-
Notifications
You must be signed in to change notification settings - Fork 630
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
refactor(autoware_pointcloud_preprocessor): rework blockage diag para…
…meters (#8488) * feat: rework blockage diag parameters Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix readme Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix schema description Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: add boundary for schema Signed-off-by: vividf <yihsiang.fang@tier4.jp> --------- Signed-off-by: vividf <yihsiang.fang@tier4.jp>
- Loading branch information
Showing
8 changed files
with
181 additions
and
43 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
18 changes: 0 additions & 18 deletions
18
sensing/autoware_pointcloud_preprocessor/launch/blockage_diag.launch.xml
This file was deleted.
Oops, something went wrong.
10 changes: 10 additions & 0 deletions
10
sensing/autoware_pointcloud_preprocessor/launch/blockage_diag_node.launch.xml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| <launch> | ||
| <arg name="input_topic_name" default="pointcloud_raw_ex"/> | ||
| <arg name="output_topic_name" default="blockage_diag/pointcloud"/> | ||
| <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/blockage_diag_node.param.yaml"/> | ||
| <node pkg="autoware_pointcloud_preprocessor" exec="blockage_diag_node" name="blockage_diag_node"> | ||
| <remap from="input" to="$(var input_topic_name)"/> | ||
| <remap from="output" to="$(var output_topic_name)"/> | ||
| <param from="$(var blockage_diagnostics_param_file)"/> | ||
| </node> | ||
| </launch> |
159 changes: 159 additions & 0 deletions
159
sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,159 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Blockage Diag Node", | ||
| "type": "object", | ||
| "definitions": { | ||
| "blockage_diag": { | ||
| "type": "object", | ||
| "properties": { | ||
| "blockage_ratio_threshold": { | ||
| "type": "number", | ||
| "description": "The threshold of blockage area ratio. If the blockage value exceeds this threshold, the diagnostic state will be set to ERROR.", | ||
| "default": "0.1", | ||
| "minimum": 0 | ||
| }, | ||
| "blockage_count_threshold": { | ||
| "type": "number", | ||
| "description": "The threshold of number continuous blockage frames", | ||
| "default": "50", | ||
| "minimum": 0 | ||
| }, | ||
| "blockage_buffering_frames": { | ||
| "type": "integer", | ||
| "description": "The number of buffering about blockage detection [range:1-200]", | ||
| "default": "2", | ||
| "minimum": 1, | ||
| "maximum": 200 | ||
| }, | ||
| "blockage_buffering_interval": { | ||
| "type": "integer", | ||
| "description": "The interval of buffering about blockage detection", | ||
| "default": "1", | ||
| "minimum": 0 | ||
| }, | ||
| "enable_dust_diag": { | ||
| "type": "boolean", | ||
| "description": "enable dust diagnostic", | ||
| "default": "false" | ||
| }, | ||
| "publish_debug_image": { | ||
| "type": "boolean", | ||
| "description": "publish debug image", | ||
| "default": "false" | ||
| }, | ||
| "dust_ratio_threshold": { | ||
| "type": "number", | ||
| "description": "The threshold of dusty area ratio", | ||
| "default": "0.2", | ||
| "minimum": 0 | ||
| }, | ||
| "dust_count_threshold": { | ||
| "type": "integer", | ||
| "description": "The threshold of number continuous frames include dusty area", | ||
| "default": "10", | ||
| "minimum": 0 | ||
| }, | ||
| "dust_kernel_size": { | ||
| "type": "integer", | ||
| "description": "The kernel size of morphology processing in dusty area detection", | ||
| "default": "2", | ||
| "minimum": 0 | ||
| }, | ||
| "dust_buffering_frames": { | ||
| "type": "integer", | ||
| "description": "The number of buffering about dusty area detection [range:1-200]", | ||
| "default": "10", | ||
| "minimum": 1, | ||
| "maximum": 200 | ||
| }, | ||
| "dust_buffering_interval": { | ||
| "type": "integer", | ||
| "description": "The interval of buffering about dusty area detection", | ||
| "default": "1", | ||
| "minimum": 0 | ||
| }, | ||
| "max_distance_range": { | ||
| "type": "number", | ||
| "description": "Maximum view range for the LiDAR", | ||
| "default": "200.0", | ||
| "minimum": 0 | ||
| }, | ||
| "horizontal_resolution": { | ||
| "type": "number", | ||
| "description": "The horizontal resolution of depth map image [deg/pixel]", | ||
| "default": "0.4", | ||
| "minimum": 0 | ||
| }, | ||
| "blockage_kernel": { | ||
| "type": "integer", | ||
| "description": "The kernel size of morphology processing the detected blockage area", | ||
| "default": "10", | ||
| "minimum": 0 | ||
| }, | ||
| "angle_range": { | ||
| "type": "array", | ||
| "description": "The effective range of LiDAR", | ||
| "minItems": 2, | ||
| "maxItems": 2, | ||
| "items": { | ||
| "type": "number", | ||
| "minimum": 0.0, | ||
| "maximum": 360.0 | ||
| } | ||
| }, | ||
| "vertical_bins": { | ||
| "type": "integer", | ||
| "description": "The LiDAR channel", | ||
| "default": "40", | ||
| "minimum": 0 | ||
| }, | ||
| "is_channel_order_top2down": { | ||
| "type": "boolean", | ||
| "description": "If the lidar channels are indexed from top to down", | ||
| "default": "true" | ||
| }, | ||
| "horizontal_ring_id": { | ||
| "type": "integer", | ||
| "description": "The id of horizontal ring of the LiDAR", | ||
| "default": "18", | ||
| "minimum": 0 | ||
| } | ||
| }, | ||
| "required": [ | ||
| "blockage_ratio_threshold", | ||
| "blockage_count_threshold", | ||
| "blockage_buffering_frames", | ||
| "blockage_buffering_interval", | ||
| "enable_dust_diag", | ||
| "publish_debug_image", | ||
| "dust_ratio_threshold", | ||
| "dust_count_threshold", | ||
| "dust_kernel_size", | ||
| "dust_buffering_frames", | ||
| "dust_buffering_interval", | ||
| "max_distance_range", | ||
| "horizontal_resolution", | ||
| "blockage_kernel", | ||
| "angle_range", | ||
| "vertical_bins", | ||
| "is_channel_order_top2down", | ||
| "horizontal_ring_id" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/blockage_diag" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters