fix: recheck out of range and change default param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
autowarefoundation · Jul 7, 2022 · faab2b6 · faab2b6
1 parent 1065e40
commit faab2b6
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -57,7 +57,7 @@ def get_vehicle_info(self):
         p["max_longitudinal_offset"] = p["front_overhang"] + p["wheel_base"]
         p["min_lateral_offset"] = -(p["wheel_tread"] / 2.0 + p["right_overhang"])
         p["max_lateral_offset"] = p["wheel_tread"] / 2.0 + p["left_overhang"]
-        p["min_height_offset"] = -0.5
+        p["min_height_offset"] = -2.0
         p["max_height_offset"] = p["vehicle_height"]
         return p
 

diff --git a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp
@@ -175,8 +175,9 @@ void ScanGroundFilterComponent::classifyPointCloud(
       float global_slope = std::atan2(p->orig_point->z, p->radius);
       // check points which is far enough from previous point
       if (
-        (height_from_gnd < minimum_detection_range_) ||
-        ((p->orig_point->z - ground_cluster.getAverageHeight()) < minimum_detection_range_) ||
+        ((p->orig_point->z < 0.0) &&
+         ((height_from_gnd < minimum_detection_range_) ||
+          (p->orig_point->z - ground_cluster.getAverageHeight() < minimum_detection_range_))) ||
         (height_from_gnd > maximum_detection_range_)) {
         // exclude pcl under ground or higher than limit
         p->point_state = PointLabel::OUT_OF_RANGE;