
+    debug_mode: false
+    image_buffer_size: 15
+    filter_scope_min_x: -100.0
+    filter_scope_min_y: -100.0
+    filter_scope_min_z: -100.0
+    filter_scope_max_x: 100.0
+    filter_scope_max_y: 100.0
+    filter_scope_max_z: 100.0
diff --git a/perception/image_projection_based_fusion/config/roi_pointcloud_fusion.param.yaml b/perception/image_projection_based_fusion/config/roi_pointcloud_fusion.param.yaml
@@ -3,3 +3,13 @@
     fuse_unknown_only: true
     min_cluster_size: 2
     cluster_2d_tolerance: 0.5
+
+    # fusion interface common params
+    debug_mode: false
+    image_buffer_size: 15
+    filter_scope_min_x: -100.0
+    filter_scope_min_y: -100.0
+    filter_scope_min_z: -100.0
+    filter_scope_max_x: 100.0
+    filter_scope_max_y: 100.0
+    filter_scope_max_z: 100.0
diff --git a/perception/image_projection_based_fusion/config/roi_sync.param.yaml b/perception/image_projection_based_fusion/config/roi_sync.param.yaml
@@ -1,13 +1,6 @@
 /**:
   ros__parameters:
+    # camera lidar fusion sync parameters
     input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
     timeout_ms: 70.0
     match_threshold_ms: 50.0
-    image_buffer_size: 15
-    debug_mode: false
-    filter_scope_min_x: -100.0
-    filter_scope_min_y: -100.0
-    filter_scope_min_z: -100.0
-    filter_scope_max_x: 100.0
-    filter_scope_max_y: 100.0
-    filter_scope_max_z: 100.0
diff --git a/perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml b/perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml
@@ -28,3 +28,13 @@
     # this is selected based on semantic segmentation model accuracy,
     # calibration accuracy and unknown reaction distance
     filter_distance_threshold: 60.0
+
+    # fusion interface common params
+    debug_mode: false
+    image_buffer_size: 15
+    filter_scope_min_x: -100.0
+    filter_scope_min_y: -100.0
+    filter_scope_min_z: -100.0
+    filter_scope_max_x: 100.0
+    filter_scope_max_y: 100.0
+    filter_scope_max_z: 100.0
diff --git a/perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml b/perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml
@@ -20,17 +20,6 @@
   <arg name="output/pointcloud" default="output/pointcloud"/>
   <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
   <arg name="semantic_segmentation_based_filter_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/segmentation_pointcloud_fusion.param.yaml"/>
-  <!-- debug -->
-  <!-- cspell: ignore minx, maxx, miny, maxy, minz, maxz  -->
-  <arg name="debug_mode" default="false"/>
-
-  <arg name="filter_scope_minx" default="-100"/>
-  <arg name="filter_scope_maxx" default="100"/>
-  <arg name="filter_scope_miny" default="-100"/>
-  <arg name="filter_scope_maxy" default="100"/>
-  <arg name="filter_scope_minz" default="-100"/>
-  <arg name="filter_scope_maxz" default="100"/>
-  <arg name="image_buffer_size" default="15"/>
   <arg name="input/image0" default="/image_raw0"/>
   <arg name="input/image1" default="/image_raw1"/>
   <arg name="input/image2" default="/image_raw2"/>
@@ -72,16 +61,6 @@
       <param name="input/rois7" value="$(var input/mask7)"/>
       <param name="input/camera_info7" value="$(var input/camera_info7)"/>
       <param name="input/image7" value="$(var input/image7)"/>
-
-      <!-- debug -->
-      <param name="debug_mode" value="$(var debug_mode)"/>
-      <param name="filter_scope_minx" value="$(var filter_scope_minx)"/>
-      <param name="filter_scope_maxx" value="$(var filter_scope_maxx)"/>
-      <param name="filter_scope_miny" value="$(var filter_scope_miny)"/>
-      <param name="filter_scope_maxy" value="$(var filter_scope_maxy)"/>
-      <param name="filter_scope_minz" value="$(var filter_scope_minz)"/>
-      <param name="filter_scope_maxz" value="$(var filter_scope_maxz)"/>
-      <param name="image_buffer_size" value="$(var image_buffer_size)"/>
     </node>
   </group>
 </launch>