Merge pull request #496 from tier4/feat/improve_intersection

* feat(intersection): denoise occlusion by morphology open process (#361) parameterize kernel size Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * fix(intersection): add the flag for intersection_occlusion grid publication (#372) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> --------- Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>
tier4 · May 29, 2023 · ed6b531 · ed6b531
2 parents b346181 + 46fe634
commit ed6b531
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -41,6 +41,8 @@
         before_creep_stop_time: 0.1 # [s]
         min_vehicle_brake_for_rss: -2.5 # [m/s^2]
         max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph
+        denoise_kernel: 1.0 # [m]
+        pub_debug_grid: false
 
     merge_from_private:
       stop_duration_sec: 1.0