fix: change to GenIOU

Signed-off-by: badai-nguyen <[email protected]>
autowarefoundation · Jan 10, 2025 · 25e33d1 · 25e33d1
1 parent 99c0c88
commit 25e33d1
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/perception/autoware_traffic_light_selector/launch/traffic_light_selector.launch.xml b/perception/autoware_traffic_light_selector/launch/traffic_light_selector.launch.xml
@@ -9,6 +9,6 @@
     <remap from="input/detected_rois" to="$(var input/detected_rois)"/>
     <remap from="input/rough_rois" to="$(var input/rough_rois)"/>
     <remap from="input/camera_info" to="input/camera_info"/>
-    <param name="max_iou_threshold" value="0.0"/>
+    <param name="max_iou_threshold" value="-0.5"/>
   </node>
 </launch>
diff --git a/perception/autoware_traffic_light_selector/src/traffic_light_selector_node.cpp b/perception/autoware_traffic_light_selector/src/traffic_light_selector_node.cpp
@@ -129,7 +129,7 @@ void TrafficLightSelectorNode::objectsCallback(
         static_cast<int>(detected_roi.feature.roi.y_offset) - det_roi_shift_y, 0,
         static_cast<int>(image_height_ - detected_roi.feature.roi.height));
 
-      double iou = utils::calIOU(expect_roi.roi, detected_roi_shifted);
+      double iou = utils::getGenIoU(expect_roi.roi, detected_roi_shifted);
       if (iou > max_iou) {
         max_iou = iou;
         max_iou_roi = detected_roi.feature.roi;