fix: add downsample_after concat #175
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Signed-off-by: badai-nguyen <[email protected]>
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Signed-off-by: badai-nguyen <[email protected]>
| @@ -33,7 +33,7 @@ def launch_setup(context, *args, **kwargs): | |||
| name="concatenate_data", | |||
| remappings=[ | |||
| ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), | |||
| ("output", "concatenated/pointcloud"), | |||
| ("output", "concatenated/pointcloud_raw"), | |||
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concatenated/pointcloud_raw sounds very weird.
The topic name should represent its status, I think. So, it should be something like concatenated/pointcloud -> concatenated/downsampled/pointcloud.
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@miursh thank you for your comment. My intention is want to keep using concatenated/pointcloud input for perception including centerpoint, ground_segmentation, etc.
Currently we have 2 options:
- Keep output of pointcloud_preprocessor as
concatenated/pointcloudand changeconcatenated/pointcloud_raw-> some more understandable name. For exampleconcatenated/before_downsampled/pointcloud? - Change output of
pointcloud_preprocessorand all inputperceptionmodule toconcatenated/downsampled/pointcloud
I currently prefer to 1) but of course I can change as 2) as your opinion.
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I prefer another option.
Since I don't want to change the interface between sensing and perception, the output of sensing module should be concatenated/pointcloud.
And if you want to apply donwsampling before perception, you should add a donwsampling node in /perception namespace.
BTW, if you change the input point of centerpoint, I want to know that this change does not have much effects on the perception result.
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@miursh Thank you for your comment, Since I am going to add the downsampling before common_ground_filter in perception (tier4/autoware.universe@bc48f9e) , it will not affect on centerpoint input and this PR is unnecessary. I will close this.
This PR will move voxel_grid_downsample pointcloud from before compare_map_filter to before ground_segmentation to reduce computational cost for X2. This related to tier4/autoware.universe#870