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refactor(autoware_pointcloud_preprocessor): rework ring outlier filter parameters #8468

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refactor(autoware_pointcloud_preprocessor): rework ring outlier filter parameters #8468

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8993b7f
feat: rework ring outlier parameters
vividf Aug 14, 2024
21dc9d4
chore: add explicit cast
vividf Aug 20, 2024
efb43da
chore: add boundary
vividf Aug 20, 2024
f511fc2
chore: remove filter.param
vividf Aug 20, 2024
dda8dd7
Merge branch 'main' into refactor/rework_ring_outlier_parameter
vividf Aug 26, 2024
0b095d2
Merge branch 'main' into refactor/rework_ring_outlier_parameter
vividf Aug 27, 2024
ae97c01
Merge branch 'autowarefoundation:main' into refactor/rework_ring_outl…
vividf Aug 28, 2024
137b546
chore: set default frame
vividf Aug 29, 2024
7d2f3dd
Merge branch 'main' into refactor/rework_ring_outlier_parameter
vividf Sep 9, 2024
5d394e7
Merge branch 'main' into refactor/rework_ring_outlier_parameter
vividf Sep 10, 2024
cd0be8e
chore: add maximum boundary
vividf Sep 10, 2024
1a1ecf9
Merge branch 'main' into refactor/rework_ring_outlier_parameter
vividf Sep 19, 2024
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2 changes: 1 addition & 1 deletion sensing/autoware_pointcloud_preprocessor/CMakeLists.txt
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Expand Up @@ -70,7 +70,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
src/downsample_filter/random_downsample_filter_nodelet.cpp
src/downsample_filter/approximate_downsample_filter_nodelet.cpp
src/downsample_filter/pickup_based_voxel_grid_downsample_filter.cpp
src/outlier_filter/ring_outlier_filter_nodelet.cpp
src/outlier_filter/ring_outlier_filter_node.cpp
src/outlier_filter/radius_search_2d_outlier_filter_node.cpp
src/outlier_filter/voxel_grid_outlier_filter_node.cpp
src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
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14 changes: 14 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/ring_outlier_filter_node.param.yaml
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@@ -0,0 +1,14 @@
/**:
ros__parameters:
distance_ratio: 1.03
object_length_threshold: 0.1
num_points_threshold: 4
max_rings_num: 128
max_points_num_per_ring: 4000
publish_outlier_pointcloud: false
min_azimuth_deg: 0.0
max_azimuth_deg: 360.0
max_distance: 12.0
vertical_bins: 128
horizontal_bins: 36
noise_threshold: 2
15 changes: 1 addition & 14 deletions sensing/autoware_pointcloud_preprocessor/docs/ring-outlier-filter.md
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Expand Up @@ -56,20 +56,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,

### Core Parameters

| Name | Type | Default Value | Description |
| ---------------------------- | ------- | ------------- | ----------------------------------------------------------------------------------------------------------------------------- |
| `distance_ratio` | double | 1.03 | |
| `object_length_threshold` | double | 0.1 | |
| `num_points_threshold` | int | 4 | |
| `max_rings_num` | uint_16 | 128 | |
| `max_points_num_per_ring` | size_t | 4000 | Set this value large enough such that `HFoV / resolution < max_points_num_per_ring` |
| `publish_outlier_pointcloud` | bool | false | Flag to publish outlier pointcloud and visibility score. Due to performance concerns, please set to false during experiments. |
| `min_azimuth_deg` | float | 0.0 | The left limit of azimuth for visibility score calculation |
| `max_azimuth_deg` | float | 360.0 | The right limit of azimuth for visibility score calculation |
| `max_distance` | float | 12.0 | The limit distance for visibility score calculation |
| `vertical_bins` | int | 128 | The number of vertical bin for visibility histogram |
| `horizontal_bins` | int | 36 | The number of horizontal bin for visibility histogram |
| `noise_threshold` | int | 2 | The threshold value for distinguishing noise from valid points in the frequency image |
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/ring_outlier_filter_node.schema.json") }} |

## Assumptions / Known limits

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8 changes: 4 additions & 4 deletions ...er_filter/ring_outlier_filter_nodelet.hpp → ...tlier_filter/ring_outlier_filter_node.hpp
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@@ -1,4 +1,4 @@
// Copyright 2020 Tier IV, Inc.
// Copyright 2024 TIER IV, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand All @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODELET_HPP_
#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODELET_HPP_
#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODE_HPP_
#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODE_HPP_

#include "autoware/pointcloud_preprocessor/filter.hpp"
#include "autoware/pointcloud_preprocessor/transform_info.hpp"
Expand Down Expand Up @@ -108,4 +108,4 @@ class RingOutlierFilterComponent : public autoware::pointcloud_preprocessor::Fil
};

} // namespace autoware::pointcloud_preprocessor
#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODELET_HPP_
#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODE_HPP_
16 changes: 16 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml
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@@ -0,0 +1,16 @@
<launch>
<arg name="input_topic_name" default="/sensing/lidar/top/pointcloud_raw_ex"/>
<arg name="output_topic_name" default="/sensing/lidar/top/pointcloud_ring_filtered"/>
<arg name="input_frame" default=""/>
<arg name="output_frame" default=""/>
<arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
<arg name="ring_outlier_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/ring_outlier_filter_node.param.yaml"/>
<node pkg="autoware_pointcloud_preprocessor" exec="ring_outlier_filter_node" name="ring_outlier_filter_node">
<param from="$(var ring_outlier_filter_param_file)"/>
<param from="$(var filter_param_file)"/>
<remap from="input" to="$(var input_topic_name)"/>
<remap from="output" to="$(var output_topic_name)"/>
<param name="input_frame" value="$(var input_frame)"/>
<param name="output_frame" value="$(var output_frame)"/>
</node>
</launch>
112 changes: 112 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/schema/ring_outlier_filter_node.schema.json
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@@ -0,0 +1,112 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Ring Outlier Filter Node",
"type": "object",
"definitions": {
"ring_outlier_filter": {
"type": "object",
"properties": {
"distance_ratio": {
"type": "number",
"description": "distance_ratio",
"default": "1.03",
"minimum": 0
},
"object_length_threshold": {
"type": "number",
"description": "object_length_threshold",
"default": "0.1",
"minimum": 0
},
"num_points_threshold": {
"type": "integer",
"description": "num_points_threshold",
"default": "4",
"minimum": 0
},
"max_rings_num": {
"type": "integer",
"description": "max_rings_num",
"default": "128",
"minimum": 1
},
"max_points_num_per_ring": {
"type": "integer",
"description": "Set this value large enough such that HFoV / resolution < max_points_num_per_ring",
"default": "4000",
"minimum": 0
},
"publish_outlier_pointcloud": {
"type": "boolean",
"description": "Flag to publish outlier pointcloud and visibility score. Due to performance concerns, please set to false during experiments.",
"default": "false"
},
"min_azimuth_deg": {
"type": "number",
"description": "The left limit of azimuth for visibility score calculation",
"default": "0.0",
"minimum": 0
},
"max_azimuth_deg": {
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"type": "number",
"description": "The right limit of azimuth for visibility score calculation",
"default": "360.0",
"minimum": 0,
"maximum": 360
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I do not how schema handles this, but ROS2 is quite squeamish about how it parses ints and floats differently.

-> 360.0

Also, some numbers are between commas and other not. Which is the correct version? Make it consistent

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@knzo25 Thanks for the review. For the default value, from Amadeusz's suggestion, assigning the default values as strings will pass the number precisely.

Minimum and maximum values do not accept commas. Also, from the website examples and by testing local, 360 and 360.0 are the same (as they are just checking for the boundary but not related to ros2 parsing?)

},
"max_distance": {
"type": "number",
"description": "The limit distance for visibility score calculation",
"default": "12.0",
"minimum": 0
},
"vertical_bins": {
"type": "integer",
"description": "The number of vertical bin for visibility histogram",
"default": "128",
"minimum": 1
},
"horizontal_bins": {
"type": "integer",
"description": "The number of horizontal bin for visibility histogram",
"default": "36",
"minimum": 1
},
"noise_threshold": {
"type": "integer",
"description": "The threshold value for distinguishing noise from valid points in the frequency image",
"default": "2"
}
},
"required": [
"distance_ratio",
"object_length_threshold",
"num_points_threshold",
"max_rings_num",
"max_points_num_per_ring",
"publish_outlier_pointcloud",
"min_azimuth_deg",
"max_azimuth_deg",
"max_distance",
"vertical_bins",
"horizontal_bins",
"noise_threshold"
],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/ring_outlier_filter"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
33 changes: 16 additions & 17 deletions ...er_filter/ring_outlier_filter_nodelet.cpp → ...tlier_filter/ring_outlier_filter_node.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2020 Tier IV, Inc.
// Copyright 2024 TIER IV, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand All @@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp"
#include "autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp"

#include "autoware_point_types/types.hpp"

Expand Down Expand Up @@ -47,22 +47,21 @@ RingOutlierFilterComponent::RingOutlierFilterComponent(const rclcpp::NodeOptions

// set initial parameters
{
distance_ratio_ = static_cast<double>(declare_parameter("distance_ratio", 1.03));
object_length_threshold_ =
static_cast<double>(declare_parameter("object_length_threshold", 0.1));
num_points_threshold_ = static_cast<int>(declare_parameter("num_points_threshold", 4));
max_rings_num_ = static_cast<uint16_t>(declare_parameter("max_rings_num", 128));
distance_ratio_ = declare_parameter<double>("distance_ratio");
object_length_threshold_ = declare_parameter<double>("object_length_threshold");
num_points_threshold_ = declare_parameter<int>("num_points_threshold");
max_rings_num_ = static_cast<uint16_t>(declare_parameter<int64_t>("max_rings_num"));
max_points_num_per_ring_ =
static_cast<size_t>(declare_parameter("max_points_num_per_ring", 4000));
publish_outlier_pointcloud_ =
static_cast<bool>(declare_parameter("publish_outlier_pointcloud", false));

min_azimuth_deg_ = static_cast<float>(declare_parameter("min_azimuth_deg", 0.0));
max_azimuth_deg_ = static_cast<float>(declare_parameter("max_azimuth_deg", 360.0));
max_distance_ = static_cast<float>(declare_parameter("max_distance", 12.0));
vertical_bins_ = static_cast<int>(declare_parameter("vertical_bins", 128));
horizontal_bins_ = static_cast<int>(declare_parameter("horizontal_bins", 36));
noise_threshold_ = static_cast<int>(declare_parameter("noise_threshold", 2));
static_cast<size_t>(declare_parameter<int64_t>("max_points_num_per_ring"));

publish_outlier_pointcloud_ = declare_parameter<bool>("publish_outlier_pointcloud");

min_azimuth_deg_ = declare_parameter<float>("min_azimuth_deg");
max_azimuth_deg_ = declare_parameter<float>("max_azimuth_deg");
max_distance_ = declare_parameter<float>("max_distance");
vertical_bins_ = declare_parameter<int>("vertical_bins");
horizontal_bins_ = declare_parameter<int>("horizontal_bins");
noise_threshold_ = declare_parameter<int>("noise_threshold");
}

using std::placeholders::_1;
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