From 536d80370cd1f2daa64192b15ff369d2208125e0 Mon Sep 17 00:00:00 2001
From: Tomoya Kimura <tomoya.kimura@tier4.jp>
Date: Wed, 5 Apr 2023 20:04:15 +0900
Subject: [PATCH] chore(tier4_perception_launch): add custom parameters for
 roi_cluster_fusion (#3281)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 .../camera_lidar_fusion_based_detection.launch.xml          | 5 ++++-
 .../object_recognition/detection/detection.launch.xml       | 6 ++++++
 launch/tier4_perception_launch/launch/perception.launch.xml | 5 +++++
 3 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index 094856c95fc83..9ca8ea3df95d2 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -27,6 +27,8 @@
   <arg name="container_name" default="pointcloud_container"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="score_threshold" default="0.35"/>
+  <arg name="remove_unknown" default="true"/>
+  <arg name="trust_distance" default="30.0"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
@@ -106,7 +108,8 @@
           <arg name="input/image6" value="$(var image_raw6)"/>
           <arg name="input/image7" value="$(var image_raw7)"/>
           <arg name="output/clusters" value="clusters"/>
-          <arg name="trust_distance" value="30.0"/>
+          <arg name="remove_unknown" value="$(var remove_unknown)"/>
+          <arg name="trust_distance" value="$(var trust_distance)"/>
         </include>
       </group>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index 18245c9573458..ddacff7f38f47 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -29,6 +29,10 @@
   <arg name="camera_info7" default=""/>
   <arg name="image_number" default="1" description="choose image raw number(0-7)"/>
 
+  <!-- camera lidar fusion param -->
+  <arg name="remove_unknown" default="true"/>
+  <arg name="trust_distance" default="30.0"/>
+
   <!-- radar param -->
 
   <!-- camera lidar radar fusion based detection-->
@@ -57,6 +61,8 @@
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
+      <arg name="remove_unknown" value="$(var remove_unknown)"/>
+      <arg name="trust_distance" value="$(var trust_distance)"/>
     </include>
   </group>
 
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index b2a800c5b278d..6a13cc8fb563c 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -47,6 +47,9 @@
   <!-- Traffic Light Recognition Parameters -->
   <arg name="use_traffic_light_recognition" default="true"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true"/>
+  <!-- Camera Lidar Fusion Parameters -->
+  <arg name="remove_unknown" default="true"/>
+  <arg name="trust_distance" default="30.0"/>
 
   <!-- perception module -->
   <group>
@@ -111,6 +114,8 @@
           <arg name="use_object_filter" value="$(var use_object_filter)"/>
           <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
           <arg name="container_name" value="$(var pointcloud_container_name)"/>
+          <arg name="remove_unknown" value="$(var remove_unknown)"/>
+          <arg name="trust_distance" value="$(var trust_distance)"/>
         </include>
       </group>
       <!-- tracking module -->