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chore(ground_segmentation_launch): change max_z of cropbox filter to vehicle_height #6549

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merged 2 commits into from
Mar 6, 2024
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chore(ground_segmentation_launch): change max_z of cropbox filter to vehicle_height #6549

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bd98deb
chore(ground_segmentation_launch): change max_z of cropbox filter to …
badai-nguyen Mar 6, 2024
b4c3e1e
fix: typo
badai-nguyen Mar 6, 2024
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24 changes: 24 additions & 0 deletions ...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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(
Expand All @@ -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"],
],
Expand Down Expand Up @@ -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(
Expand All @@ -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"],
],
Expand Down
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