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feat(aip_x2_gen2_launch): use downsample mask filter #394

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merged 6 commits into from
Feb 19, 2025

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kotaro-hihara
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@kotaro-hihara kotaro-hihara commented Feb 18, 2025

nebulaのdownsample_mask filterを使用するためにconfigを設定し直す。 JIRA
ring_section_filterのconfig yamlからconfig imageを生成
対応するnebulaのPR
ベンチ、LSIMで確認
image

@mojomex mojomex changed the title feat(aip_x2_gen2_launch) use downsample mask filter feat(aip_x2_gen2_launch): use downsample mask filter Feb 18, 2025
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X2gen2ベンチで使ってみました、詳細をここでご確認ください。

私のコミットについて

私の変換スクリプトがQTの解像度と合っていないマスクを出力したので、コミットで直しました。
そしてLiDAR launchの間違っているdownsample mask pathがあったので、それも修正しました。

@kotaro-hihara kotaro-hihara force-pushed the feat/use_downsample_mask_filter branch from 78681c8 to d99b258 Compare February 19, 2025 04:57
@TomohitoAndo
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TomohitoAndo commented Feb 19, 2025

nebulaをmainブランチにしてlogging simulatorで動作確認しました。

left_upperのみfilterを変更してみて目視確認

one_third

image

two_thirds

image

full

image

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(設定に問題はなさそうだが、画像だとtwo_thirdsよりone_thirdのほうが濃く見える不思議 🤔 )
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LGTM

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@kotaro-hihara
nebulaの更新も同時に取り込みお願いします 🙏

@kotaro-hihara kotaro-hihara merged commit e01610b into tier4/universe Feb 19, 2025
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@kotaro-hihara kotaro-hihara deleted the feat/use_downsample_mask_filter branch February 19, 2025 11:05
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画像だとtwo_thirdsよりone_thirdのほうが濃く見える

白部分がFOV有効、黒が無効部分で、one_thirdは1/3になるよう2/3削ってる(2/3が黒)ので画像のとおりです 🙇

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3 participants