set downsample_mask.path

tier4 · Feb 14, 2025 · 5a4d95c · 5a4d95c
1 parent a957bf3
commit 5a4d95c
Show file tree

Hide file tree

Showing 2 changed files with 10 additions and 1 deletion.
diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -59,6 +59,7 @@
         <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/rear_upper/point_filters_one_third.param.yaml" />
+        <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/rear_upper/point_filters_one_third.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
         <arg name="min_azimuth_deg" value="135.0"/>
@@ -101,6 +102,7 @@
         <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/left_upper/point_filters_one_third.param.yaml" />
+        <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_upper/point_filters_one_third.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
         <arg name="min_azimuth_deg" value="225.0"/>
@@ -143,6 +145,7 @@
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/rear_lower.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/rear_lower/point_filters_full.param.yaml" />
+        <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/rear_lower/point_filters_full.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
         <arg name="min_azimuth_deg" value="135.0"/>
@@ -185,6 +188,7 @@
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/left_lower.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/left_lower/point_filters_full.param.yaml" />
+        <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_lower/point_filters_full.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
         <arg name="min_azimuth_deg" value="225.0"/>
@@ -228,6 +232,7 @@
         <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/front_upper/point_filters_one_third.param.yaml" />
+        <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/front_upper/point_filters_one_third.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
         <arg name="min_azimuth_deg" value="135.0"/>
@@ -270,6 +275,7 @@
         <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/right_upper/point_filters_one_third.param.yaml" />
+        <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_lower/point_filters_one_third.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
         <arg name="min_azimuth_deg" value="45.0"/>
@@ -312,6 +318,7 @@
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.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/front_lower/point_filters_full.param.yaml" />
+        <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/front_lower/point_filters_full.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
         <arg name="min_azimuth_deg" value="135.0"/>
@@ -354,6 +361,7 @@
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/right_lower.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/right_lower/point_filters_full.param.yaml" />
+        <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_lower/point_filters_full.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
         <arg name="min_azimuth_deg" value="45.0"/>

diff --git a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
@@ -113,6 +113,7 @@ def str2vector(string):
                     "calibration_file",
                     "launch_hw",
                     "udp_only",
+                    "point_filters.downsample_mask.path",
                 ),
                 "retry_hw": True,
             },
@@ -290,7 +291,6 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("cut_angle", "0.0")
     add_launch_arg("ptp_lock_threshold", "100")
     add_launch_arg("udp_only", "false")
-    # add_launch_arg("point_filters", "{}", "point filter definitions in JSON format")
     add_launch_arg("base_frame", "base_link", "base frame id")
     add_launch_arg("min_range", "0.3", "minimum view range for Velodyne sensors")
     add_launch_arg("max_range", "300.0", "maximum view range for Velodyne sensors")
@@ -334,6 +334,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("calibration_file", "")
     add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
     add_launch_arg("use_dual_return_filter", "false")
+    add_launch_arg("point_filters.downsample_mask.path", "")
 
     set_container_executable = SetLaunchConfiguration(
         "container_executable",