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chore(dual_return_filter): tuning for visibility diag #242

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merged 1 commit into from
May 27, 2024
Merged

chore(dual_return_filter): tuning for visibility diag #242

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4 changes: 3 additions & 1 deletion aip_x2_launch/config/dual_return_filter.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,9 @@
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
max_distance: 5.0
min_azimuth_deg: 100.0
max_azimuth_deg: 260.0
max_distance: 10.0
x_max: 18.0
x_min: -12.0
y_max: 2.0
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2 changes: 1 addition & 1 deletion aip_x2_launch/launch/lidar.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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="$(var enable_blockage_diag)"/>
<arg name="return_mode" value="Strongest" />
<arg name="return_mode" value="Dual" />
<arg name="calibration" value="$(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)" />
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