chore: tuning dual_return_filter

tier4 · Aug 25, 2024 · 816e8e7 · 816e8e7
1 parent a58b427
commit 816e8e7
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Showing 2 changed files with 2 additions and 4 deletions.
diff --git a/aip_x2_launch/config/dual_return_filter.param.yaml b/aip_x2_launch/config/dual_return_filter.param.yaml
@@ -4,8 +4,6 @@
     weak_first_local_noise_threshold: 2 # description="for No_ROI roi_mode, recommended value is 10" />
     visibility_error_threshold: 0.95
     visibility_warn_threshold: 0.97
-    min_azimuth_deg: 100.0
-    max_azimuth_deg: 260.0
     max_distance: 10.0
     x_max: 18.0
     x_min: -12.0

diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
@@ -81,7 +81,7 @@
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-        <arg name="return_mode" value="Dual" />
+        <arg name="return_mode" value="Strongest" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
@@ -133,7 +133,7 @@
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-        <arg name="return_mode" value="Strongest" />
+        <arg name="return_mode" value="Dual" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />