From 66eef555b9585c6216f1f6430bc6ef519cdd725b Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Wed, 28 Feb 2024 13:38:53 +0900 Subject: [PATCH] feat(obstacle_segmentation): relax ground_segmentation threshold Signed-off-by: 1222-takeshi --- .../ground_segmentation.param.yaml | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml index 9ff8500f..2795ceea 100644 --- a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml +++ b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml @@ -25,7 +25,12 @@ split_points_distance_tolerance: 0.2 use_virtual_ground_point: True split_height_distance: 0.2 - radial_divider_angle_deg: 1.0 + non_ground_height_threshold: 0.20 + grid_size_m: 0.5 + grid_mode_switch_radius: 20.0 + gnd_grid_buffer_size: 4 + detection_range_z_max: 2.5 + elevation_grid_mode: true # common_ground_filter: # plugin: "ground_segmentation::RayGroundFilterComponent" @@ -54,9 +59,9 @@ min_points: 400 min_inliers: 200 max_iterations: 50 - height_threshold: 0.15 + height_threshold: 0.10 plane_slope_threshold: 10.0 - voxel_size_x: 0.2 - voxel_size_y: 0.2 - voxel_size_z: 0.2 + voxel_size_x: 0.1 + voxel_size_y: 0.1 + voxel_size_z: 0.1 debug: False