refactor(perception): rearrange clustering pipeline parameters (#567)

* fix: use downsample before compare map Signed-off-by: badai-nguyen <[email protected]> * fix: remove downsample after compare map Signed-off-by: badai-nguyen <[email protected]> * fix: add low range crop filter param Signed-off-by: badai-nguyen <[email protected]> * chore: refactor Signed-off-by: badai-nguyen <[email protected]> * chore: typo Signed-off-by: badai-nguyen <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]>
autowarefoundation · Sep 19, 2023 · 34e4ac3 · 34e4ac3
1 parent c085625
commit 34e4ac3
Show file tree

Hide file tree

Showing 6 changed files with 8 additions and 48 deletions.
diff --git a/...e_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml b/...e_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml
diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml
diff --git a/...re_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml b/...re_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml
diff --git a/...ion/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/...ion/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
@@ -7,9 +7,11 @@
     max_cluster_size: 3000
     use_height: false
     input_frame: "base_link"
-    max_x: 70.0
-    min_x: -70.0
-    max_y: 70.0
-    min_y: -70.0
-    max_z: 4.5
-    min_z: -4.5
+
+    # low height crop box filter param
+    max_x: 200.0
+    min_x: -200.0
+    max_y: 200.0
+    min_y: -200.0
+    max_z: 2.0
+    min_z: -10.0
diff --git a/...erception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml b/...erception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
@@ -1,7 +1,5 @@
 /**:
   ros__parameters:
-    # use downsample filter before compare map
-    use_down_sample_filter: False
 
     # voxel size for downsample filter
     down_sample_voxel_size: 0.1

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -21,16 +21,11 @@
     <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
 
     <!-- object recognition -->
-    <arg name="object_recognition_detection_compare_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/compare_map.param.yaml"/>
     <arg
       name="object_recognition_detection_euclidean_cluster_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml"
     />
     <arg name="object_recognition_detection_outlier_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/outlier.param.yaml"/>
-    <arg
-      name="object_recognition_detection_voxel_grid_based_euclidean_param_path"
-      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml"
-    />
     <arg
       name="object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml"