From e01610b61ee9ebe232bfec1165317a86c8c1b3cb Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Wed, 19 Feb 2025 20:05:11 +0900 Subject: [PATCH] feat(aip_x2_gen2_launch): use downsample mask filter (#394) * fix comma missing * chore filter description * add downsample_mask filter image * set downsample_mask.path * chore: resize QT128 masks to 900x128 * fix: fix typo in right_upper downsample mask path --------- Co-authored-by: Max SCHMELLER --- .../default/point_filters_full.param.png | Bin 0 -> 804 bytes .../default/point_filters_full.param.yaml | 2 + .../point_filters_left_upper.param.yaml | 47 --------- .../default/point_filters_one_half.param.yaml | 71 ------------- .../default/point_filters_one_third.param.png | Bin 0 -> 626 bytes .../point_filters_right_upper.param.yaml | 42 -------- .../default/point_filters_two_third.param.png | Bin 0 -> 738 bytes .../front_lower/point_filters_full.param.png | Bin 0 -> 558 bytes .../point_filters_one_third.param.png | Bin 0 -> 371 bytes .../point_filters_two_third.param.png | Bin 0 -> 500 bytes .../front_upper/point_filters_full.param.png | Bin 0 -> 1038 bytes .../point_filters_one_third.param.png | Bin 0 -> 796 bytes .../point_filters_two_third.param.png | Bin 0 -> 948 bytes .../left_lower/point_filters_full.param.png | Bin 0 -> 622 bytes .../point_filters_one_third.param.png | Bin 0 -> 394 bytes .../point_filters_one_third.param.yaml | 2 +- .../point_filters_two_third.param.png | Bin 0 -> 581 bytes .../left_upper/point_filters_full.param.png | Bin 0 -> 1078 bytes .../point_filters_one_third.param.png | Bin 0 -> 749 bytes .../point_filters_two_third.param.png | Bin 0 -> 965 bytes .../rear_lower/point_filters_full.param.png | Bin 0 -> 578 bytes .../rear_lower/point_filters_full.param.yaml | 96 +++++++++--------- .../point_filters_one_third.param.png | Bin 0 -> 393 bytes .../point_filters_one_third.param.yaml | 96 +++++++++--------- .../point_filters_two_third.param.png | Bin 0 -> 533 bytes .../point_filters_two_third.param.yaml | 96 +++++++++--------- .../rear_upper/point_filters_full.param.png | Bin 0 -> 1030 bytes .../point_filters_one_third.param.png | Bin 0 -> 860 bytes .../point_filters_two_third.param.png | Bin 0 -> 1022 bytes .../right_lower/point_filters_full.param.png | Bin 0 -> 711 bytes .../point_filters_one_third.param.png | Bin 0 -> 394 bytes .../point_filters_two_third.param.png | Bin 0 -> 585 bytes .../right_upper/point_filters_full.param.png | Bin 0 -> 1059 bytes .../point_filters_one_third.param.png | Bin 0 -> 802 bytes .../point_filters_two_third.param.png | Bin 0 -> 986 bytes aip_x2_gen2_launch/launch/lidar.launch.xml | 8 ++ .../launch/nebula_node_container.launch.py | 3 +- 37 files changed, 157 insertions(+), 306 deletions(-) create mode 100644 aip_x2_gen2_launch/config/point_filters/default/point_filters_full.param.png delete mode 100644 aip_x2_gen2_launch/config/point_filters/default/point_filters_left_upper.param.yaml delete mode 100644 aip_x2_gen2_launch/config/point_filters/default/point_filters_one_half.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/default/point_filters_one_third.param.png delete mode 100644 aip_x2_gen2_launch/config/point_filters/default/point_filters_right_upper.param.yaml create mode 100644 aip_x2_gen2_launch/config/point_filters/default/point_filters_two_third.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_full.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_one_third.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_two_third.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_full.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_third.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_two_third.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_full.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_one_third.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/rear_upper/point_filters_two_third.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.png create mode 100644 aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.png 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 0000000000000000000000000000000000000000..f8157653a5e5a7f1a10bea144ec21897ce9b15cc GIT binary patch literal 804 zcmeAS@N?(olHy`uVBq!ia0y~y;1d9{8#sUjLutp{9}EmkuRUEHLn`LHy>7_Jpuls$ z;K2UpiplQ6thLq8frf4-<^da7A-5oXt>qN(0Vum}dmC2m&T7N7C|SR0}LzhE0eS ZoMfuB&}N*s@SG0FZ=SAxF6*2UngGEDR+9h# literal 0 HcmV?d00001 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: | - { - 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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",