From fc984792d43db7a257202802f89ea7793804fc59 Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Wed, 20 Nov 2024 17:05:40 +0900 Subject: [PATCH 1/5] fix front_upper lidar FOV --- .../front_upper/point_filters_full.param.yaml | 16 ++++++++++++++-- .../point_filters_one_third.param.yaml | 16 ++++++++++++++-- .../point_filters_two_third.param.yaml | 16 ++++++++++++++-- 3 files changed, 42 insertions(+), 6 deletions(-) diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml index 86c11c7f..bc0e0873 100644 --- a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_full.param.yaml @@ -35,8 +35,20 @@ [59, 261, 300], [60, 261, 300], [72, 269, 300], - [73, 269, 300], - [74, 269, 300], + [73, 0, 88],[73, 269, 300], + [74, 0, 88],[74, 269, 300], + [75, 0, 90], + [76, 0, 94], + [77, 0, 94], + [78, 0, 94], + [79, 0, 94], + [80, 0, 94], + [81, 0, 90], + [82, 0, 90], + [83, 0, 90], + [84, 0, 88], + [85, 0, 88], + [86, 0, 88], [88, 273, 300], [89, 273, 300], [90, 273, 300], diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml index a61e40e8..1c7a0ab3 100644 --- a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_one_third.param.yaml @@ -35,8 +35,20 @@ [59, 261, 300], [60, 261, 300], [72, 269, 300], - [73, 269, 300], - [74, 269, 300], + [73, 0, 88],[73, 269, 300], + [74, 0, 88],[74, 269, 300], + [75, 0, 90], + [76, 0, 94], + [77, 0, 94], + [78, 0, 94], + [79, 0, 94], + [80, 0, 94], + [81, 0, 90], + [82, 0, 90], + [83, 0, 90], + [84, 0, 88], + [85, 0, 88], + [86, 0, 88], [88, 273, 300], [89, 273, 300], [90, 273, 300], diff --git a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml index ee82ff19..3afee029 100644 --- a/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/front_upper/point_filters_two_third.param.yaml @@ -35,8 +35,20 @@ [59, 261, 300], [60, 261, 300], [72, 269, 300], - [73, 269, 300], - [74, 269, 300], + [73, 0, 88],[73, 269, 300], + [74, 0, 88],[74, 269, 300], + [75, 0, 90], + [76, 0, 94], + [77, 0, 94], + [78, 0, 94], + [79, 0, 94], + [80, 0, 94], + [81, 0, 90], + [82, 0, 90], + [83, 0, 90], + [84, 0, 88], + [85, 0, 88], + [86, 0, 88], [88, 273, 300], [89, 273, 300], [90, 273, 300], From 3d75e575201a44916d3157a9a76ad1d9ef89f572 Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Wed, 20 Nov 2024 20:24:21 +0900 Subject: [PATCH 2/5] fix right_upper lidar FOV --- .../right_upper/point_filters_full.param.yaml | 76 ++++++++++--------- .../point_filters_one_third.param.yaml | 76 ++++++++++--------- .../point_filters_two_third.param.yaml | 76 ++++++++++--------- 3 files changed, 123 insertions(+), 105 deletions(-) diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml index a0fc854a..19541cab 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_full.param.yaml @@ -7,6 +7,12 @@ [1, 0, 15], [2, 0, 15], [3, 0, 15], + [17, 0, 10], + [18, 0, 10], + [19, 0, 10], + [20, 0, 10], + [21, 0, 10], + [22, 0, 10], [23, 0, 10], [24, 0, 10], [25, 0, 10], @@ -53,41 +59,41 @@ [66, 0, 40], [67, 0, 40], [68, 0, 42], - [69, 0, 42], - [70, 0, 42], - [71, 0, 44], - [72, 0, 44], - [73, 0, 44], - [74, 0, 44], - [75, 0, 44], - [76, 0, 45], - [77, 0, 45], - [78, 0, 45], - [79, 0, 45], - [80, 0, 45], - [81, 0, 45], - [82, 0, 45], - [83, 0, 45], - [84, 0, 45], - [85, 0, 45], - [86, 0, 45], - [87, 0, 45], - [88, 0, 45], - [89, 0, 45], - [90, 0, 45], - [91, 0, 45], - [92, 0, 45], - [93, 0, 44], - [94, 0, 44], - [95, 0, 44], - [96, 0, 44], - [97, 0, 44], - [98, 0, 44], - [99, 0, 44], - [100, 0, 46], - [101, 0, 46], - [102, 0, 46], - [103, 0, 44], + [69, 0, 42],[69, 269, 360], + [70, 0, 42],[70, 269, 360], + [71, 0, 44],[71, 269, 360], + [72, 0, 44],[72, 269, 360], + [73, 0, 44],[73, 269, 360], + [74, 0, 44],[74, 269, 360], + [75, 0, 44],[75, 269, 360], + [76, 0, 45],[76, 269, 360], + [77, 0, 45],[77, 269, 360], + [78, 0, 45],[78, 269, 360], + [79, 0, 45],[79, 269, 360], + [80, 0, 45],[80, 269, 360], + [81, 0, 45],[81, 269, 360], + [82, 0, 45],[82, 269, 360], + [83, 0, 45],[83, 269, 360], + [84, 0, 45],[84, 269, 360], + [85, 0, 45],[85, 269, 360], + [86, 0, 45],[86, 269, 360], + [87, 0, 45],[87, 269, 360], + [88, 0, 45],[88, 269, 360], + [89, 0, 45],[89, 269, 360], + [90, 0, 45],[90, 269, 360], + [91, 0, 45],[91, 269, 360], + [92, 0, 45],[92, 269, 360], + [93, 0, 44],[93, 269, 360], + [94, 0, 44],[94, 269, 360], + [95, 0, 44],[95, 269, 360], + [96, 0, 44],[96, 269, 360], + [97, 0, 44],[97, 269, 360], + [98, 0, 44],[98, 269, 360], + [99, 0, 44],[99, 269, 360], + [100, 0, 46],[100, 269, 360], + [101, 0, 46],[101, 269, 360], + [102, 0, 46],[102, 269, 360], + [103, 0, 44],[103, 269, 360], [104, 0, 44],[104, 269, 360], [105, 0, 44],[105, 269, 360], [106, 0, 44],[106, 269, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml index 35f6a53f..f12911a6 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_one_third.param.yaml @@ -7,6 +7,12 @@ [1, 0, 15], [2, 0, 15], [3, 0, 15], + [17, 0, 10], + [18, 0, 10], + [19, 0, 10], + [20, 0, 10], + [21, 0, 10], + [22, 0, 10], [23, 0, 10], [24, 0, 10], [25, 0, 10], @@ -53,41 +59,41 @@ [66, 0, 40], [67, 0, 40], [68, 0, 42], - [69, 0, 42], - [70, 0, 42], - [71, 0, 44], - [72, 0, 44], - [73, 0, 44], - [74, 0, 44], - [75, 0, 44], - [76, 0, 45], - [77, 0, 45], - [78, 0, 45], - [79, 0, 45], - [80, 0, 45], - [81, 0, 45], - [82, 0, 45], - [83, 0, 45], - [84, 0, 45], - [85, 0, 45], - [86, 0, 45], - [87, 0, 45], - [88, 0, 45], - [89, 0, 45], - [90, 0, 45], - [91, 0, 45], - [92, 0, 45], - [93, 0, 44], - [94, 0, 44], - [95, 0, 44], - [96, 0, 44], - [97, 0, 44], - [98, 0, 44], - [99, 0, 44], - [100, 0, 46], - [101, 0, 46], - [102, 0, 46], - [103, 0, 44], + [69, 0, 42],[69, 269, 360], + [70, 0, 42],[70, 269, 360], + [71, 0, 44],[71, 269, 360], + [72, 0, 44],[72, 269, 360], + [73, 0, 44],[73, 269, 360], + [74, 0, 44],[74, 269, 360], + [75, 0, 44],[75, 269, 360], + [76, 0, 45],[76, 269, 360], + [77, 0, 45],[77, 269, 360], + [78, 0, 45],[78, 269, 360], + [79, 0, 45],[79, 269, 360], + [80, 0, 45],[80, 269, 360], + [81, 0, 45],[81, 269, 360], + [82, 0, 45],[82, 269, 360], + [83, 0, 45],[83, 269, 360], + [84, 0, 45],[84, 269, 360], + [85, 0, 45],[85, 269, 360], + [86, 0, 45],[86, 269, 360], + [87, 0, 45],[87, 269, 360], + [88, 0, 45],[88, 269, 360], + [89, 0, 45],[89, 269, 360], + [90, 0, 45],[90, 269, 360], + [91, 0, 45],[91, 269, 360], + [92, 0, 45],[92, 269, 360], + [93, 0, 44],[93, 269, 360], + [94, 0, 44],[94, 269, 360], + [95, 0, 44],[95, 269, 360], + [96, 0, 44],[96, 269, 360], + [97, 0, 44],[97, 269, 360], + [98, 0, 44],[98, 269, 360], + [99, 0, 44],[99, 269, 360], + [100, 0, 46],[100, 269, 360], + [101, 0, 46],[101, 269, 360], + [102, 0, 46],[102, 269, 360], + [103, 0, 44],[103, 269, 360], [104, 0, 44],[104, 269, 360], [105, 0, 44],[105, 269, 360], [106, 0, 44],[106, 269, 360], diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml index b1de13ab..0ce2d3be 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_two_third.param.yaml @@ -7,6 +7,12 @@ [1, 0, 15], [2, 0, 15], [3, 0, 15], + [17, 0, 10], + [18, 0, 10], + [19, 0, 10], + [20, 0, 10], + [21, 0, 10], + [22, 0, 10], [23, 0, 10], [24, 0, 10], [25, 0, 10], @@ -53,41 +59,41 @@ [66, 0, 40], [67, 0, 40], [68, 0, 42], - [69, 0, 42], - [70, 0, 42], - [71, 0, 44], - [72, 0, 44], - [73, 0, 44], - [74, 0, 44], - [75, 0, 44], - [76, 0, 45], - [77, 0, 45], - [78, 0, 45], - [79, 0, 45], - [80, 0, 45], - [81, 0, 45], - [82, 0, 45], - [83, 0, 45], - [84, 0, 45], - [85, 0, 45], - [86, 0, 45], - [87, 0, 45], - [88, 0, 45], - [89, 0, 45], - [90, 0, 45], - [91, 0, 45], - [92, 0, 45], - [93, 0, 44], - [94, 0, 44], - [95, 0, 44], - [96, 0, 44], - [97, 0, 44], - [98, 0, 44], - [99, 0, 44], - [100, 0, 46], - [101, 0, 46], - [102, 0, 46], - [103, 0, 44], + [69, 0, 42],[69, 269, 360], + [70, 0, 42],[70, 269, 360], + [71, 0, 44],[71, 269, 360], + [72, 0, 44],[72, 269, 360], + [73, 0, 44],[73, 269, 360], + [74, 0, 44],[74, 269, 360], + [75, 0, 44],[75, 269, 360], + [76, 0, 45],[76, 269, 360], + [77, 0, 45],[77, 269, 360], + [78, 0, 45],[78, 269, 360], + [79, 0, 45],[79, 269, 360], + [80, 0, 45],[80, 269, 360], + [81, 0, 45],[81, 269, 360], + [82, 0, 45],[82, 269, 360], + [83, 0, 45],[83, 269, 360], + [84, 0, 45],[84, 269, 360], + [85, 0, 45],[85, 269, 360], + [86, 0, 45],[86, 269, 360], + [87, 0, 45],[87, 269, 360], + [88, 0, 45],[88, 269, 360], + [89, 0, 45],[89, 269, 360], + [90, 0, 45],[90, 269, 360], + [91, 0, 45],[91, 269, 360], + [92, 0, 45],[92, 269, 360], + [93, 0, 44],[93, 269, 360], + [94, 0, 44],[94, 269, 360], + [95, 0, 44],[95, 269, 360], + [96, 0, 44],[96, 269, 360], + [97, 0, 44],[97, 269, 360], + [98, 0, 44],[98, 269, 360], + [99, 0, 44],[99, 269, 360], + [100, 0, 46],[100, 269, 360], + [101, 0, 46],[101, 269, 360], + [102, 0, 46],[102, 269, 360], + [103, 0, 44],[103, 269, 360], [104, 0, 44],[104, 269, 360], [105, 0, 44],[105, 269, 360], [106, 0, 44],[106, 269, 360], From f55c553810e4f9f9df94167c7a34fd1dc99511e4 Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Wed, 20 Nov 2024 21:05:52 +0900 Subject: [PATCH 3/5] fix right_lower lidar FOV --- .../right_lower/point_filters_full.param.yaml | 8 ++++---- .../right_lower/point_filters_one_third.param.yaml | 8 ++++---- .../right_lower/point_filters_two_third.param.yaml | 8 ++++---- 3 files changed, 12 insertions(+), 12 deletions(-) diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml index 95e10b77..1e06da51 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_full.param.yaml @@ -20,10 +20,10 @@ [14, 60, 150],[14, 232, 300], [15, 60, 150],[15, 233, 300], [16, 60, 150],[16, 234, 300], - [17, 60, 140],[17, 235, 300], - [18, 60, 135],[18, 235, 300], - [19, 60, 126],[19, 236, 300], - [20, 102, 126],[20, 240, 300], + [17, 60, 145],[17, 235, 300], + [18, 60, 145],[18, 235, 300], + [19, 60, 135],[19, 236, 300], + [20, 102, 130],[20, 240, 300], [21, 102, 125],[21, 241, 300], [22, 105, 125],[22, 241, 300], [23, 105, 124],[23, 244, 300], diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml index 351c5363..c615a45c 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_third.param.yaml @@ -20,10 +20,10 @@ [14, 60, 150],[14, 232, 300], [15, 60, 150],[15, 233, 300], [16, 60, 150],[16, 234, 300], - [17, 60, 140],[17, 235, 300], - [18, 60, 135],[18, 235, 300], - [19, 60, 126],[19, 236, 300], - [20, 103, 126],[20, 240, 300], + [17, 60, 145],[17, 235, 300], + [18, 60, 145],[18, 235, 300], + [19, 60, 135],[19, 236, 300], + [20, 102, 130],[20, 240, 300], [21, 105, 125],[21, 241, 300], [22, 105, 125],[22, 241, 300], [23, 105, 124],[23, 244, 300], diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml index 6e82a756..b9811592 100644 --- a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_two_third.param.yaml @@ -20,10 +20,10 @@ [14, 60, 150],[14, 232, 300], [15, 60, 150],[15, 233, 300], [16, 60, 150],[16, 234, 300], - [17, 60, 140],[17, 235, 300], - [18, 60, 135],[18, 235, 300], - [19, 60, 126],[19, 236, 300], - [20, 103, 126],[20, 240, 300], + [17, 60, 145],[17, 235, 300], + [18, 60, 145],[18, 235, 300], + [19, 60, 135],[19, 236, 300], + [20, 102, 130],[20, 240, 300], [21, 105, 125],[21, 241, 300], [22, 105, 125],[22, 241, 300], [23, 105, 124],[23, 244, 300], From 908fc55a4bfc0a2931447f531359966d621bce6a Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Wed, 20 Nov 2024 21:20:56 +0900 Subject: [PATCH 4/5] fix left_lower lidar FOV --- .../left_lower/point_filters_full.param.yaml | 8 ++++---- .../left_lower/point_filters_one_third.param.yaml | 8 ++++---- .../left_lower/point_filters_two_third.param.yaml | 8 ++++---- 3 files changed, 12 insertions(+), 12 deletions(-) diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml index 2a2b0a5b..8fd5792c 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_full.param.yaml @@ -31,10 +31,10 @@ [25, 0, 122],[25, 235, 300], [26, 0, 121],[26, 235, 300], [27, 0, 120],[27, 235, 300], - [28, 0, 119],[28, 242, 300], - [29, 0, 118],[29, 242, 300], - [30, 0, 110],[30, 242, 300], - [31, 0, 109],[31, 244, 265], + [28, 0, 119],[28, 240, 300], + [29, 0, 118],[29, 240, 300], + [30, 0, 110],[30, 240, 300], + [31, 0, 109],[31, 240, 265], [32, 0, 109],[32, 244, 265], [33, 0, 108],[33, 244, 265], [34, 0, 108],[34, 244, 265], diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml index d05dd26f..e170fc15 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_third.param.yaml @@ -31,10 +31,10 @@ [25, 0, 114],[25, 235, 300], [26, 0, 113],[26, 235, 300], [27, 0, 112],[27, 235, 300], - [28, 0, 111],[28, 242, 300], - [29, 0, 110],[29, 242, 300], - [30, 0, 110],[30, 242, 300], - [31, 0, 109],[31, 244, 265], + [28, 0, 119],[28, 240, 300], + [29, 0, 118],[29, 240, 300], + [30, 0, 110],[30, 240, 300], + [31, 0, 109],[31, 240, 265], [32, 0, 109],[32, 244, 265], [33, 0, 108],[33, 244, 265], [34, 0, 108],[34, 244, 265], diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml index f7445d31..4e35d45d 100644 --- a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml +++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_two_third.param.yaml @@ -31,10 +31,10 @@ [25, 0, 114],[25, 235, 300], [26, 0, 113],[26, 235, 300], [27, 0, 112],[27, 235, 300], - [28, 0, 111],[28, 242, 300], - [29, 0, 110],[29, 242, 300], - [30, 0, 110],[30, 242, 300], - [31, 0, 109],[31, 244, 265], + [28, 0, 119],[28, 240, 300], + [29, 0, 118],[29, 240, 300], + [30, 0, 110],[30, 240, 300], + [31, 0, 109],[31, 240, 265], [32, 0, 109],[32, 244, 265], [33, 0, 108],[33, 244, 265], [34, 0, 108],[34, 244, 265], From b7f05c4066cad1af7a73b959660dfba922fa20eb Mon Sep 17 00:00:00 2001 From: kotaro-hihara Date: Thu, 21 Nov 2024 12:02:54 +0900 Subject: [PATCH 5/5] enable self_crop_component --- aip_x2_gen2_launch/launch/nebula_node_container.launch.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py index 264f4182..d228e11c 100644 --- a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py +++ b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py @@ -206,7 +206,7 @@ def str2vector(string): remappings=[ ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), ("~/input/imu", "/sensing/imu/imu_data"), - ("~/input/pointcloud", "pointcloud_raw_ex"), + ("~/input/pointcloud", "self_cropped/pointcloud_ex"), ("~/output/pointcloud", "rectified/pointcloud_ex"), ], parameters=[load_composable_node_param("distortion_corrector_node_param_file")], @@ -274,7 +274,7 @@ def str2vector(string): composable_node_descriptions=[ glog_component, nebula_component, - # self_crop_component, + self_crop_component, # right_mirror_crop_component, # left_mirror_crop_component, undistort_component,