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feat: add point filters to remove noise due to reflection #331

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merged 3 commits into from
Oct 12, 2024
Merged

feat: add point filters to remove noise due to reflection #331

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df64c14
feat: add point filters to remove noise due to reflection
TomohitoAndo Oct 9, 2024
4a186a9
fix
TomohitoAndo Oct 9, 2024
e13f85d
filter points under ground
TomohitoAndo Oct 10, 2024
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47 changes: 47 additions & 0 deletions aip_x2_gen2_launch/config/point_filters_left_upper.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,47 @@
/**:
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]
]
}
42 changes: 42 additions & 0 deletions aip_x2_gen2_launch/config/point_filters_right_upper.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,42 @@
/**:
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]
]
}
4 changes: 2 additions & 2 deletions aip_x2_gen2_launch/launch/lidar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,7 @@
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/left_upper.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_full.param.yaml" />
<arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_left_upper.param.yaml" />
</include>
</group>

Expand Down Expand Up @@ -224,7 +224,7 @@
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/right_upper.csv" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
<arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_full.param.yaml" />
<arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_right_upper.param.yaml" />
</include>
</group>

Expand Down
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