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segmentation_real.yaml
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segmentation_real.yaml
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ground_segmentation:
ros__parameters:
n_threads: 4 # number of threads to use.
r_min: 0.2 # minimum point distance.
r_max: 50 # maximum point distance.
n_bins: 120 # number of radial bins.
n_segments: 360 # number of radial segments.
max_dist_to_line: 0.1 # maximum vertical distance of point to line to be considered ground.
sensor_height: 0.59 # REAL sensor height above ground.
min_slope: -0.4 # minimum slope of a ground line.
max_slope: 0.4 # maximum slope of a ground line.
max_fit_error: 0.05 # maximum error of a point during line fit.
long_threshold: 1.0 # distance between points after which they are considered far from each other.
max_long_height: 0.1 # maximum height change to previous point in long line.
max_start_height: 0.5 # maximum difference to estimated ground height to start a new line.
line_search_angle: 0.8 # how far to search in angular direction to find a line [rad].
gravity_aligned_frame: "" # Frame which has its z axis aligned with gravity. (Sensor frame if empty.)
latch: false # latch output topics or not
visualize: false # visualize segmentation result - USE ONLY FOR DEBUGGING
input_topic: "/livox/lidar/pointcloud"
obstacle_output_topic: "segmentation/obstacle"
ground_output_topic: "segmentation/ground"