feat(scan_ground_filter): change launch option and threshold (#670)

* Add care for near but high points Signed-off-by: Shunsuke Miura <[email protected]> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Apr 14, 2022 · f68121e · f68121e
1 parent fd5b9d3
commit f68121e
Show file tree

Hide file tree

Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/...on_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/...on_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -19,5 +19,5 @@
         global_slope_max_angle_deg: 10.0
         local_slope_max_angle_deg: 30.0
         split_points_distance_tolerance: 0.2
-        split_height_distance: 0.2
-        use_virtual_ground_point: False
+        split_height_distance: 0.3
+        use_virtual_ground_point: True
diff --git a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp
@@ -178,6 +178,10 @@ void ScanGroundFilterComponent::classifyPointCloud(
       } else {
         calculate_slope = true;
       }
+      if (is_point_close_to_prev) {
+        height_from_gnd = p->orig_point->z - ground_cluster.getAverageHeight();
+        radius_distance_from_gnd = p->radius - ground_cluster.getAverageRadius();
+      }
       if (calculate_slope) {
         // far from the previous point