From 33f57fcbc83cecce53dfd58125dc6c378ce51f78 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <technolojin@gmail.com>
Date: Wed, 12 Feb 2025 18:48:25 +0900
Subject: [PATCH] fix(ground_segmentation): bring junction parameter from param
 file to launch argument (#1327)

* refactor(ground_segmentation): remove single frame filter and keep time series filter disabled

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat(tier4_perception): add single frame and time series filters for obstacle segmentation

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 .../ground_segmentation/ground_segmentation.param.yaml       | 2 --
 .../launch/components/tier4_perception_component.launch.xml  | 5 +++++
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
index cc7c52ed47..b9393094a1 100644
--- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
+++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -2,8 +2,6 @@
   ros__parameters:
     additional_lidars: []
     ransac_input_topics: []
-    use_single_frame_filter: False
-    use_time_series_filter: True
 
     common_crop_box_filter:
       parameters:
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 9f00aabe4c..ee889b717d 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -13,6 +13,8 @@
   <arg name="use_detection_by_tracker" default="true" description="launch detection_by_tracker function"/>
   <arg name="use_radar_tracking_fusion" default="true" description="if true, radar objects are merged in tracking module. Otherwise, radar objects are merged in detection module."/>
   <arg name="use_object_filter" default="true" description="launch object filter to filter-out detected object"/>
+  <arg name="use_obstacle_segmentation_single_frame_filter" default="false" description="use single frame filter at the ground segmentation"/>
+  <arg name="use_obstacle_segmentation_time_series_filter" default="true" description="use time series filter at the ground segmentation"/>
 
   <arg name="occupancy_grid_map_method" default="pointcloud_based" description="options: pointcloud_based, laserscan_based, multi_lidar_pointcloud_based"/>
   <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
@@ -45,6 +47,9 @@
     <arg name="use_object_filter" value="$(var use_object_filter)"/>
     <arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
     <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
+    <arg name="use_obstacle_segmentation_single_frame_filter" value="$(var use_obstacle_segmentation_single_frame_filter)"/>
+    <arg name="use_obstacle_segmentation_time_series_filter" value="$(var use_obstacle_segmentation_time_series_filter)"/>
+
     <arg name="data_path" value="$(var data_path)"/>
 
     <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>