update:calc blockage_ratio by multi frame blockage mask

Signed-off-by: swift_file <sky.y.m.318@gmail.com>
autowarefoundation · Jun 22, 2022 · 52c78bb · 52c78bb
1 parent 451833e
commit 52c78bb
Showing 1 changed file with 7 additions and 6 deletions.
diff --git a/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp b/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp
@@ -159,12 +159,7 @@ void BlockageDiagComponent::filter(
       cv::Point(erode_kernel_, erode_kernel_));
     cv::erode(no_return_mask, erosion_dst, element);
     cv::dilate(erosion_dst, no_return_mask, element);
-    cv::Mat ground_no_return_mask;
-    cv::Mat sky_no_return_mask;
-    no_return_mask(cv::Rect(0, 0, horizontal_bins, horizontal_ring_id_)).copyTo(sky_no_return_mask);
-    no_return_mask(
-      cv::Rect(0, horizontal_ring_id_, horizontal_bins, vertical_bins - horizontal_ring_id_))
-      .copyTo(ground_no_return_mask);
+
 
     static boost::circular_buffer<cv::Mat> no_return_mask_buffer(buffering_frames_);
 
@@ -191,6 +186,12 @@ void BlockageDiagComponent::filter(
     } else {
       no_return_mask.copyTo(no_return_mask_result);
     }
+      cv::Mat ground_no_return_mask;
+      cv::Mat sky_no_return_mask;
+      no_return_mask_result(cv::Rect(0, 0, horizontal_bins, horizontal_ring_id_)).copyTo(sky_no_return_mask);
+      no_return_mask_result(
+              cv::Rect(0, horizontal_ring_id_, horizontal_bins, vertical_bins - horizontal_ring_id_))
+              .copyTo(ground_no_return_mask);
     ground_blockage_ratio_ =
       static_cast<float>(cv::countNonZero(ground_no_return_mask)) /
       static_cast<float>(horizontal_bins * (vertical_bins - horizontal_ring_id_));