feat(detected_object_validation): add dynamic min pointcloud num #2894
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Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
Codecov ReportBase: 11.82% // Head: 11.82% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2894 +/- ##
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- Coverage 11.82% 11.82% -0.01%
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Files 1321 1321
Lines 92176 92182 +6
Branches 24818 24818
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Hits 10898 10898
- Misses 69919 69925 +6
Partials 11359 11359
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yukkysaito
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Feb 15, 2023
perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
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…based_validator.cpp
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@yukkysaito Could you write description about added parameters to README? |
Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
…tor' into feature/change-object-validator
Thank you. I updated readme. |
mitsudome-r
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Feb 21, 2023
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…owarefoundation#2894) * feat: add dynamic min pointcloud num Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * Update perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp * update readme Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> --------- Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
1222-takeshi
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…owarefoundation#2894) * feat: add dynamic min pointcloud num Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * Update perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp * update readme Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> --------- Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
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Description
Because the validator used fixed values, the point cloud density was lower for distant obstacles, and obstacles were removed.
In this PR, the value is changed so that it changes according to the distance.
However, the parameters are not tuned and remain the same as before.
A similar approach is used in the following package.
https://github.com/autowarefoundation/autoware.universe/blob/main/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp#L63-L65
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