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feat(aip_launcher): set multi fov for mirror and body pointcloud redu…
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…ction (#335)

* folder for point_filters config yaml

* set front_lower multiFOV

* set rear_lower multiFOV

* set front_upper multiFOV

* fix front_upper FOV

* fix rear_upper FOV

* fix left_lower FOV

* edit left_lower FOV

* fix right_lower FOV

* chore right_lower filter param to avoid rviz error

Signed-off-by: kotaro-hihara <[email protected]>

* fix left_upper FOV

Signed-off-by: kotaro-hihara <[email protected]>

* fix right_upper FOV

* update left_upper FOV

* update right_lower FOV

* update rear_upper FOV

* change defalut point_filters path

* update FOV

* update rear_upper FOV

* update config of OT128(**_upper) to use one third

---------

Signed-off-by: kotaro-hihara <[email protected]>
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kotaro-hihara authored Oct 24, 2024
1 parent 3013e90 commit b3f4126
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Showing 33 changed files with 2,801 additions and 9 deletions.
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],
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[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],
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}
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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/**:
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],
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}
72 changes: 72 additions & 0 deletions aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml
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/**:
ros__parameters:
point_filters: |
{
"ring_section_filter": [
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]
}
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