From cb2ea3af62137ddc243e07e167b7c5ebe22df941 Mon Sep 17 00:00:00 2001 From: yoshiri Date: Fri, 7 Jun 2024 16:39:40 +0900 Subject: [PATCH 1/2] feat: insert inside area filter before clustering Signed-off-by: yoshiri --- .../detection/pointcloud_map_filter.launch.py | 24 ++++++++++++++++++- 1 file changed, 23 insertions(+), 1 deletion(-) diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py index 93d395ca3e466..18cb428bba093 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py @@ -83,6 +83,7 @@ def create_compare_map_pipeline(self): down_sample_topic = ( "/perception/obstacle_segmentation/pointcloud_map_filtered/downsampled/pointcloud" ) + intermediate_topic = "/perception/obstacle_segmentation/pointcloud_map_filtered/before_area_filter/pointcloud" components.append( ComposableNode( package="pointcloud_preprocessor", @@ -112,7 +113,7 @@ def create_compare_map_pipeline(self): remappings=[ ("input", down_sample_topic), ("map", "/map/pointcloud_map"), - ("output", LaunchConfiguration("output_topic")), + ("output", intermediate_topic), ("map_loader_service", "/map/get_differential_pointcloud_map"), ("kinematic_state", "/localization/kinematic_state"), ], @@ -133,6 +134,27 @@ def create_compare_map_pipeline(self): ], ) ) + components.append( + ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::VectorMapInsideAreaFilterComponent", + name="vector_map_inside_area_filter", + remappings=[ + ("input/vector_map", "/map/vector_map"), + ("input", intermediate_topic), + ("output", LaunchConfiguration("output_topic")), + ], + parameters=[ + { + "use_z_filter": True, + "z_threshold": 0.15, + } + ], + extra_arguments=[ + {"use_intra_process_comms": False}, + ], + ) + ) return components From de1cb4013b4c51039d35ba5b1d055a31218b973a Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri, 7 Jun 2024 07:45:13 +0000 Subject: [PATCH 2/2] style(pre-commit): autofix --- .../detection/pointcloud_map_filter.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py index 18cb428bba093..ca4f1d32ee840 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py @@ -153,7 +153,7 @@ def create_compare_map_pipeline(self): extra_arguments=[ {"use_intra_process_comms": False}, ], - ) + ) ) return components