Add fov inside/outside analysis #4
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yaisa5ramirez wants to merge 2 commits intojazzyfrom
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Objective: Add fov analysis for every observation in the tile map.
Main changes:
New variables to include in the nav2_params:
camera_horizontal_fov: 1.52 #default in code too
camera_vertical_fov: 1.01 # default in code too
camera_min_dist: 1.5 # Near clipping plane of the frustum (meters)
camera_max_dist: 5.0 # Far clipping plane, aligned with max_obstacle_distance
fov_decay_time: 3.0 # Decay time (s) for tiles inside the FOV. -1 = use tile_map_decay_time
outside_fov_decay_time: 7.0 # Decay time (s) for tiles outside the FOV. -1 = disabled (uniform decay)
Documentation: https://www.notion.so/kiwi/Semantic-segmentation-improvements-cliff-detection-project-3185e4da9a1c80a1840af635477a28b6