feat(image_projection_based_fusion): add cache options (#1275)

* add timekeeper option Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * add cache option and mod unrectified_image option Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * fix parameter names Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> --------- Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
autowarefoundation · Dec 24, 2024 · ee71002 · ee71002
1 parent d5fa6c2
commit ee71002
Showing 1 changed file with 8 additions and 1 deletion.
diff --git a/...ption/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml b/...ption/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