From df64c1402d1c295984399f4cef3d34427dddcc92 Mon Sep 17 00:00:00 2001
From: Tomohito ANDO <tomohito.ando@tier4.jp>
Date: Wed, 9 Oct 2024 22:32:31 +0900
Subject: [PATCH] feat: add point filters to remove noise due to reflection

Signed-off-by: Tomohito ANDO <tomohito.ando@tier4.jp>
---
 .../point_filters_left_upper.param.yaml       | 26 +++++++++++++++++
 .../point_filters_right_upper.param.yaml      | 28 +++++++++++++++++++
 aip_x2_gen2_launch/launch/lidar.launch.xml    |  4 +--
 3 files changed, 56 insertions(+), 2 deletions(-)
 create mode 100644 aip_x2_gen2_launch/config/point_filters_left_upper.param.yaml
 create mode 100644 aip_x2_gen2_launch/config/point_filters_right_upper.param.yaml

diff --git a/aip_x2_gen2_launch/config/point_filters_left_upper.param.yaml b/aip_x2_gen2_launch/config/point_filters_left_upper.param.yaml
new file mode 100644
index 00000000..2eeda80f
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters_left_upper.param.yaml
@@ -0,0 +1,26 @@
+/**:
+  ros__parameters:
+    point_filters: |
+      {
+        "ring_section_filter": [
+        [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, 322]
+        ]
+      }
diff --git a/aip_x2_gen2_launch/config/point_filters_right_upper.param.yaml b/aip_x2_gen2_launch/config/point_filters_right_upper.param.yaml
new file mode 100644
index 00000000..47e8f454
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters_right_upper.param.yaml
@@ -0,0 +1,28 @@
+/**:
+  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]
+        ]
+      }
diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index 6c68f439..d81914fb 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -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>
 
@@ -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>