add updated roi detection objects fusion params

tier4 · Nov 21, 2023 · 502c4a5 · 502c4a5
1 parent e289f87
commit 502c4a5
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Showing 2 changed files with 74 additions and 1 deletion.
diff --git a/edge_auto_jetson_launch/config/can_assign_matrix.yaml b/edge_auto_jetson_launch/config/can_assign_matrix.yaml
@@ -0,0 +1,70 @@
+/**:
+  ros__parameters:
+    can_assign_matrix:
+      #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN <-roi_msg
+      [
+        1,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0, # UNKNOWN <-detected_objects
+        0,
+        1,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0, # CAR
+        0,
+        0,
+        1,
+        0,
+        0,
+        0,
+        0,
+        0, # TRUCK
+        0,
+        0,
+        0,
+        1,
+        0,
+        0,
+        0,
+        0, # BUS
+        0,
+        0,
+        0,
+        0,
+        1,
+        0,
+        0,
+        0, # TRAILER
+        0,
+        0,
+        0,
+        0,
+        0,
+        1,
+        0,
+        0, # MOTORBIKE
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        1,
+        0, # BICYCLE
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        1,
+      ] # PEDESTRIAN
diff --git a/edge_auto_jetson_launch/launch/component/roi_detected_objects_fusion.launch.xml b/edge_auto_jetson_launch/launch/component/roi_detected_objects_fusion.launch.xml
@@ -8,6 +8,7 @@
   <arg name="input/objects" default="input/objects"/>
   <arg name="output/objects" default="output/objects"/>
   <arg name="sync_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/roi_sync.param.yaml"/>
+  <arg name="can_assign_matrix_param_path" default="$(find-pkg-share edge_auto_launch)/config/can_assign_matrix.yaml"/>
 
   <!-- for eval variable-->
   <arg name="input_rois_number" default="$(var input/rois_number)"/>
@@ -23,11 +24,13 @@
       <param from="$(var sync_param_path)"/>
       <remap from="input" to="$(var input/objects)"/>
       <remap from="output" to="$(var output/objects)"/>
-      <param name="passthrough_lower_bound_probability_threshold" value="0.35"/>
+      <param name="passthrough_lower_bound_probability_thresholds" value="[0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35]"/>
       <param name="use_roi_probability" value="false"/>
       <param name="roi_probability_threshold" value="0.5"/>
       <param name="min_iou_threshold" value="0.3"/>
       <param name="debug_mode" value="false"/>
+      <param name="trust_distances" value="[100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0]"/>
+      <param from="$(var can_assign_matrix_param_path)"/>
     </node>
   </group>
 </launch>