From b6a04b7eb70dd8ca064de26695a5310a7a06e9e8 Mon Sep 17 00:00:00 2001 From: Autumn60 Date: Fri, 5 Apr 2024 11:58:19 +0900 Subject: [PATCH] Add missing params to ground_segmentation.param.yaml Signed-off-by: Autumn60 --- .../ground_segmentation.param.yaml | 23 ++++++++++++------- 1 file changed, 15 insertions(+), 8 deletions(-) diff --git a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml index 0f3ea457..67fa0da5 100644 --- a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml +++ b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml @@ -35,13 +35,18 @@ # common_ground_filter: # plugin: "ground_segmentation::RayGroundFilterComponent" # parameters: - # initial_max_slope: 10.0 + # min_x: -0.01 + # max_x: +0.01 + # min_y: -0.01 + # max_y: +0.01 + # use_vehicle_footprint: True # general_max_slope: 10.0 # local_max_slope: 10.0 - # min_height_threshold: 0.3 + # initial_max_slope: 10.0 # radial_divider_angle: 1.0 + # min_height_threshold: 0.3 # concentric_divider_distance: 0.0 - # use_vehicle_footprint: True + # reclass_distance_threshold: 0.1 short_height_obstacle_detection_area_filter: parameters: @@ -55,13 +60,15 @@ ransac_ground_filter: parameters: - outlier_threshold: 0.1 - min_points: 400 - min_inliers: 200 +# base_frame: base_link + unit_axis: "z" max_iterations: 50 - height_threshold: 0.10 - plane_slope_threshold: 10.0 + min_trial: 200 + min_points: 400 + outlier_threshold: 0.1 + plane_slope_threshold: 10.0 voxel_size_x: 0.1 voxel_size_y: 0.1 voxel_size_z: 0.1 + height_threshold: 0.10 debug: False