feat(tier4_perception_launch): add object filter params to tier4_perc…

…eption_launch (autowarefoundation#1322) * Add params to tier4_perception_launch Signed-off-by: Shunsuke Miura <[email protected]> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
satoshi-ota · Jan 16, 2023 · eba4dbb · eba4dbb
1 parent fb5ffb5
commit eba4dbb
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Showing 4 changed files with 29 additions and 0 deletions.
diff --git a/...r4_perception_launch/config/object_recognition/detection/object_lanelet_filter.param.yaml b/...r4_perception_launch/config/object_recognition/detection/object_lanelet_filter.param.yaml
@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    filter_target_label:
+      UNKNOWN : true
+      CAR : false
+      TRUCK : false
+      BUS : false
+      TRAILER : false
+      MOTORCYCLE : false
+      BICYCLE : false
+      PEDESTRIAN : false
diff --git a/...4_perception_launch/config/object_recognition/detection/object_position_filter.param.yaml b/...4_perception_launch/config/object_recognition/detection/object_position_filter.param.yaml
@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    filter_target_label:
+      UNKNOWN : true
+      CAR : false
+      TRUCK : false
+      BUS : false
+      TRAILER : false
+      MOTORCYCLE : false
+      BICYCLE : false
+      PEDESTRIAN : false
+
+    upper_bound_x: 100.0
+    lower_bound_x: 0.0
+    upper_bound_y: 10.0
+    lower_bound_y: -10.0
diff --git a/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -193,6 +193,7 @@
     <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
       <arg name="input/object" value="objects_before_filter"/>
       <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="filtering_range_param" value="$(find-pkg-share tier4_perception_launch)/config/object_recognition/detection/object_lanelet_filter.param.yaml"/>
     </include>
   </group>
 </launch>
diff --git a/...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -111,6 +111,7 @@
     <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
       <arg name="input/object" value="objects_before_filter"/>
       <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="filtering_range_param" value="$(find-pkg-share tier4_perception_launch)/config/object_recognition/detection/object_lanelet_filter.param.yaml"/>
     </include>
   </group>
 </launch>