chore: change max_z of cropbox filter to vehicle_height (#585)

* chore: change max_z of cropbox filter to vehicle_height Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: badai-nguyen <[email protected]> Co-authored-by: badai-nguyen <[email protected]>
tier4 · Jul 1, 2024 · c4afb67 · c4afb67
1 parent 8c52fd2
commit c4afb67
Show file tree

Hide file tree

Showing 2 changed files with 11 additions and 7 deletions.
diff --git a/...onfig/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/...onfig/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -11,8 +11,8 @@
         max_x: 120.0
         min_y: -75.0
         max_y: 75.0
-        margin_max_z: 3.2
-        margin_min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
+        margin_max_z: 0.0  # to extend the crop box max_z from vehicle_height
+        margin_min_z: -2.5 # to extend the crop box min_z from ground
         negative: False
 
     common_ground_filter:
@@ -48,8 +48,8 @@
         max_x: 100.0
         min_y: -50.0
         max_y: 50.0
-        margin_max_z: 3.2  # recommended 2.5 for non elevation_grid_mode
-        margin_min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
+        margin_max_z: 0.0  # to extend the crop box max_z from vehicle_height
+        margin_min_z: -2.5 # to extend the crop box min_z from ground
         negative: False
 
     front_upper_ground_filter:
@@ -78,8 +78,8 @@
         max_x: 100.0
         min_y: -50.0
         max_y: 50.0
-        margin_max_z: 3.2  # recommended 2.5 for non elevation_grid_mode
-        margin_min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
+        margin_max_z: 0.0  # to extend the crop box max_z from vehicle_height
+        margin_min_z: -2.5 # to extend the crop box min_z from ground
         negative: False
 
     front_lower_ground_filter:

diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -4,7 +4,11 @@
   <arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
   <arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
   <arg name="input_pointcloud" default="/sensing/lidar/left_upper/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
-  <arg name="localization_pointcloud_container_name" default="/sensing/lidar/left_upper/pointcloud_preprocessor/pandar_node_container" description="The target container to which pointcloud preprocessing nodes in localization be attached"/>
+  <arg
+    name="localization_pointcloud_container_name"
+    default="/sensing/lidar/left_upper/pointcloud_preprocessor/pandar_node_container"
+    description="The target container to which pointcloud preprocessing nodes in localization be attached"
+  />
   <arg name="initial_pose" default="[]" description="initial pose (x, y, z, quat_x, quat_y, quat_z, quat_w)"/>
 
   <group>