interpolation_config.yaml

lidar_interpolation_node:
  ros__parameters:
    lidar:
      max_range: 1e308 # Maximum range filtering (meters)
      min_range: 0.0    # Minimum range filtering (meters)
      
    range_image:
      angular_resolution_x: 0.25  # Angular resolution in the X direction (degrees)
      angular_resolution_y: 2.05  # Angular resolution in the Y direction (degrees)
      max_angle_width: 360.0     # Maximum angular width of the range image (degrees)
      max_angle_height: 180.0    # Maximum angular height of the range image (degrees)
      min_angle_fov: 0.0      # Minimum angle for the field of view (degrees) [default is -90]
      max_angle_fov: 360.0       # Maximum angle for the field of view (degrees) [default is +90]
    
    interpolation:
      method: "linear"                   # Interpolation method (linear, nearest, bilateral, edgeAware, or spline)
                                            # - "linear" uses bilinear interpolation to smoothly scale values.
                                            # - "nearest" uses nearest neighbor interpolation for simpler, faster calculations.
                                            # - "bilateral" uses bilateral interpolation for noise reduction while preserving edges.
                                            # - "edgeAware" enhances edge preservation while interpolating, focusing on boundaries.
                                            # - "spline" uses cubic spline interpolation for smooth transitions between points.

      scale_factor_x: 1.0         # Scale factor for the point cloud enlargement
      scale_factor_y: 1.0        # Scale factor for the point cloud enlargement
      interpolation_max_var: 50.0             # Maximum allowed variance for filtering in the interpolation process
      apply_variance_filter: false # Maximum allowed variance for filtering in the interpolation process
      rotation_angle_x: 0.0      # Rotation angle around the X axis (degrees)
      extrapolation_value: "NaN"    # Value to use when extrapolating outside the range (NaN by default)
      sensor_translation: [0.0, 0.0, 0.0]  # Translation of the sensor (in 3D space)
      
    
    topics:
      lidar_topic: "velodyne_points"          # Input topic for lidar data
      interpolated_point_cloud_topic: "interpolated_point_cloud"  # Output topic for the interpolated point cloud data
    
    processing:
      filter_pc: false # Filter the interpolated point cloud with Statistical Outlier Removal