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refactor(perception): rearrange clustering pipeline parameters #567

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merged 6 commits into from
Sep 19, 2023
Merged

refactor(perception): rearrange clustering pipeline parameters #567

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3bb3252
fix: use downsample before compare map
badai-nguyen Sep 14, 2023
ccbc084
fix: remove downsample after compare map
badai-nguyen Sep 14, 2023
204c62c
fix: add low range crop filter param
badai-nguyen Sep 14, 2023
83dad07
chore: refactor
badai-nguyen Sep 14, 2023
d1874a3
Merge branch 'main' into fix/rearrange_clustering_pipeline
badai-nguyen Sep 14, 2023
92217db
chore: typo
badai-nguyen Sep 16, 2023
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20 changes: 0 additions & 20 deletions ...e_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml
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8 changes: 0 additions & 8 deletions autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml
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7 changes: 0 additions & 7 deletions ...re_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml
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14 changes: 8 additions & 6 deletions ...ion/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
2 changes: 0 additions & 2 deletions ...erception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
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Original file line number Diff line number Diff line change
@@ -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
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5 changes: 0 additions & 5 deletions autoware_launch/launch/components/tier4_perception_component.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
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