Both are perfect.
Use "had never tasted" to emphasize what you noticed WHEN you were at the restaurant.
Use "have never tasted" to talk about yourself RIGHT NOW: "I am a person, right now at this moment, who has not tasted many of those foods".
It is important to keep in mind that the so-called "Present Perfect Tense" really is a present tense. It talks about the present, not the past. It does not talk about the past except by naming your experiences.