From 3bb3252f83780b669049874777fa3cd9430d8cfd Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Thu, 14 Sep 2023 11:53:51 +0900 Subject: [PATCH 1/5] fix: use downsample before compare map Signed-off-by: badai-nguyen --- .../pointcloud_filter/pointcloud_map_filter.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml index 0423217582..3b10100a04 100644 --- a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: # use downsample filter before compare map - use_down_sample_filter: False + use_down_sample_filter: True # voxel size for downsample filter down_sample_voxel_size: 0.1 From ccbc084241d8ea941c2ff33528a226e65f9ec042 Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Thu, 14 Sep 2023 11:54:17 +0900 Subject: [PATCH 2/5] fix: remove downsample after compare map Signed-off-by: badai-nguyen --- .../detection/clustering/voxel_grid.param.yaml | 7 ------- .../pointcloud_filter/pointcloud_map_filter.param.yaml | 2 -- 2 files changed, 9 deletions(-) delete mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml deleted file mode 100644 index 3ff32bfbb7..0000000000 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml +++ /dev/null @@ -1,7 +0,0 @@ -/**: - ros__parameters: - input_frame: base_link - output_frame: base_link - voxel_size_x: 0.15 - voxel_size_y: 0.15 - voxel_size_z: 0.15 diff --git a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml index 3b10100a04..62b3074c15 100644 --- a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml +++ b/autoware_launch/config/perception/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: True # voxel size for downsample filter down_sample_voxel_size: 0.1 From 204c62ca8322c154d2a22ff7ddb8805bbac0acb7 Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Thu, 14 Sep 2023 19:50:24 +0900 Subject: [PATCH 3/5] fix: add low range crop filter param Signed-off-by: badai-nguyen --- .../voxel_grid_based_euclidean_cluster.param.yaml | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml index 2f3de2b789..fcaa95fb33 100644 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml +++ b/autoware_launch/config/perception/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 range 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 From 83dad0748a3677289f6c356cfaf0d8bb2d781d1e Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Thu, 14 Sep 2023 21:08:55 +0900 Subject: [PATCH 4/5] chore: refactor Signed-off-by: badai-nguyen --- .../clustering/compare_map.param.yaml | 20 ------------------- .../detection/clustering/outlier.param.yaml | 8 -------- .../tier4_perception_component.launch.xml | 5 ----- 3 files changed, 33 deletions(-) delete mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml delete mode 100644 autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml deleted file mode 100644 index 3dd303464a..0000000000 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml +++ /dev/null @@ -1,20 +0,0 @@ -/**: - ros__parameters: - - # distance threshold for compare compare - distance_threshold: 0.5 - - # publish voxelized map pointcloud for debug - publish_debug_pcd: False - - # use dynamic map loading - use_dynamic_map_loading: True - - # time interval to check dynamic map loading - timer_interval_ms: 100 - - # distance threshold for dynamic map update - map_update_distance_threshold: 10.0 - - # radius map for dynamic map loading - map_loader_radius: 150.0 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 deleted file mode 100644 index 1962fba1f3..0000000000 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml +++ /dev/null @@ -1,8 +0,0 @@ -/**: - ros__parameters: - input_frame: base_link - output_frame: base_link - voxel_size_x: 0.3 - voxel_size_y: 0.3 - voxel_size_z: 100.0 - voxel_points_threshold: 3 diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 65b8ac20bd..580b8b81a4 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -21,16 +21,11 @@ - - Date: Sat, 16 Sep 2023 23:50:08 +0900 Subject: [PATCH 5/5] chore: typo Signed-off-by: badai-nguyen --- .../clustering/voxel_grid_based_euclidean_cluster.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml index fcaa95fb33..26b027f007 100644 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml @@ -8,7 +8,7 @@ use_height: false input_frame: "base_link" - # low range crop box filter param + # low height crop box filter param max_x: 200.0 min_x: -200.0 max_y: 200.0