feat(probabilistic_occupancy_grid_map): add downsample filter option to ogm creation (#962)

* feat(probabilistic_occupancy_grid_map): add downsample filter option to ogm creation

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* chore: do not use pointcloud filter when downsample is true

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* Update autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

---------

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

Author: YoshiRi

autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml

@@ -12,6 +12,10 @@
         map_length_x: 150.0 # [m]
         map_length_y: 150.0 # [m]
 
+      # downsample input pointcloud
+      downsample_input_pointcloud: true
+      downsample_voxel_size: 0.25 # [m]
+
       # each grid map parameters
       ogm_creation_config:
         height_filter:
@@ -20,7 +24,7 @@
           max_height: 2.0
         enable_single_frame_mode: true
         # use sensor pointcloud to filter obstacle pointcloud
-        filter_obstacle_pointcloud_by_raw_pointcloud: true
+        filter_obstacle_pointcloud_by_raw_pointcloud: false
 
         grid_map_type: "OccupancyGridMapFixedBlindSpot"
         OccupancyGridMapFixedBlindSpot:

autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml

@@ -8,6 +8,10 @@
       min_height: -1.0
       max_height: 2.0
 
+    # downsample input pointcloud
+    downsample_input_pointcloud: true
+    downsample_voxel_size: 0.125 # [m]
+
     enable_single_frame_mode: false
     # use sensor pointcloud to filter obstacle pointcloud
     filter_obstacle_pointcloud_by_raw_pointcloud: false