@@ -70,6 +70,18 @@ def get_vehicle_mirror_info(self):
70
70
return p
71
71
72
72
def create_additional_pipeline (self , lidar_name ):
73
+ max_z = (
74
+ self .vehicle_info ["max_height_offset" ]
75
+ + self .ground_segmentation_param [f"{ lidar_name } _crop_box_filter" ]["parameters" ][
76
+ "margin_max_z"
77
+ ]
78
+ )
79
+ min_z = (
80
+ self .vehicle_info ["min_height_offset" ]
81
+ - self .ground_segmentation_param [f"{ lidar_name } _crop_box_filter" ]["parameters" ][
82
+ "margin_min_z"
83
+ ]
84
+ )
73
85
components = []
74
86
components .append (
75
87
ComposableNode (
@@ -84,6 +96,8 @@ def create_additional_pipeline(self, lidar_name):
84
96
{
85
97
"input_frame" : LaunchConfiguration ("base_frame" ),
86
98
"output_frame" : LaunchConfiguration ("base_frame" ),
99
+ "max_z" : max_z ,
100
+ "min_z" : min_z ,
87
101
},
88
102
self .ground_segmentation_param [f"{ lidar_name } _crop_box_filter" ]["parameters" ],
89
103
],
@@ -206,6 +220,14 @@ def create_ransac_pipeline(self):
206
220
return components
207
221
208
222
def create_common_pipeline (self , input_topic , output_topic ):
223
+ max_z = (
224
+ self .vehicle_info ["max_height_offset" ]
225
+ + self .ground_segmentation_param ["common_crop_box_filter" ]["parameters" ]["margin_max_z" ]
226
+ )
227
+ min_z = (
228
+ self .vehicle_info ["min_height_offset" ]
229
+ - self .ground_segmentation_param ["common_crop_box_filter" ]["parameters" ]["margin_min_z" ]
230
+ )
209
231
components = []
210
232
components .append (
211
233
ComposableNode (
@@ -220,6 +242,8 @@ def create_common_pipeline(self, input_topic, output_topic):
220
242
{
221
243
"input_frame" : LaunchConfiguration ("base_frame" ),
222
244
"output_frame" : LaunchConfiguration ("base_frame" ),
245
+ "max_z" : max_z ,
246
+ "min_z" : min_z ,
223
247
},
224
248
self .ground_segmentation_param ["common_crop_box_filter" ]["parameters" ],
225
249
],
0 commit comments