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:optimal 27/7 14:45

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duongtd
2026-07-27 14:45:26 +07:00
parent ffe2f77c1b
commit c2944f7a98
2 changed files with 9 additions and 4 deletions
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5
plugins/obstacle_layer.cpp
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@@ -226,12 +226,13 @@ bool ObstacleLayer::getParams(const std::string& config_file_name, robot::NodeHa
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\n",
"column_skip: %.3f m, column_cover: %.2f m, clear_left_border_px: %f 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.column_skip_distance, frustum_config.column_cover_distance,
frustum_config.clear_left_border_px);
double obstacle_range = 2.5;
obstacle_range = loadParam(layer[source],"obstacle_range", obstacle_range);