From 08b1677e7959c46f36b13e14e09270fdff904d4c Mon Sep 17 00:00:00 2001
From: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
Date: Mon, 30 Oct 2023 10:56:03 +0900
Subject: [PATCH] feat(tier4_perecption_launch): change radar object clustering
 parameter for ars408 in xx1 (#985)

change radar obj clustering angle threshold to loose coupling
---
 .../camera_lidar_radar_fusion_based_detection.launch.xml        | 2 +-
 .../detection/lidar_radar_based_detection.launch.xml            | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index 82ff20b5778d3..630517133485f 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -77,7 +77,7 @@
       <arg name="filter/velocity_threshold" value="3.0"/>
       <arg name="split/velocity_threshold" value="4.5"/>
       <arg name="split_range" value="70.0"/>
-      <arg name="clustering/angle_threshold" value="0.174"/>
+      <arg name="clustering/angle_threshold" value="0.522"/>
       <arg name="clustering/distance_threshold" value="10.0"/>
       <arg name="clustering/velocity_threshold" value="4.0"/>
     </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
index cee6829ea3b4a..6b340dd486df3 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
@@ -37,7 +37,7 @@
       <arg name="filter/velocity_threshold" value="3.0"/>
       <arg name="split/velocity_threshold" value="4.5"/>
       <arg name="split_range" value="70.0"/>
-      <arg name="clustering/angle_threshold" value="0.174"/>
+      <arg name="clustering/angle_threshold" value="0.522"/>
       <arg name="clustering/distance_threshold" value="10.0"/>
       <arg name="clustering/velocity_threshold" value="4.0"/>
     </include>