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feat(aip_launcher): set multi fov for mirror and body pointcloud reduction #335

Merged
merged 20 commits into from
Oct 24, 2024
Merged

feat(aip_launcher): set multi fov for mirror and body pointcloud reduction #335

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d2eca63
folder for point_filters config yaml
kotaro-hihara Oct 9, 2024
d96d1ae
set front_lower multiFOV
kotaro-hihara Oct 10, 2024
d616161
set rear_lower multiFOV
kotaro-hihara Oct 10, 2024
6800702
set front_upper multiFOV
kotaro-hihara Oct 15, 2024
33a79da
fix front_upper FOV
kotaro-hihara Oct 15, 2024
fb5a3d1
fix rear_upper FOV
kotaro-hihara Oct 15, 2024
658a8ef
fix left_lower FOV
kotaro-hihara Oct 16, 2024
eaaa676
edit left_lower FOV
kotaro-hihara Oct 16, 2024
8dfe16e
fix right_lower FOV
kotaro-hihara Oct 16, 2024
b6caf04
chore right_lower filter param to avoid rviz error
kotaro-hihara Oct 17, 2024
29daa2b
fix left_upper FOV
kotaro-hihara Oct 17, 2024
f55c092
fix right_upper FOV
kotaro-hihara Oct 21, 2024
59a1d78
update left_upper FOV
kotaro-hihara Oct 21, 2024
72bd94a
update right_lower FOV
kotaro-hihara Oct 21, 2024
adf5ecb
update rear_upper FOV
kotaro-hihara Oct 21, 2024
52522de
change defalut point_filters path
kotaro-hihara Oct 22, 2024
5b4f606
update FOV
kotaro-hihara Oct 23, 2024
39aebf3
update rear_upper FOV
kotaro-hihara Oct 23, 2024
d64dfd3
update config of OT128(**_upper) to use one third
kotaro-hihara Oct 24, 2024
b8cbe72
ci(pre-commit): autofix
pre-commit-ci[bot] Oct 24, 2024
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0 ...unch/config/point_filters_full.param.yaml → ...ers/dafault/point_filters_full.param.yaml
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0 ...onfig/point_filters_left_upper.param.yaml → ...fault/point_filters_left_upper.param.yaml
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0 .../config/point_filters_one_half.param.yaml → ...dafault/point_filters_one_half.param.yaml
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0 ...config/point_filters_one_third.param.yaml → ...afault/point_filters_one_third.param.yaml
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0 ...nfig/point_filters_right_upper.param.yaml → ...ault/point_filters_right_upper.param.yaml
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0 ...config/point_filters_two_third.param.yaml → ...afault/point_filters_two_third.param.yaml
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41 changes: 41 additions & 0 deletions aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_full.param.yaml
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/**:
ros__parameters:
point_filters: |
{
"ring_section_filter": [
[0, 60,128], [0, 232,300],
[1, 60,124], [1, 236,300],
[2, 60,122], [2, 238,300],
[3, 60,120], [3, 240,300],
[4, 60,118], [4, 242,300],
[5, 60,118], [5, 242,300],
[6, 60,114], [6, 246,300],
[7, 60,114], [7, 246,300],
[8, 60,112], [8, 248,300],
[9, 60,112], [9, 248,300],
[10, 60,110], [10, 250,300],
[11, 60,110], [11, 250,300],
[12, 60,108], [12, 252,300],
[13, 60,108], [13, 252,300],
[14, 60,108], [14, 252,300],
[15, 60,108], [15, 252,300],
[16, 60,108], [16, 252,300],
[17, 60,108], [17, 252,300],
[18, 60,106], [18, 254,300],
[19, 60,106], [19, 254,300],
[20, 60,102], [20, 258,300],
[21, 60,102], [21, 258,300],
[22, 60,100], [22, 260,300],
[23, 60,100], [23, 260,300],
[24, 60,100], [24, 260,300],
[25, 60,100], [25, 260,300],
[26, 60,100], [26, 260,300],
[27, 60,100], [27, 260,300],
[28, 60,100], [28, 260,300],
[29, 60,100], [29, 260,300],
[30, 60,94], [30, 266,300],
[31, 60,94], [31, 266,300],
[32, 60,94], [32, 266,300],
[33, 60,94], [33, 266,300]
]
}
126 changes: 126 additions & 0 deletions aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_third.param.yaml
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/**:
ros__parameters:
point_filters: |
{
"ring_section_filter": [
[0, 60,128], [0, 232,300],
[1, 60,124], [1, 236,300],
[2, 60,122], [2, 238,300],
[3, 60,120], [3, 240,300],
[4, 60,118], [4, 242,300],
[5, 60,118], [5, 242,300],
[6, 60,114], [6, 246,300],
[7, 60,114], [7, 246,300],
[8, 60,112], [8, 248,300],
[9, 60,112], [9, 248,300],
[10, 60,110], [10, 250,300],
[11, 60,110], [11, 250,300],
[12, 60,108], [12, 252,300],
[13, 60,108], [13, 252,300],
[14, 60,108], [14, 252,300],
[15, 60,108], [15, 252,300],
[16, 60,108], [16, 252,300],
[17, 60,108], [17, 252,300],
[18, 60,106], [18, 254,300],
[19, 60,106], [19, 254,300],
[20, 60,102], [20, 258,300],
[21, 60,102], [21, 258,300],
[22, 60,100], [22, 260,300],
[23, 60,100], [23, 260,300],
[24, 60,100], [24, 260,300],
[25, 60,100], [25, 260,300],
[26, 60,100], [26, 260,300],
[27, 60,100], [27, 260,300],
[28, 60,100], [28, 260,300],
[29, 60,100], [29, 260,300],
[30, 60,94], [30, 266,300],
[31, 60,94], [31, 266,300],
[32, 60,94], [32, 266,300],
[33, 60,94], [33, 266,300],
[1, 0, 360],
[2, 0, 360],
[4, 0, 360],
[5, 0, 360],
[7, 0, 360],
[8, 0, 360],
[10, 0, 360],
[11, 0, 360],
[13, 0, 360],
[14, 0, 360],
[16, 0, 360],
[17, 0, 360],
[19, 0, 360],
[20, 0, 360],
[22, 0, 360],
[23, 0, 360],
[25, 0, 360],
[26, 0, 360],
[28, 0, 360],
[29, 0, 360],
[31, 0, 360],
[32, 0, 360],
[34, 0, 360],
[35, 0, 360],
[37, 0, 360],
[38, 0, 360],
[40, 0, 360],
[41, 0, 360],
[43, 0, 360],
[44, 0, 360],
[46, 0, 360],
[47, 0, 360],
[49, 0, 360],
[50, 0, 360],
[52, 0, 360],
[53, 0, 360],
[55, 0, 360],
[56, 0, 360],
[58, 0, 360],
[59, 0, 360],
[61, 0, 360],
[62, 0, 360],
[64, 0, 360],
[65, 0, 360],
[67, 0, 360],
[68, 0, 360],
[70, 0, 360],
[71, 0, 360],
[73, 0, 360],
[74, 0, 360],
[76, 0, 360],
[77, 0, 360],
[79, 0, 360],
[80, 0, 360],
[82, 0, 360],
[83, 0, 360],
[85, 0, 360],
[86, 0, 360],
[88, 0, 360],
[89, 0, 360],
[91, 0, 360],
[92, 0, 360],
[94, 0, 360],
[95, 0, 360],
[97, 0, 360],
[98, 0, 360],
[100, 0, 360],
[101, 0, 360],
[103, 0, 360],
[104, 0, 360],
[106, 0, 360],
[107, 0, 360],
[109, 0, 360],
[110, 0, 360],
[112, 0, 360],
[113, 0, 360],
[115, 0, 360],
[116, 0, 360],
[118, 0, 360],
[119, 0, 360],
[121, 0, 360],
[122, 0, 360],
[124, 0, 360],
[125, 0, 360],
[127, 0, 360]
]
}
84 changes: 84 additions & 0 deletions aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_two_third.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,84 @@
/**:
ros__parameters:
point_filters: |
{
"ring_section_filter": [
[0, 60,128], [0, 232,300],
[1, 60,124], [1, 236,300],
[2, 60,122], [2, 238,300],
[3, 60,120], [3, 240,300],
[4, 60,118], [4, 242,300],
[5, 60,118], [5, 242,300],
[6, 60,114], [6, 246,300],
[7, 60,114], [7, 246,300],
[8, 60,112], [8, 248,300],
[9, 60,112], [9, 248,300],
[10, 60,110], [10, 250,300],
[11, 60,110], [11, 250,300],
[12, 60,108], [12, 252,300],
[13, 60,108], [13, 252,300],
[14, 60,108], [14, 252,300],
[15, 60,108], [15, 252,300],
[16, 60,108], [16, 252,300],
[17, 60,108], [17, 252,300],
[18, 60,106], [18, 254,300],
[19, 60,106], [19, 254,300],
[20, 60,102], [20, 258,300],
[21, 60,102], [21, 258,300],
[22, 60,100], [22, 260,300],
[23, 60,100], [23, 260,300],
[24, 60,100], [24, 260,300],
[25, 60,100], [25, 260,300],
[26, 60,100], [26, 260,300],
[27, 60,100], [27, 260,300],
[28, 60,100], [28, 260,300],
[29, 60,100], [29, 260,300],
[30, 60,94], [30, 266,300],
[31, 60,94], [31, 266,300],
[32, 60,94], [32, 266,300],
[33, 60,94], [33, 266,300],
[0, 0, 360],
[3, 0, 360],
[6, 0, 360],
[9, 0, 360],
[12, 0, 360],
[15, 0, 360],
[18, 0, 360],
[21, 0, 360],
[24, 0, 360],
[27, 0, 360],
[30, 0, 360],
[33, 0, 360],
[36, 0, 360],
[39, 0, 360],
[42, 0, 360],
[45, 0, 360],
[48, 0, 360],
[51, 0, 360],
[54, 0, 360],
[57, 0, 360],
[60, 0, 360],
[63, 0, 360],
[66, 0, 360],
[69, 0, 360],
[72, 0, 360],
[75, 0, 360],
[78, 0, 360],
[81, 0, 360],
[84, 0, 360],
[87, 0, 360],
[90, 0, 360],
[93, 0, 360],
[96, 0, 360],
[99, 0, 360],
[102, 0, 360],
[105, 0, 360],
[108, 0, 360],
[111, 0, 360],
[114, 0, 360],
[117, 0, 360],
[120, 0, 360],
[123, 0, 360],
[126, 0, 360]
]
}
72 changes: 72 additions & 0 deletions aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml
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@@ -0,0 +1,72 @@
/**:
ros__parameters:
point_filters: |
{
"ring_section_filter": [
[0, 60, 93],[0, 266, 300],
[1, 60, 93],[1, 266, 300],
[2, 60, 93],[2, 266, 300],
[3, 60, 93],[3, 266, 300],
[4, 268, 300],
[5, 268, 300],
[6, 268, 300],
[7, 268, 300],
[8, 268, 300],
[10, 272, 300],
[11, 272, 300],
[12, 272, 300],
[13, 272, 300],
[14, 266, 300],
[15, 266, 300],
[16, 266, 300],
[18, 263, 300],
[19, 263, 300],
[20, 263, 300],
[22, 270, 300],
[23, 270, 300],
[24, 270, 300],
[30, 267, 300],
[31, 267, 300],
[32, 267, 300],
[38, 272, 300],
[45, 60, 93],[45, 267, 300],
[52, 195, 300],
[58, 261, 300],
[59, 261, 300],
[60, 261, 300],
[72, 269, 300],
[73, 269, 300],
[74, 269, 300],
[88, 273, 300],
[89, 273, 300],
[90, 273, 300],
[91, 60, 93],[91, 273, 300],
[92, 60, 93],[92, 268, 300],
[93, 60, 93],[93, 273, 300],
[94, 60, 93],[94, 273, 300],
[95, 60, 93],[95, 273, 300],
[96, 60, 93],[96, 273, 300],
[97, 60, 93],[97, 273, 300],
[98, 60, 93],[98, 273, 300],
[99, 60, 93],[99, 273, 300],
[100, 60, 93.5],[100, 273, 300],
[101, 273, 300],
[102, 273, 300],
[103, 274, 300],
[104, 274, 300],
[105, 275, 300],
[106, 275, 300],
[107, 275, 300],
[108, 275, 300],
[112, 60, 93],
[116, 60, 93],
[120, 60, 93],[120, 265, 300],
[121, 60, 93],[121, 265, 300],
[122, 60, 93],[122, 265, 300],
[123, 60, 94],[123, 265, 300],
[124, 60, 94],[124, 265, 300],
[125, 60, 97],[125, 256, 300],
[126, 60, 97],[126, 256, 300],
[127, 60, 97],[127, 256, 300]
]
}
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