refactor(ground_segmentation): remove grid_mode_switch_radius param by badai-nguyen · Pull Request #11773 · autowarefoundation/autoware_universe

badai-nguyen · 2025-12-12T02:01:26Z

Description

Since grid_mode_switch_radius is set as max range. Remove this to simplify the algorithm for furether improvement which is on going at: fix(ground_segmentation): add dynamic radial divider #11755

How was this PR tested?

Tested with Logging_simulator on internal rosbag and confirm ground_segmentatioin works well.
Screencast from 2025年12月12日 11時18分07秒.webm

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

github-actions · 2025-12-12T02:01:41Z

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codecov · 2025-12-12T02:06:39Z

Codecov Report

❌ Patch coverage is 93.33333% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 18.17%. Comparing base (b6e8460) to head (cb0942f).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...tion/src/scan_ground_filter/grid_ground_filter.cpp	87.50%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #11773      +/-   ##
==========================================
+ Coverage   17.98%   18.17%   +0.18%     
==========================================
  Files        1802     1803       +1     
  Lines      125154   125242      +88     
  Branches    43610    43631      +21     
==========================================
+ Hits        22515    22763     +248     
- Misses      83949    84051     +102     
+ Partials    18690    18428     -262

Flag	Coverage Δ		*Carryforward flag
daily	`20.37% <ø> (-0.02%)`	⬇️	Carriedforward from 516cbe4
daily-cuda	`17.96% <ø> (-0.02%)`	⬇️	Carriedforward from 516cbe4
differential	`11.30% <93.33%> (?)`
differential-cuda	`11.30% <93.33%> (?)`
total-cuda	`17.96% <ø> (-0.03%)`	⬇️	Carriedforward from 516cbe4

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Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

github-actions · 2025-12-12T02:14:45Z

Documentation URL: https://autowarefoundation.github.io/autoware_universe/pr-11773/
Modified URLs:

technolojin

LGTM

The parameter was extended in the autoware_launch.
Considering this parameter and function is complex, hard to understand, causes accuracy drop, I think it is good to drop this function and parameter.

…sary_param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

…sary_param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

…sary_param

…utowarefoundation#11773) * remove grid mode switch radius Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: spelling check Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix c-style Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: remove unused variable Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * remove unused origin_z Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * remove virtual_lidar_z Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

…utowarefoundation#11773) * remove grid mode switch radius Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: spelling check Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix c-style Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: remove unused variable Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * remove unused origin_z Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * remove virtual_lidar_z Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Signed-off-by: xtk8532704 <1041084556@qq.com>

…utowarefoundation#11773) * remove grid mode switch radius Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: spelling check Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix c-style Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: remove unused variable Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * remove unused origin_z Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * remove virtual_lidar_z Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

…utowarefoundation#11773) (#2739) * remove grid mode switch radius * fix: spelling check * chore: typo * style(pre-commit): autofix * fix c-style * chore: remove unused variable * remove unused origin_z * remove virtual_lidar_z * style(pre-commit): autofix --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

…utowarefoundation#11773) * remove grid mode switch radius Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: spelling check Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix c-style Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: remove unused variable Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * remove unused origin_z Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * remove virtual_lidar_z Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

…utowarefoundation/autoware_universe#11773) * remove grid mode switch radius Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: spelling check Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix c-style Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: remove unused variable Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * remove unused origin_z Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * remove virtual_lidar_z Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

remove grid mode switch radius

e7725f6

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

github-project-automation Bot added this to Software Working Group Dec 12, 2025

github-project-automation Bot moved this to To Triage in Software Working Group Dec 12, 2025

github-actions Bot added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Dec 12, 2025

fix: spelling check

d00c696

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

badai-nguyen marked this pull request as ready for review December 12, 2025 02:13

badai-nguyen requested review from YoshiRi, amc-nu, technolojin and yukkysaito as code owners December 12, 2025 02:13

badai-nguyen mentioned this pull request Dec 12, 2025

refactor(ground_segmentation): remove grid_mode_switch_radius autowarefoundation/autoware_launch#1720

Merged

technolojin approved these changes Dec 12, 2025

View reviewed changes

badai-nguyen and others added 10 commits December 12, 2025 16:31

Merge branch 'main' into refactor/ground_segmentation/remove_unnecces…

488db8e

…sary_param

chore: typo

955b913

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

style(pre-commit): autofix

e027642

Merge branch 'main' into refactor/ground_segmentation/remove_unnecces…

ef9982b

…sary_param

fix c-style

f5da0dc

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

chore: remove unused variable

c17e466

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

remove unused origin_z

4f1e3bc

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

remove virtual_lidar_z

db7fa8f

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

style(pre-commit): autofix

149da0f

Merge branch 'main' into refactor/ground_segmentation/remove_unnecces…

cb0942f

…sary_param

badai-nguyen merged commit 8610ecf into autowarefoundation:main Dec 15, 2025
44 of 45 checks passed

github-project-automation Bot moved this from To Triage to Done in Software Working Group Dec 15, 2025

badai-nguyen mentioned this pull request Mar 5, 2026

refactor(ground_segmentation): remove grid_mode_switch_radius param (#11773) tier4/autoware_universe#2739

Merged

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refactor(ground_segmentation): remove grid_mode_switch_radius param - #11773

refactor(ground_segmentation): remove grid_mode_switch_radius param#11773
badai-nguyen merged 12 commits into
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