fix(euclidean_cluster): add disuse downsample in clustering pipeline #4385
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Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
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Additional details and impacted files@@ Coverage Diff @@
## main #4385 +/- ##
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Coverage 15.06% 15.06%
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Files 1508 1508
Lines 103772 103772
Branches 31705 31705
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…utowarefoundation#4385) * fix: add unuse downsample launch option Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: add default param for downsample option Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix typo Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> Co-authored-by: Shunsuke Miura <shunsuke.miura@tier4.jp>
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…ipeline (autowarefoundation#4385)" This reverts commit 559f873.
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Description
This PR to add option of unuse downsampling pointcloud to improve density of Euclidean Cluter (EC) input pointcloud.
In the result, small object detection perfomance could be improved.
Related links
TIER IV INTERNAL LINK
Tests performed
In spire of number of pointcloud input into Euclidean Cluster is increased, the simplified pipeline after change shows no increase of delay time between Ground_segmentation node and Euclidean Cluster node. The result was confirmed by logging_simulator.
Notes for reviewers
Interface changes
Effects on system behavior
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