From 1bf0f556125cd8c113250a1e9ed236dec273dc4c Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 31 Jan 2024 19:28:58 +0900 Subject: [PATCH] chore(ground_segmentation): add default params (#831) Signed-off-by: badai-nguyen Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --- .../ground_segmentation.param.yaml | 12 ++++++++++-- 1 file changed, 10 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 37edca19e0..72f497b93a 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 @@ -29,7 +29,10 @@ gnd_grid_buffer_size: 5 detection_range_z_max: 3.2 elevation_grid_mode: true + use_recheck_ground_cluster: true + low_priority_region_x: -20.0 center_pcl_shift: 0.0 + radial_divider_angle_deg: 1.0 # common_ground_filter: # plugin: "ground_segmentation::RayGroundFilterComponent" @@ -61,8 +64,11 @@ grid_mode_switch_radius: 20.0 gnd_grid_buffer_size: 4 detection_range_z_max: 3.2 - center_pcl_shift: 0.0 elevation_grid_mode: true + use_recheck_ground_cluster: true + low_priority_region_x: -20.0 + center_pcl_shift: 0.0 + radial_divider_angle_deg: 1.0 front_lower_crop_box_filter: parameters: @@ -87,6 +93,8 @@ grid_mode_switch_radius: 20.0 gnd_grid_buffer_size: 4 detection_range_z_max: 3.2 - center_pcl_shift: 0.0 elevation_grid_mode: false use_recheck_ground_cluster: false + low_priority_region_x: -20.0 + center_pcl_shift: 0.0 + radial_divider_angle_deg: 1.0