fix(ground_segmentation): bring junction parameter from param file to…

… launch argument (autowarefoundation#1327) * refactor(ground_segmentation): remove single frame filter and keep time series filter disabled Signed-off-by: Taekjin LEE <[email protected]> * feat(tier4_perception): add single frame and time series filters for obstacle segmentation Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]>
tier4 · Feb 14, 2025 · 33f57fc · 33f57fc
1 parent b8109e3
commit 33f57fc
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/...onfig/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/...onfig/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -2,8 +2,6 @@
   ros__parameters:
     additional_lidars: []
     ransac_input_topics: []
-    use_single_frame_filter: False
-    use_time_series_filter: True
 
     common_crop_box_filter:
       parameters:

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -13,6 +13,8 @@
   <arg name="use_detection_by_tracker" default="true" description="launch detection_by_tracker function"/>
   <arg name="use_radar_tracking_fusion" default="true" description="if true, radar objects are merged in tracking module. Otherwise, radar objects are merged in detection module."/>
   <arg name="use_object_filter" default="true" description="launch object filter to filter-out detected object"/>
+  <arg name="use_obstacle_segmentation_single_frame_filter" default="false" description="use single frame filter at the ground segmentation"/>
+  <arg name="use_obstacle_segmentation_time_series_filter" default="true" description="use time series filter at the ground segmentation"/>
 
   <arg name="occupancy_grid_map_method" default="pointcloud_based" description="options: pointcloud_based, laserscan_based, multi_lidar_pointcloud_based"/>
   <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
@@ -45,6 +47,9 @@
     <arg name="use_object_filter" value="$(var use_object_filter)"/>
     <arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
     <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
+    <arg name="use_obstacle_segmentation_single_frame_filter" value="$(var use_obstacle_segmentation_single_frame_filter)"/>
+    <arg name="use_obstacle_segmentation_time_series_filter" value="$(var use_obstacle_segmentation_time_series_filter)"/>
+
     <arg name="data_path" value="$(var data_path)"/>
 
     <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>