From f8a2189f8daea191079e3fdb77e27606a88d278c Mon Sep 17 00:00:00 2001 From: yoshiri Date: Tue, 20 Aug 2024 14:45:24 +0900 Subject: [PATCH] feat: copy params from universe Signed-off-by: yoshiri --- .../object_lanelet_filter.param.yaml | 21 +++++++++++++++++++ .../object_position_filter.param.yaml | 16 ++++++++++++++ ...acle_pointcloud_based_validator.param.yaml | 9 ++++---- .../occupancy_grid_based_validator.param.yaml | 4 ++++ 4 files changed, 46 insertions(+), 4 deletions(-) create mode 100644 autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml create mode 100644 autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_position_filter.param.yaml create mode 100644 autoware_launch/config/perception/object_recognition/detection/detected_object_validation/occupancy_grid_based_validator.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml new file mode 100644 index 0000000000..99050d9738 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml @@ -0,0 +1,21 @@ +/**: + ros__parameters: + filter_target_label: + UNKNOWN : true + CAR : false + TRUCK : false + BUS : false + TRAILER : false + MOTORCYCLE : false + BICYCLE : false + PEDESTRIAN : false + + filter_settings: + # polygon overlap based filter + polygon_overlap_filter: + enabled: true + # velocity direction based filter + lanelet_direction_filter: + enabled: false + velocity_yaw_threshold: 0.785398 # [rad] (45 deg) + object_speed_threshold: 3.0 # [m/s] diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_position_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_position_filter.param.yaml new file mode 100644 index 0000000000..70afd9d31b --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_position_filter.param.yaml @@ -0,0 +1,16 @@ +/**: + ros__parameters: + filter_target_label: + UNKNOWN : true + CAR : false + TRUCK : false + BUS : false + TRAILER : false + MOTORCYCLE : false + BICYCLE : false + PEDESTRIAN : false + + upper_bound_x: 100.0 + lower_bound_x: 0.0 + upper_bound_y: 10.0 + lower_bound_y: -10.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml index b98f8adfb5..66ecaf8979 100644 --- a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml @@ -2,14 +2,15 @@ ros__parameters: min_points_num: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [10, 10, 10, 10, 10,10, 10, 10] + [10, 10, 10, 10, 10, 10, 10, 10] max_points_num: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [10, 10, 10, 10, 10,10, 10, 10] + [10, 10, 10, 10, 10, 10, 10, 10] min_points_and_distance_ratio: - #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [800.0, 880.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0] + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [800.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0] using_2d_validator: true + enable_debugger: true diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/occupancy_grid_based_validator.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/occupancy_grid_based_validator.param.yaml new file mode 100644 index 0000000000..bb996f1197 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/occupancy_grid_based_validator.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + mean_threshold: 0.6 + enable_debug: false