diff --git a/perception/image_projection_based_fusion/config/pointpainting.param.yaml b/perception/image_projection_based_fusion/config/pointpainting.param.yaml index 21d31f216373b..a3727b4e0c599 100755 --- 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 index 90ba841d53b2d..81007b980a0a1 100644 --- 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 index bd49dc65749a9..49df0ad95e0e0 100755 --- 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 index 5b86b8e81d1aa..31846259ebe09 100644 --- 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 index 99d85089befb8..b22c375df93e4 100644 --- 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 index 914ad13519807..63b27c50c7202 100644 --- 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 index 96bf47594bfe8..1db2bb20793ac 100644 --- 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 @@ - - - - - - - - - - - @@ -72,16 +61,6 @@ - - - - - - - - - -