car width validation

velodyne_lidar/ground_region.cpp

@@ -599,16 +599,17 @@ Error_manager Ground_region::detect(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, d
         pcl::getMinMax3D(*t_width_extract_cloud, t_min_p, t_max_p);
 
         double accurate_width = t_max_p.x - t_min_p.x;
-        last_result.width = accurate_width;
-
-        // !!!暂时不限制宽度数据
-        // char valid_info[255];
-        // sprintf(valid_info, "validation for car width, origin/accurate: (%.3f, %.3f)", last_result.width, accurate_width);
-        // // 允许一边5cm误差，且保证车宽应比车轮识别计算出的大，否则为错误宽度数据
-        // if (accurate_width - last_result.width > 0.1 || accurate_width < last_result.width)
-        // {
-        //     return Error_manager(VELODYNE_REGION_CERES_SOLVE_ERROR, NEGLIGIBLE_ERROR, valid_info);
-        // }
+        
+        char valid_info[255];
+        sprintf(valid_info, "validation for car width, origin/accurate: (%.3f, %.3f)", last_result.width, accurate_width);
+        // 允许一边4cm误差，且保证车宽应比车轮识别计算出的大，否则为错误宽度数据
+        if (accurate_width - last_result.width > 0.08 || accurate_width < last_result.width)
+        {
+            //return Error_manager(VELODYNE_REGION_CERES_SOLVE_ERROR, NEGLIGIBLE_ERROR, valid_info);
+        }else
+        {
+            last_result.width = accurate_width;
+        }
         // if (m_region.region_id() == 0 || m_region.region_id() == 4)
         // {
         //     LOG(WARNING) << valid_info;