chore: update docs and param file

Signed-off-by: badai-nguyen <[email protected]>
autowarefoundation · Oct 31, 2023 · 7ad22a7 · 7ad22a7
1 parent e3389ee
commit 7ad22a7
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Showing 4 changed files with 4 additions and 1 deletion.
diff --git a/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml b/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml
@@ -11,3 +11,5 @@
     min_points_and_distance_ratio:
     #UNKNOWN,  CAR,    TRUCK,     BUS,    TRAILER, MOTORBIKE, BICYCLE,      PEDESTRIAN
       [800.0,  800.0,  800.0,    800.0,   800.0,      800.0,    800.0,         800.0]
+
+    using_2d_validator: false
diff --git a/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml b/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml
@@ -11,6 +11,5 @@
     <remap from="~/output/objects" to="$(var output/objects)"/>
     <param name="enable_debugger" value="false"/>
     <param from="$(var obstacle_pointcloud_based_validator_param_path)"/>
-    <param name="using_2d_validator" value="true"/>
   </node>
 </launch>
diff --git a/perception/detected_object_validation/obstacle-pointcloud-based-validator.md b/perception/detected_object_validation/obstacle-pointcloud-based-validator.md
@@ -28,6 +28,7 @@ In the debug image above, the red DetectedObject is the validated object. The bl
 
 | Name                            | Type  | Description                                                                                                                                                                |
 | ------------------------------- | ----- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| `using_2d_validator`            | bool  | The xy-plane projected (2D) obstacle point clouds will be used for validation                                                                                              |
 | `min_points_num`                | int   | The minimum number of obstacle point clouds in DetectedObjects                                                                                                             |
 | `max_points_num`                | int   | The max number of obstacle point clouds in DetectedObjects                                                                                                                 |
 | `min_points_and_distance_ratio` | float | Threshold value of the number of point clouds per object when the distance from baselink is 1m, because the number of point clouds varies with the distance from baselink. |

diff --git a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
@@ -97,6 +97,7 @@ ObstaclePointCloudBasedValidator::ObstaclePointCloudBasedValidator(
   using std::placeholders::_1;
   using std::placeholders::_2;
 
+  // TODO(badai-nguyen): change to single bind function
   if (using_2d_validator_) {
     sync_.registerCallback(
       std::bind(&ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud, this, _1, _2));