diff --git a/aip_x2_gen2_launch/config/point_filters/default/point_filters_full.param.png b/aip_x2_gen2_launch/config/point_filters/default/point_filters_full.param.png new file mode 100644 index 00000000..f8157653 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/default/point_filters_full.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/default/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/default/point_filters_full.param.yaml index 7ff58606..8dae2989 100644 --- a/aip_x2_gen2_launch/config/point_filters/default/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/default/point_filters_full.param.yaml @@ -2,4 +2,6 @@ ros__parameters: point_filters: | { + "ring_section_filter": [ + ] } diff --git a/aip_x2_gen2_launch/config/point_filters/default/point_filters_left_upper.param.yaml b/aip_x2_gen2_launch/config/point_filters/default/point_filters_left_upper.param.yaml deleted file mode 100644 index 1d5d525b..00000000 --- a/aip_x2_gen2_launch/config/point_filters/default/point_filters_left_upper.param.yaml +++ /dev/null @@ -1,47 +0,0 @@ -/**: - ros__parameters: - point_filters: | - { - "ring_section_filter": [ - [15, 143.95, 147.1], - [72, 319, 322], - [73, 318, 323], - [74, 318, 323], - [75, 318, 323], - [76, 318, 324], - [77, 318, 325], - [77, 318, 325], - [78, 318, 325], - [79, 318, 325], - [80, 318, 325], - [81, 318, 325], - [82, 318, 325], - [83, 318, 325], - [84, 319, 325], - [85, 319, 325], - [86, 319, 325], - [87, 320, 325], - [88, 321, 325], - [89, 322, 323], - - [91, 287.55, 289.90], - [92, 287.55, 289.75], - [109, 314.74, 316.74], - [110, 312.74, 317.34], - [111, 312.73, 315.93], - [112, 308.48, 313.28], - [113, 305.68, 312.28], - [114, 308.58, 310.58], - [117, 305.77, 313.77], - [118, 303.81, 308.53], - [119, 302.09, 307.53], - [120, 298.42, 307.63], - [121, 299.63, 312.03], - [122, 298.42, 310.02], - [123, 298.42, 310.22], - [124, 298.16, 308.76], - [125, 295.94, 307.54], - [126, 292.12, 303.92], - [127, 289.71, 297.31] - ] - } diff --git a/aip_x2_gen2_launch/config/point_filters/default/point_filters_one_half.param.yaml b/aip_x2_gen2_launch/config/point_filters/default/point_filters_one_half.param.yaml deleted file mode 100644 index 42db0ed7..00000000 --- a/aip_x2_gen2_launch/config/point_filters/default/point_filters_one_half.param.yaml +++ /dev/null @@ -1,71 +0,0 @@ -/**: - ros__parameters: - point_filters: | - { - "ring_section_filter": [ - [1, 0, 360], - [3, 0, 360], - [5, 0, 360], - [7, 0, 360], - [9, 0, 360], - [11, 0, 360], - [13, 0, 360], - [15, 0, 360], - [17, 0, 360], - [19, 0, 360], - [21, 0, 360], - [23, 0, 360], - [25, 0, 360], - [27, 0, 360], - [29, 0, 360], - [31, 0, 360], - [33, 0, 360], - [35, 0, 360], - [37, 0, 360], - [39, 0, 360], - [41, 0, 360], - [43, 0, 360], - [45, 0, 360], - [47, 0, 360], - [49, 0, 360], - [51, 0, 360], - [53, 0, 360], - [55, 0, 360], - [57, 0, 360], - [59, 0, 360], - [61, 0, 360], - [63, 0, 360], - [65, 0, 360], - [67, 0, 360], - [69, 0, 360], - [71, 0, 360], - [73, 0, 360], - [75, 0, 360], - [77, 0, 360], - [79, 0, 360], - [81, 0, 360], - [83, 0, 360], - [85, 0, 360], - [87, 0, 360], - [89, 0, 360], - [91, 0, 360], - [93, 0, 360], - [95, 0, 360], - [97, 0, 360], - [99, 0, 360], - [101, 0, 360], - [103, 0, 360], - [105, 0, 360], - [107, 0, 360], - [109, 0, 360], - [111, 0, 360], - [113, 0, 360], - [115, 0, 360], - [117, 0, 360], - [119, 0, 360], - [121, 0, 360], - [123, 0, 360], - [125, 0, 360], - [127, 0, 360] - ] - } diff --git a/aip_x2_gen2_launch/config/point_filters/default/point_filters_one_third.param.png b/aip_x2_gen2_launch/config/point_filters/default/point_filters_one_third.param.png new file mode 100644 index 00000000..6500fb06 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/default/point_filters_one_third.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/default/point_filters_right_upper.param.yaml b/aip_x2_gen2_launch/config/point_filters/default/point_filters_right_upper.param.yaml deleted file mode 100644 index d47a15dd..00000000 --- a/aip_x2_gen2_launch/config/point_filters/default/point_filters_right_upper.param.yaml +++ /dev/null @@ -1,42 +0,0 @@ -/**: - ros__parameters: - point_filters: | - { - "ring_section_filter": [ - [71, 36, 39], - [72, 36, 39], - [73, 36, 39], - [74, 36, 41], - [75, 36, 41], - [76, 36, 41], - [77, 34, 41], - [77, 34, 41], - [78, 33, 41], - [79, 33, 41], - [80, 33, 41], - [81, 33, 41], - [82, 33, 41], - [83, 33, 41], - [84, 33, 40], - [85, 33, 40], - [86, 33, 39], - [87, 33, 39], - [88, 34, 37], - [88, 36, 37], - [88, 35, 37], - - [110, 43.17, 45.17], - [110, 87.78, 89.97], - [117, 49.80, 51.80], - [118, 49.60, 51.60], - [119, 50.40, 52.60], - [120, 49.28, 52.88], - [121, 46.08, 55.08], - [122, 48.07, 56.87], - [123, 48.07, 58.67], - [124, 51.80, 60.20], - [125, 50.98, 63.58], - [126, 52.56, 65.76], - [127, 58.57, 69.17] - ] - } diff --git a/aip_x2_gen2_launch/config/point_filters/default/point_filters_two_third.param.png b/aip_x2_gen2_launch/config/point_filters/default/point_filters_two_third.param.png new file mode 100644 index 00000000..7867d633 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/default/point_filters_two_third.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.png b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.png new file mode 100644 index 00000000..7d6b320f Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.png b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.png new file mode 100644 index 00000000..037af457 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.png b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.png new file mode 100644 index 00000000..dedcb84b Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.png b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.png new file mode 100644 index 00000000..329df815 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.png b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.png new file mode 100644 index 00000000..082c0652 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.png b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.png new file mode 100644 index 00000000..d8502968 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.png b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.png new file mode 100644 index 00000000..d8eafb7c Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.png b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.png new file mode 100644 index 00000000..813c8c13 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml index 66e55a5f..b21af8b0 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml @@ -57,7 +57,7 @@ [51, 0, 93], [52, 0, 92], [53, 0, 92], - [54, 0, 92] + [54, 0, 92], [1, 0, 360], [2, 0, 360], [4, 0, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.png b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.png new file mode 100644 index 00000000..31c1ca80 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.png b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.png new file mode 100644 index 00000000..d027cbfe Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.png b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.png new file mode 100644 index 00000000..1f4d7c5f Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.png b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.png new file mode 100644 index 00000000..89e41914 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.png b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.png new file mode 100644 index 00000000..37f51806 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml index ee183856..2102578f 100644 --- a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.yaml @@ -3,53 +3,53 @@ point_filters: | { "ring_section_filter": [ - [0, 60, 148], [0, 212,360], - [1, 60, 144], [1, 216,360], - [2, 60, 142], [2, 218,360], - [3, 60, 140], [3, 220,360], - [4, 60, 138], [4, 222,360], - [5, 60, 138], [5, 222,360], - [6, 60, 134], [6, 226,360], - [7, 60, 134], [7, 226,360], - [8, 60, 132], [8, 228,360], - [9, 60, 132], [9, 228,360], - [10, 60, 130], [10, 230,360], - [11, 60, 120], [11, 240,360], - [12, 60, 118], [12, 242,360], - [13, 60, 118], [13, 242,360], - [14, 60, 118], [14, 242,360], - [15, 60, 118], [15, 242,360], - [16, 60, 118], [16, 242,360], - [17, 60, 118], [17, 242,360], - [18, 60, 116], [18, 244,360], - [19, 60, 116], [19, 244,360], - [20, 60, 112], [20, 248,360], - [21, 60, 112], [21, 248,360], - [22, 60, 110], [22, 250,360], - [23, 60, 110], [23, 250,360], - [24, 60, 110], [24, 250,360], - [25, 60, 110], [25, 250,360], - [26, 60, 110], [26, 250,360], - [27, 60, 106], [27, 254,360], - [28, 60, 106], [28, 254,360], - [29, 60, 106], [29, 254,360], - [30, 60, 104], [30, 256,360], - [31, 60, 104], [31, 256,360], - [32, 60, 104], [32, 256,360], - [33, 60, 104], [33, 256,360], - [34, 60, 104], [34, 256,360], - [35, 60, 100], [35, 260,360], - [36, 60, 100], [36, 260,360], - [37, 60, 100], [37, 260,360], - [38, 60, 100], [38, 260,360], - [39, 60, 96], [39, 264,360], - [40, 60, 96], [40, 264,360], - [41, 60, 96], [41, 264,360], - [42, 60, 96], [42, 264,360], - [43, 60, 96], [43, 264,360], - [44, 60, 94], [44, 266,360], - [45, 60, 94], [45, 266,360], - [46, 60, 94], [46, 266,360], - [47, 60, 94], [47, 266,360] + [0, 0, 148], [0, 212,360], + [1, 0, 144], [1, 216,360], + [2, 0, 142], [2, 218,360], + [3, 0, 140], [3, 220,360], + [4, 0, 138], [4, 222,360], + [5, 0, 138], [5, 222,360], + [6, 0, 134], [6, 226,360], + [7, 0, 134], [7, 226,360], + [8, 0, 132], [8, 228,360], + [9, 0, 132], [9, 228,360], + [10, 0, 130], [10, 230,360], + [11, 0, 120], [11, 240,360], + [12, 0, 118], [12, 242,360], + [13, 0, 118], [13, 242,360], + [14, 0, 118], [14, 242,360], + [15, 0, 118], [15, 242,360], + [16, 0, 118], [16, 242,360], + [17, 0, 118], [17, 242,360], + [18, 0, 116], [18, 244,360], + [19, 0, 116], [19, 244,360], + [20, 0, 112], [20, 248,360], + [21, 0, 112], [21, 248,360], + [22, 0, 110], [22, 250,360], + [23, 0, 110], [23, 250,360], + [24, 0, 110], [24, 250,360], + [25, 0, 110], [25, 250,360], + [26, 0, 110], [26, 250,360], + [27, 0, 106], [27, 254,360], + [28, 0, 106], [28, 254,360], + [29, 0, 106], [29, 254,360], + [30, 0, 104], [30, 256,360], + [31, 0, 104], [31, 256,360], + [32, 0, 104], [32, 256,360], + [33, 0, 104], [33, 256,360], + [34, 0, 104], [34, 256,360], + [35, 0, 100], [35, 260,360], + [36, 0, 100], [36, 260,360], + [37, 0, 100], [37, 260,360], + [38, 0, 100], [38, 260,360], + [39, 0, 96], [39, 264,360], + [40, 0, 96], [40, 264,360], + [41, 0, 96], [41, 264,360], + [42, 0, 96], [42, 264,360], + [43, 0, 96], [43, 264,360], + [44, 0, 94], [44, 266,360], + [45, 0, 94], [45, 266,360], + [46, 0, 94], [46, 266,360], + [47, 0, 94], [47, 266,360] ] } diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.png b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.png new file mode 100644 index 00000000..9488d6ec Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml index d4fe2b58..799f9e92 100644 --- a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.yaml @@ -3,54 +3,54 @@ point_filters: | { "ring_section_filter": [ - [0, 60, 148], [0, 212,360], - [1, 60, 144], [1, 216,360], - [2, 60, 142], [2, 218,360], - [3, 60, 140], [3, 220,360], - [4, 60, 138], [4, 222,360], - [5, 60, 138], [5, 222,360], - [6, 60, 134], [6, 226,360], - [7, 60, 134], [7, 226,360], - [8, 60, 132], [8, 228,360], - [9, 60, 132], [9, 228,360], - [10, 60, 130], [10, 230,360], - [11, 60, 120], [11, 240,360], - [12, 60, 118], [12, 242,360], - [13, 60, 118], [13, 242,360], - [14, 60, 118], [14, 242,360], - [15, 60, 118], [15, 242,360], - [16, 60, 118], [16, 242,360], - [17, 60, 118], [17, 242,360], - [18, 60, 116], [18, 244,360], - [19, 60, 116], [19, 244,360], - [20, 60, 112], [20, 248,360], - [21, 60, 112], [21, 248,360], - [22, 60, 110], [22, 250,360], - [23, 60, 110], [23, 250,360], - [24, 60, 110], [24, 250,360], - [25, 60, 110], [25, 250,360], - [26, 60, 110], [26, 250,360], - [27, 60, 106], [27, 254,360], - [28, 60, 106], [28, 254,360], - [29, 60, 106], [29, 254,360], - [30, 60, 104], [30, 256,360], - [31, 60, 104], [31, 256,360], - [32, 60, 104], [32, 256,360], - [33, 60, 104], [33, 256,360], - [34, 60, 104], [34, 256,360], - [35, 60, 100], [35, 260,360], - [36, 60, 100], [36, 260,360], - [37, 60, 100], [37, 260,360], - [38, 60, 100], [38, 260,360], - [39, 60, 96], [39, 264,360], - [40, 60, 96], [40, 264,360], - [41, 60, 96], [41, 264,360], - [42, 60, 96], [42, 264,360], - [43, 60, 96], [43, 264,360], - [44, 60, 94], [44, 266,360], - [45, 60, 94], [45, 266,360], - [46, 60, 94], [46, 266,360], - [47, 60, 94], [47, 266,360], + [0, 0, 148], [0, 212,360], + [1, 0, 144], [1, 216,360], + [2, 0, 142], [2, 218,360], + [3, 0, 140], [3, 220,360], + [4, 0, 138], [4, 222,360], + [5, 0, 138], [5, 222,360], + [6, 0, 134], [6, 226,360], + [7, 0, 134], [7, 226,360], + [8, 0, 132], [8, 228,360], + [9, 0, 132], [9, 228,360], + [10, 0, 130], [10, 230,360], + [11, 0, 120], [11, 240,360], + [12, 0, 118], [12, 242,360], + [13, 0, 118], [13, 242,360], + [14, 0, 118], [14, 242,360], + [15, 0, 118], [15, 242,360], + [16, 0, 118], [16, 242,360], + [17, 0, 118], [17, 242,360], + [18, 0, 116], [18, 244,360], + [19, 0, 116], [19, 244,360], + [20, 0, 112], [20, 248,360], + [21, 0, 112], [21, 248,360], + [22, 0, 110], [22, 250,360], + [23, 0, 110], [23, 250,360], + [24, 0, 110], [24, 250,360], + [25, 0, 110], [25, 250,360], + [26, 0, 110], [26, 250,360], + [27, 0, 106], [27, 254,360], + [28, 0, 106], [28, 254,360], + [29, 0, 106], [29, 254,360], + [30, 0, 104], [30, 256,360], + [31, 0, 104], [31, 256,360], + [32, 0, 104], [32, 256,360], + [33, 0, 104], [33, 256,360], + [34, 0, 104], [34, 256,360], + [35, 0, 100], [35, 260,360], + [36, 0, 100], [36, 260,360], + [37, 0, 100], [37, 260,360], + [38, 0, 100], [38, 260,360], + [39, 0, 96], [39, 264,360], + [40, 0, 96], [40, 264,360], + [41, 0, 96], [41, 264,360], + [42, 0, 96], [42, 264,360], + [43, 0, 96], [43, 264,360], + [44, 0, 94], [44, 266,360], + [45, 0, 94], [45, 266,360], + [46, 0, 94], [46, 266,360], + [47, 0, 94], [47, 266,360], [1, 0, 360], [2, 0, 360], [4, 0, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.png b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.png new file mode 100644 index 00000000..3f089ef4 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml index b77ffde6..b30ec2d9 100644 --- a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.yaml @@ -3,54 +3,54 @@ point_filters: | { "ring_section_filter": [ - [0, 60, 148], [0, 212,360], - [1, 60, 144], [1, 216,360], - [2, 60, 142], [2, 218,360], - [3, 60, 140], [3, 220,360], - [4, 60, 138], [4, 222,360], - [5, 60, 138], [5, 222,360], - [6, 60, 134], [6, 226,360], - [7, 60, 134], [7, 226,360], - [8, 60, 132], [8, 228,360], - [9, 60, 132], [9, 228,360], - [10, 60, 130], [10, 230,360], - [11, 60, 120], [11, 240,360], - [12, 60, 118], [12, 242,360], - [13, 60, 118], [13, 242,360], - [14, 60, 118], [14, 242,360], - [15, 60, 118], [15, 242,360], - [16, 60, 118], [16, 242,360], - [17, 60, 118], [17, 242,360], - [18, 60, 116], [18, 244,360], - [19, 60, 116], [19, 244,360], - [20, 60, 112], [20, 248,360], - [21, 60, 112], [21, 248,360], - [22, 60, 110], [22, 250,360], - [23, 60, 110], [23, 250,360], - [24, 60, 110], [24, 250,360], - [25, 60, 110], [25, 250,360], - [26, 60, 110], [26, 250,360], - [27, 60, 106], [27, 254,360], - [28, 60, 106], [28, 254,360], - [29, 60, 106], [29, 254,360], - [30, 60, 104], [30, 256,360], - [31, 60, 104], [31, 256,360], - [32, 60, 104], [32, 256,360], - [33, 60, 104], [33, 256,360], - [34, 60, 104], [34, 256,360], - [35, 60, 100], [35, 260,360], - [36, 60, 100], [36, 260,360], - [37, 60, 100], [37, 260,360], - [38, 60, 100], [38, 260,360], - [39, 60, 96], [39, 264,360], - [40, 60, 96], [40, 264,360], - [41, 60, 96], [41, 264,360], - [42, 60, 96], [42, 264,360], - [43, 60, 96], [43, 264,360], - [44, 60, 94], [44, 266,360], - [45, 60, 94], [45, 266,360], - [46, 60, 94], [46, 266,360], - [47, 60, 94], [47, 266,360], + [0, 0, 148], [0, 212,360], + [1, 0, 144], [1, 216,360], + [2, 0, 142], [2, 218,360], + [3, 0, 140], [3, 220,360], + [4, 0, 138], [4, 222,360], + [5, 0, 138], [5, 222,360], + [6, 0, 134], [6, 226,360], + [7, 0, 134], [7, 226,360], + [8, 0, 132], [8, 228,360], + [9, 0, 132], [9, 228,360], + [10, 0, 130], [10, 230,360], + [11, 0, 120], [11, 240,360], + [12, 0, 118], [12, 242,360], + [13, 0, 118], [13, 242,360], + [14, 0, 118], [14, 242,360], + [15, 0, 118], [15, 242,360], + [16, 0, 118], [16, 242,360], + [17, 0, 118], [17, 242,360], + [18, 0, 116], [18, 244,360], + [19, 0, 116], [19, 244,360], + [20, 0, 112], [20, 248,360], + [21, 0, 112], [21, 248,360], + [22, 0, 110], [22, 250,360], + [23, 0, 110], [23, 250,360], + [24, 0, 110], [24, 250,360], + [25, 0, 110], [25, 250,360], + [26, 0, 110], [26, 250,360], + [27, 0, 106], [27, 254,360], + [28, 0, 106], [28, 254,360], + [29, 0, 106], [29, 254,360], + [30, 0, 104], [30, 256,360], + [31, 0, 104], [31, 256,360], + [32, 0, 104], [32, 256,360], + [33, 0, 104], [33, 256,360], + [34, 0, 104], [34, 256,360], + [35, 0, 100], [35, 260,360], + [36, 0, 100], [36, 260,360], + [37, 0, 100], [37, 260,360], + [38, 0, 100], [38, 260,360], + [39, 0, 96], [39, 264,360], + [40, 0, 96], [40, 264,360], + [41, 0, 96], [41, 264,360], + [42, 0, 96], [42, 264,360], + [43, 0, 96], [43, 264,360], + [44, 0, 94], [44, 266,360], + [45, 0, 94], [45, 266,360], + [46, 0, 94], [46, 266,360], + [47, 0, 94], [47, 266,360], [0, 0, 360], [3, 0, 360], [6, 0, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.png b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.png new file mode 100644 index 00000000..8db4c5d8 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.png b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.png new file mode 100644 index 00000000..8cc7c998 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.png b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.png new file mode 100644 index 00000000..77f34b64 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.png b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.png new file mode 100644 index 00000000..19c2065f Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.png b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.png new file mode 100644 index 00000000..98788f37 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.png b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.png new file mode 100644 index 00000000..6da6d746 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.png b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.png new file mode 100644 index 00000000..13ea4878 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.png b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.png new file mode 100644 index 00000000..d6980190 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.png differ diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.png b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.png new file mode 100644 index 00000000..79806145 Binary files /dev/null and b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.png differ diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml index a4ea7e53..acce6edd 100644 --- a/aip_x2_gen2_launch/launch/lidar.launch.xml +++ b/aip_x2_gen2_launch/launch/lidar.launch.xml @@ -59,6 +59,7 @@ + @@ -101,6 +102,7 @@ + @@ -143,6 +145,7 @@ + @@ -185,6 +188,7 @@ + @@ -228,6 +232,7 @@ + @@ -270,6 +275,7 @@ + @@ -312,6 +318,7 @@ + @@ -354,6 +361,7 @@ + diff --git a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py index c288f0e5..2257fffb 100644 --- a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py +++ b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py @@ -113,6 +113,7 @@ def str2vector(string): "calibration_file", "launch_hw", "udp_only", + "point_filters.downsample_mask.path", ), "retry_hw": True, }, @@ -290,7 +291,6 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg("cut_angle", "0.0") add_launch_arg("ptp_lock_threshold", "100") add_launch_arg("udp_only", "false") - # add_launch_arg("point_filters", "{}", "point filter definitions in JSON format") add_launch_arg("base_frame", "base_link", "base frame id") add_launch_arg("min_range", "0.3", "minimum view range for Velodyne sensors") add_launch_arg("max_range", "300.0", "maximum view range for Velodyne sensors") @@ -334,6 +334,7 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg("calibration_file", "") add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame") add_launch_arg("use_dual_return_filter", "false") + add_launch_arg("point_filters.downsample_mask.path", "") set_container_executable = SetLaunchConfiguration( "container_executable",