chore: update perception settings (#329)

* chore: use unknown object

* feat: expand camera usage range

* chore(ground_segmentation): change z range

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

Author: 0x126

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -11,8 +11,8 @@
         max_x: 150.0
         min_y: -70.0
         max_y: 70.0
-        margin_max_z: 0.0  # to extend the crop box max_z from vehicle_height
-        margin_min_z: -2.5 # to extend the crop box min_z from ground
+        max_z: 3.2
+        min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
         negative: False
 
     common_ground_filter:
@@ -27,7 +27,7 @@
         grid_size_m: 0.2
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 5
-        detection_range_z_max: 2.5
+        detection_range_z_max: 3.2
         elevation_grid_mode: true
         center_pcl_shift: 0.0
 
@@ -44,7 +44,7 @@
         max_x: 100.0
         min_y: -50.0
         max_y: 50.0
-        max_z: 2.5  # recommended 2.5 for non elevation_grid_mode
+        max_z: 3.2  # recommended 2.5 for non elevation_grid_mode
         min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
         negative: False
 
@@ -60,7 +60,7 @@
         grid_size_m: 0.1
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 4
-        detection_range_z_max: 2.5
+        detection_range_z_max: 3.2
         center_pcl_shift: 0.0
         elevation_grid_mode: true
 
@@ -70,7 +70,7 @@
         max_x: 100.0
         min_y: -50.0
         max_y: 50.0
-        max_z: 2.5  # recommended 2.5 for non elevation_grid_mode
+        max_z: 3.2  # recommended 2.5 for non elevation_grid_mode
         min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
         negative: False
 
@@ -86,7 +86,7 @@
         grid_size_m: 0.1
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 4
-        detection_range_z_max: 2.5
+        detection_range_z_max: 3.2
         center_pcl_shift: 0.0
         elevation_grid_mode: true
         use_recheck_ground_cluster: false

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -30,6 +30,8 @@
     <arg name="centerpoint_model_param_path" value="$(var centerpoint_model_param_path)"/>
     <arg name="traffic_light_recognition/fusion_only" value="true"/>
     <arg name="namespace1" value="camera7"/>
+    <arg name="remove_unknown" value="false"/>
+    <arg name="trust_distance" value="100.0"/>
 
     <!-- object recognition -->
     <arg