From 6e58b66353d2109964a5f6cf5ef578f46110fccf Mon Sep 17 00:00:00 2001
From: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
Date: Tue, 12 Jul 2022 22:18:30 +0900
Subject: [PATCH] feat(tier4_perception_launch): add object filter params to
 tier4_perception_launch (#1322)

* Add params to tier4_perception_launch

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .../detection/object_lanelet_filter.param.yaml   | 11 +++++++++++
 .../detection/object_position_filter.param.yaml  | 16 ++++++++++++++++
 ...amera_lidar_fusion_based_detection.launch.xml |  1 +
 .../detection/lidar_based_detection.launch.xml   |  1 +
 4 files changed, 29 insertions(+)
 create mode 100644 launch/tier4_perception_launch/config/object_recognition/detection/object_lanelet_filter.param.yaml
 create mode 100644 launch/tier4_perception_launch/config/object_recognition/detection/object_position_filter.param.yaml

diff --git a/launch/tier4_perception_launch/config/object_recognition/detection/object_lanelet_filter.param.yaml b/launch/tier4_perception_launch/config/object_recognition/detection/object_lanelet_filter.param.yaml
new file mode 100644
index 0000000000000..dfdee95642fed
--- /dev/null
+++ b/launch/tier4_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/launch/tier4_perception_launch/config/object_recognition/detection/object_position_filter.param.yaml b/launch/tier4_perception_launch/config/object_recognition/detection/object_position_filter.param.yaml
new file mode 100644
index 0000000000000..70afd9d31be94
--- /dev/null
+++ b/launch/tier4_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/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 a47ff58b7614e..e780d79d96e3d 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
@@ -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="$(find-pkg-share tier4_perception_launch)/config/object_recognition/detection/object_lanelet_filter.param.yaml"/>
     </include>
   </group>
 </launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 423fa5be0728a..942cb436dc697 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -111,6 +111,7 @@
     <include file="$(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>