feat(roi_cluster_fusion): update default value of `only_allow_inside_…

…cluster` is `true` (autowarefoundation#4212) Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
tier4 · Jul 10, 2023 · 5605b19 · 5605b19
1 parent d4bb8bd
commit 5605b19
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml
@@ -74,7 +74,7 @@
       <param name="use_iou" value="true"/>
       <param name="use_iou_x" value="false"/>
       <param name="use_iou_y" value="false"/>
-      <param name="only_allow_inside_cluster" value="false"/>
+      <param name="only_allow_inside_cluster" value="true"/>
       <param name="roi_scale_factor" value="1.1"/>
       <param name="iou_threshold" value="0.35"/>
       <param name="rois_number" value="$(var input/rois_number)"/>

diff --git a/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp b/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp
@@ -40,7 +40,7 @@ RoiClusterFusionNode::RoiClusterFusionNode(const rclcpp::NodeOptions & options)
   use_iou_y_ = declare_parameter("use_iou_y", false);
   use_iou_ = declare_parameter("use_iou", false);
   use_cluster_semantic_type_ = declare_parameter("use_cluster_semantic_type", false);
-  only_allow_inside_cluster_ = declare_parameter("only_allow_inside_cluster_", false);
+  only_allow_inside_cluster_ = declare_parameter("only_allow_inside_cluster_", true);
   roi_scale_factor_ = declare_parameter("roi_scale_factor", 1.1);
   iou_threshold_ = declare_parameter("iou_threshold", 0.1);
   remove_unknown_ = declare_parameter("remove_unknown", false);