From ee710021d64e65bd6b615e339788424a50293849 Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Tue, 24 Dec 2024 09:03:26 +0900 Subject: [PATCH] feat(image_projection_based_fusion): add cache options (#1275) * add timekeeper option Signed-off-by: a-maumau * add cache option and mod unrectified_image option Signed-off-by: a-maumau * fix parameter names Signed-off-by: a-maumau --------- Signed-off-by: a-maumau --- .../fusion_common.param.yaml | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml index 347cb57b48..86db3bad4f 100644 --- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml @@ -4,7 +4,8 @@ timeout_ms: 70.0 match_threshold_ms: 50.0 image_buffer_size: 15 - point_project_to_unrectified_image: false + # projection setting for each ROI whether unrectify image + point_project_to_unrectified_image: [false, false, false, false, false, false] debug_mode: false filter_scope_min_x: -100.0 filter_scope_min_y: -100.0 @@ -13,5 +14,11 @@ filter_scope_max_y: 100.0 filter_scope_max_z: 100.0 + # camera cache setting for each ROI + approximate_camera_projection: [true, true, true, true, true, true] + # grid size in pixels + approximation_grid_cell_width: 1.0 + approximation_grid_cell_height: 1.0 + # debug parameters publish_processing_time_detail: false