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Clustering params #1

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Clustering params #1

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75242c1
Re-integrated adative clustering for av24
YouBotica Oct 3, 2024
b3f03fb
More tuning on adaptive clustering
YouBotica Oct 6, 2024
d82ee08
Merge pull request #1 from YouBotica/av24
YouBotica Oct 13, 2024
54fe770
Trying with namespaces (untested)
YouBotica Oct 26, 2024
e7a3a29
Added namespace /perception/post/
YouBotica Oct 28, 2024
02cf632
Fixed wrong topic namespace
YouBotica Nov 5, 2024
c2fe10c
Removed logger
YouBotica Nov 5, 2024
04882d8
updated parameters for euclidean clustering
Nov 13, 2024
afcec42
added to param files and adjusted wall bounding box size
Nov 14, 2024
376a63b
ransac cylinder work in progress
Nov 23, 2024
caab5f3
added regions to adaptive clustering
Dec 3, 2024
afa981b
updated the region parameters
Dec 11, 2024
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2 changes: 2 additions & 0 deletions package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,8 @@
<depend>pcl_conversions</depend>
<depend>pcl_ros</depend>
<depend>blackandgold_msgs</depend>
<depend>tf2</depend>
<depend>tf2_geometry_msgs</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_lint_auto</test_depend>
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4 changes: 2 additions & 2 deletions param/adaptive_clustering.yaml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
/adaptive_clustering:
ros__parameters:
cluster_size_max: 5000
cluster_size_max: 500
cluster_size_min: 5
generate_bounding_boxes: true
k_merging_threshold: 0.10000000149011612
Expand All @@ -9,7 +9,7 @@
radius_max: 120.0
radius_min: 0.4000000059604645
sensor_model: VLP-16
z_axis_max: 10.0
z_axis_max: 3.0
z_axis_min: -0.800000011920929
z_merging_threshold: 0.0
car_width: 2.0
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19 changes: 19 additions & 0 deletions param/better_clustering_config.yaml
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@@ -0,0 +1,19 @@
/*/*/adaptive_clustering:
ros__parameters:
cluster_size_max: [750, 500, 250, 150, 100] #750
cluster_size_min: [100, 80, 60, 35, 20] #15
generate_bounding_boxes: true
k_merging_threshold: 0.10000000149011612
leaf: 1
print_fps: false
radius_max: 120.0
radius_min: 0.4000000059604645
sensor_model: VLP-16
z_axis_max: 2.0
z_axis_min: -0.800000011920929
z_merging_threshold: 0.0 # not used
car_width: 2.0
car_length: 4.8768
regions: [10, 10, 10, 10, 10]
region_max: 5
tolerance: 0.5
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