From 8bca4d6f27f696e00a65e99351dcf70f297c0f28 Mon Sep 17 00:00:00 2001 From: yoshiri Date: Tue, 23 Apr 2024 02:53:50 +0900 Subject: [PATCH 1/3] feat(probabilistic_occupancy_grid_map): add downsample filter option to ogm creation Signed-off-by: yoshiri --- ...multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml | 4 ++++ .../pointcloud_based_occupancy_grid_map.param.yaml | 4 ++++ 2 files changed, 8 insertions(+) diff --git a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml index f9a1c4f930..6bd634bb99 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml @@ -12,6 +12,10 @@ map_length_x: 150.0 # [m] map_length_y: 150.0 # [m] + # downsample input pointcloud + downsample_input_pointcloud: true + downsample_voxel_size: 0.125 # [m] + # each grid map parameters ogm_creation_config: height_filter: diff --git a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml index 8077bdec50..a87e8b95a0 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml @@ -8,6 +8,10 @@ min_height: -1.0 max_height: 2.0 + # downsample input pointcloud + downsample_input_pointcloud: true + downsample_voxel_size: 0.125 # [m] + enable_single_frame_mode: false # use sensor pointcloud to filter obstacle pointcloud filter_obstacle_pointcloud_by_raw_pointcloud: false From 0254ae1d316384653126e92a45318075f4d91899 Mon Sep 17 00:00:00 2001 From: yoshiri Date: Tue, 23 Apr 2024 03:12:44 +0900 Subject: [PATCH 2/3] chore: do not use pointcloud filter when downsample is true Signed-off-by: yoshiri --- .../multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml index 6bd634bb99..0347878c7c 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml @@ -24,7 +24,7 @@ max_height: 2.0 enable_single_frame_mode: true # use sensor pointcloud to filter obstacle pointcloud - filter_obstacle_pointcloud_by_raw_pointcloud: true + filter_obstacle_pointcloud_by_raw_pointcloud: false grid_map_type: "OccupancyGridMapFixedBlindSpot" OccupancyGridMapFixedBlindSpot: From 4ad50ea0bdd483e35b6358975b494c91bad8ab9d Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Thu, 25 Apr 2024 12:00:48 +0900 Subject: [PATCH 3/3] Update autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml Co-authored-by: Yukihiro Saito --- .../multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml index 0347878c7c..878bea4cd8 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml @@ -14,7 +14,7 @@ # downsample input pointcloud downsample_input_pointcloud: true - downsample_voxel_size: 0.125 # [m] + downsample_voxel_size: 0.25 # [m] # each grid map parameters ogm_creation_config: