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:optimal test NUC 27/7 15:14

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duongtd
2026-07-27 15:14:39 +07:00
parent c17ac9fc06
commit 9f7e2f82f1
5 changed files with 39 additions and 17 deletions
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12
plugins/obstacle_layer.cpp
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@@ -171,6 +171,9 @@ bool ObstacleLayer::getParams(const std::string& config_file_name, robot::NodeHa
int frustum_clear_left_border =
loadParam(layer[source], "frustum_clear_left_border_px",
loadParam(layer, "frustum_clear_left_border_px", 0));
int frustum_clear_right_border =
loadParam(layer[source], "frustum_clear_right_border_px",
loadParam(layer, "frustum_clear_right_border_px", 0));
if (priv_nh.hasParam("topic"))
priv_nh.getParam("topic", topic);
@@ -217,22 +220,27 @@ bool ObstacleLayer::getParams(const std::string& config_file_name, robot::NodeHa
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_clear_right_border_px"))
priv_nh.getParam("frustum_clear_right_border_px", frustum_clear_right_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));
frustum_config.clear_right_border_px =
static_cast<unsigned int>(std::max(0, frustum_clear_right_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, "
"column_skip: %.3f m, column_cover: %.2f m, clear_left_border_px: %f px\n",
"column_skip: %.3f m, column_cover: %.2f m, clear_left_border_px: %u px, "
"clear_right_border_px: %u px\n",
source.c_str(), frustum_clearing_enabled ? "true" : "false",
frustum_config.pixel_step, frustum_config.min_range, frustum_config.max_range,
frustum_config.skip_distance, frustum_config.column_clearing ? "true" : "false",
frustum_config.column_min_height, frustum_config.column_max_height,
frustum_config.column_skip_distance, frustum_config.column_cover_distance,
frustum_config.clear_left_border_px);
frustum_config.clear_left_border_px, frustum_config.clear_right_border_px);
double obstacle_range = 2.5;
obstacle_range = loadParam(layer[source],"obstacle_range", obstacle_range);