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:optimal 27/7 12:11

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duongtd
2026-07-27 12:11:14 +07:00
parent e3b52765c1
commit 5da5421ec7
4 changed files with 23 additions and 67 deletions
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7
plugins/obstacle_layer.cpp
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@@ -168,6 +168,9 @@ bool ObstacleLayer::getParams(const std::string& config_file_name, robot::NodeHa
loadParam(layer[source], "column_skip_distance", frustum_config.column_skip_distance);
frustum_config.column_cover_distance =
loadParam(layer[source], "column_cover_distance", frustum_config.column_cover_distance);
int frustum_clear_left_border =
loadParam(layer[source], "frustum_clear_left_border_px",
loadParam(layer, "frustum_clear_left_border_px", 0));
if (priv_nh.hasParam("topic"))
priv_nh.getParam("topic", topic);
@@ -212,10 +215,14 @@ bool ObstacleLayer::getParams(const std::string& config_file_name, robot::NodeHa
priv_nh.getParam("column_skip_distance", frustum_config.column_skip_distance);
if (priv_nh.hasParam("column_cover_distance"))
priv_nh.getParam("column_cover_distance", frustum_config.column_cover_distance);
if (priv_nh.hasParam("frustum_clear_left_border_px"))
priv_nh.getParam("frustum_clear_left_border_px", frustum_clear_left_border);
if (priv_nh.hasParam("frustum_depth_camera_topic"))
priv_nh.getParam("frustum_depth_camera_topic", depth_camera_data_topic_);
frustum_config.pixel_step = static_cast<unsigned int>(std::max(1, frustum_pixel_step));
frustum_config.clear_left_border_px =
static_cast<unsigned int>(std::max(0, frustum_clear_left_border));
robot::log_info("source %s: frustum_clearing_enabled: %s, pixel_step: %u, range: [%.2f, %.2f] m, "
"skip: %.3f m, column_clearing: %s, column_band: [%.2f, %.2f] m, "