From 25e33d10973324547a71e67ae85518d203a57639 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 26 Dec 2024 17:17:24 +0900
Subject: [PATCH] fix: change to GenIOU

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../launch/traffic_light_selector.launch.xml                    | 2 +-
 .../src/traffic_light_selector_node.cpp                         | 2 +-
 2 files changed, 2 insertions(+), 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
index 022891de3d457..342973ddbe348 100644
--- 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
index 367c491f88bca..08675a7f84031 100644
--- 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;