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feat: filter points by ring_section_filter in nebula #329

Merged
merged 8 commits into from
Oct 8, 2024
+229 −2
Merged

feat: filter points by ring_section_filter in nebula #329

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b6d7c26
set point_filters test
kotaro-hihara Sep 24, 2024
c329fb7
fix ring id
kotaro-hihara Sep 24, 2024
9fa7205
add point_filters params
kotaro-hihara Sep 24, 2024
559cf50
add default point_filter(no reduction)
kotaro-hihara Sep 26, 2024
7da5755
one third all OT128
kotaro-hihara Sep 26, 2024
06fba10
set default no reduction
kotaro-hihara Oct 2, 2024
d8baee6
Merge remote-tracking branch 'origin/beta/x2_gen2/v0.29.0' into beta/…
TomohitoAndo Oct 8, 2024
daa6e2d
fix
TomohitoAndo Oct 8, 2024
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5 changes: 5 additions & 0 deletions aip_x2_gen2_launch/config/point_filters_full.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
/**:
ros__parameters:
point_filters: |
{
}
71 changes: 71 additions & 0 deletions aip_x2_gen2_launch/config/point_filters_one_half.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,71 @@
/**:
ros__parameters:
point_filters: |
{
"ring_section_filter": [
[1, 0, 360],
[3, 0, 360],
[5, 0, 360],
[7, 0, 360],
[9, 0, 360],
[11, 0, 360],
[13, 0, 360],
[15, 0, 360],
[17, 0, 360],
[19, 0, 360],
[21, 0, 360],
[23, 0, 360],
[25, 0, 360],
[27, 0, 360],
[29, 0, 360],
[31, 0, 360],
[33, 0, 360],
[35, 0, 360],
[37, 0, 360],
[39, 0, 360],
[41, 0, 360],
[43, 0, 360],
[45, 0, 360],
[47, 0, 360],
[49, 0, 360],
[51, 0, 360],
[53, 0, 360],
[55, 0, 360],
[57, 0, 360],
[59, 0, 360],
[61, 0, 360],
[63, 0, 360],
[65, 0, 360],
[67, 0, 360],
[69, 0, 360],
[71, 0, 360],
[73, 0, 360],
[75, 0, 360],
[77, 0, 360],
[79, 0, 360],
[81, 0, 360],
[83, 0, 360],
[85, 0, 360],
[87, 0, 360],
[89, 0, 360],
[91, 0, 360],
[93, 0, 360],
[95, 0, 360],
[97, 0, 360],
[99, 0, 360],
[101, 0, 360],
[103, 0, 360],
[105, 0, 360],
[107, 0, 360],
[109, 0, 360],
[111, 0, 360],
[113, 0, 360],
[115, 0, 360],
[117, 0, 360],
[119, 0, 360],
[121, 0, 360],
[123, 0, 360],
[125, 0, 360],
[127, 0, 360]
]
}
92 changes: 92 additions & 0 deletions aip_x2_gen2_launch/config/point_filters_one_third.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,92 @@
/**:
ros__parameters:
point_filters: |
{
"ring_section_filter": [
[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]
]
}
50 changes: 50 additions & 0 deletions aip_x2_gen2_launch/config/point_filters_two_third.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,50 @@
/**:
ros__parameters:
point_filters: |
{
"ring_section_filter": [
[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]
]
}
2 changes: 2 additions & 0 deletions aip_x2_gen2_launch/launch/hesai_OT128.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@
<arg name="dual_return_filter_param_file" default="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" default="$(var vehicle_mirror_param_file)" />
<arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
<arg name="point_filters_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_full.param.yaml" />

<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
<arg name="launch_hw" value="$(var launch_driver)"/>
Expand Down Expand Up @@ -64,6 +65,7 @@
<arg name="calibration_file" value="$(var calibration_file)"/>
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)"/>
<arg name="blockage_diagnostics_param_file" value="$(var blockage_diagnostics_param_file)"/>
<arg name="point_filters_param_file" value="$(var point_filters_param_file)"/>

</include>
</launch>
2 changes: 2 additions & 0 deletions aip_x2_gen2_launch/launch/hesai_QT128.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@
<arg name="dual_return_filter_param_file" default="$(var dual_return_filter_param_file)" />
<arg name="vehicle_mirror_param_file" default="$(var vehicle_mirror_param_file)" />
<arg name="blockage_diagnostics_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
<arg name="point_filters_param_file" default="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_full.param.yaml" />

<include file="$(find-pkg-share aip_x2_gen2_launch)/launch/nebula_node_container.launch.py">
<arg name="launch_hw" value="$(var launch_driver)"/>
Expand Down Expand Up @@ -64,5 +65,6 @@
<arg name="calibration_file" value="$(var calibration_file)"/>
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)"/>
<arg name="blockage_diagnostics_param_file" value="$(var blockage_diagnostics_param_file)"/>
<arg name="point_filters_param_file" value="$(var point_filters_param_file)"/>
</include>
</launch>
4 changes: 4 additions & 0 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 @@ -55,6 +55,7 @@
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/rear_upper.csv" />
<arg name="dual_return_filter_param_file" value="$(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" />
</include>
</group>

Expand Down Expand Up @@ -88,6 +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" />
</include>
</group>

Expand Down Expand Up @@ -188,6 +190,7 @@
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_upper.csv" />
<arg name="dual_return_filter_param_file" value="$(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" />
</include>
</group>

Expand Down Expand Up @@ -221,6 +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" />
</include>
</group>

Expand Down
5 changes: 3 additions & 2 deletions aip_x2_gen2_launch/launch/nebula_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,6 @@ def str2vector(string):
parameters=[
{
"sensor_model": sensor_model,
"point_filters": "{}",
**create_parameter_dict(
"host_ip",
"sensor_ip",
Expand Down Expand Up @@ -123,7 +122,8 @@ def str2vector(string):
),
"retry_hw": True,
},
],
]
+ [load_composable_node_param("point_filters_param_file")],
remappings=[
# ("aw_points", "pointcloud_raw"),
("pandar_points", "pointcloud_raw_ex"),
Expand Down Expand Up @@ -367,6 +367,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
add_launch_arg("min_azimuth_deg", "135.0")
add_launch_arg("max_azimuth_deg", "225.0")
add_launch_arg("enable_blockage_diag", "true")
add_launch_arg("point_filters_param_file")

add_launch_arg("calibration_file", "")

Expand Down
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