chore(ground_segmentation_launch): change max_z of cropbox filter to …

…vehicle_height (autowarefoundation#6549) * chore(ground_segmentation_launch): change max_z of cropbox filter to vehicle_height Signed-off-by: badai-nguyen <[email protected]> * fix: typo Signed-off-by: badai-nguyen <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]>
Interplai · Jun 3, 2024 · 02b08c5 · 02b08c5
1 parent a693ff7
commit 02b08c5
Showing 1 changed file with 24 additions and 0 deletions.
diff --git a/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -70,6 +70,18 @@ def get_vehicle_mirror_info(self):
         return p
 
     def create_additional_pipeline(self, lidar_name):
+        max_z = (
+            self.vehicle_info["max_height_offset"]
+            + self.ground_segmentation_param[f"{lidar_name}_crop_box_filter"]["parameters"][
+                "margin_max_z"
+            ]
+        )
+        min_z = (
+            self.vehicle_info["min_height_offset"]
+            + self.ground_segmentation_param[f"{lidar_name}_crop_box_filter"]["parameters"][
+                "margin_min_z"
+            ]
+        )
         components = []
         components.append(
             ComposableNode(
@@ -84,6 +96,8 @@ def create_additional_pipeline(self, lidar_name):
                     {
                         "input_frame": LaunchConfiguration("base_frame"),
                         "output_frame": LaunchConfiguration("base_frame"),
+                        "max_z": max_z,
+                        "min_z": min_z,
                     },
                     self.ground_segmentation_param[f"{lidar_name}_crop_box_filter"]["parameters"],
                 ],
@@ -206,6 +220,14 @@ def create_ransac_pipeline(self):
         return components
 
     def create_common_pipeline(self, input_topic, output_topic):
+        max_z = (
+            self.vehicle_info["max_height_offset"]
+            + self.ground_segmentation_param["common_crop_box_filter"]["parameters"]["margin_max_z"]
+        )
+        min_z = (
+            self.vehicle_info["min_height_offset"]
+            + self.ground_segmentation_param["common_crop_box_filter"]["parameters"]["margin_min_z"]
+        )
         components = []
         components.append(
             ComposableNode(
@@ -220,6 +242,8 @@ def create_common_pipeline(self, input_topic, output_topic):
                     {
                         "input_frame": LaunchConfiguration("base_frame"),
                         "output_frame": LaunchConfiguration("base_frame"),
+                        "max_z": max_z,
+                        "min_z": min_z,
                     },
                     self.ground_segmentation_param["common_crop_box_filter"]["parameters"],
                 ],