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refactor(autoware_pointcloud_preprocessor): rework dual return outlier filter parameters #8475
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6795470
feat: rework dual return outlier filter parameters
vividf b03a5c5
chore: fix readme
vividf 17c147f
chore: change launch file name
vividf 9a6d34c
chore: fix type
vividf 1da8e1b
chore: add boundary
vividf efbc23c
chore: change boundary
vividf 72c94dc
Merge branch 'main' into refactor/rework_dual_return_outlier_filter_p…
vividf b122386
chore: fix boundary
vividf 10e77aa
chore: fix json schema
vividf ea0e636
Update sensing/autoware_pointcloud_preprocessor/schema/dual_return_ou…
vividf 0d6b0bf
chore: fix grammar error
vividf 76f9ef6
chore: fix description for weak_first_local_noise_threshold
vividf 498cfd1
Merge branch 'main' into refactor/rework_dual_return_outlier_filter_p…
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19 changes: 19 additions & 0 deletions
19
sensing/autoware_pointcloud_preprocessor/config/dual_return_outlier_filter_node.param.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,19 @@ | ||
| /**: | ||
| ros__parameters: | ||
| x_max: 18.0 | ||
| x_min: -12.0 | ||
| y_max: 2.0 | ||
| y_min: -2.0 | ||
| z_max: 10.0 | ||
| z_min: 0.0 | ||
| min_azimuth_deg: 135.0 | ||
| max_azimuth_deg: 225.0 | ||
| max_distance: 12.0 | ||
| vertical_bins: 128 | ||
| max_azimuth_diff: 50.0 | ||
| weak_first_distance_ratio: 1.004 | ||
| general_distance_ratio: 1.03 | ||
| weak_first_local_noise_threshold: 2 | ||
| roi_mode: "Fixed_xyz_ROI" | ||
| visibility_error_threshold: 0.5 | ||
| visibility_warn_threshold: 0.7 |
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21 changes: 0 additions & 21 deletions
21
sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml
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17 changes: 17 additions & 0 deletions
17
sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| <launch> | ||
| <arg name="input_topic_name" default="/pointcloud"/> | ||
| <arg name="output_topic_name" default="/pointcloud_filtered"/> | ||
| <arg name="input_frame" default=""/> | ||
| <arg name="output_frame" default=""/> | ||
| <arg name="dual_return_outlier_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/dual_return_outlier_filter_node.param.yaml"/> | ||
| <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/> | ||
|
|
||
| <node pkg="autoware_pointcloud_preprocessor" exec="dual_return_outlier_filter_node" name="dual_return_outlier_filter_node"> | ||
| <param from="$(var dual_return_outlier_filter_param_file)"/> | ||
| <param from="$(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> |
146 changes: 146 additions & 0 deletions
146
sensing/autoware_pointcloud_preprocessor/schema/dual_return_outlier_filter_node.schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,146 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Dual Return Outlier Filter Node", | ||
| "type": "object", | ||
| "definitions": { | ||
| "dual_return_outlier_filter": { | ||
| "type": "object", | ||
| "properties": { | ||
| "x_max": { | ||
| "type": "number", | ||
| "description": "Maximum of x in meters for `Fixed_xyz_ROI` mode", | ||
| "default": "18.0" | ||
| }, | ||
| "x_min": { | ||
| "type": "number", | ||
| "description": "Minimum of x in meters for `Fixed_xyz_ROI` mode", | ||
| "default": "-12.0" | ||
| }, | ||
| "y_max": { | ||
| "type": "number", | ||
| "description": "Maximum of y in meters for `Fixed_xyz_ROI` mode", | ||
| "default": "2.0" | ||
| }, | ||
| "y_min": { | ||
| "type": "number", | ||
| "description": "Minimum of y in meters for `Fixed_xyz_ROI` mode", | ||
| "default": "-2.0" | ||
| }, | ||
| "z_max": { | ||
| "type": "number", | ||
| "description": "Maximum of z in meters for `Fixed_xyz_ROI` mode", | ||
| "default": "10.0" | ||
| }, | ||
| "z_min": { | ||
| "type": "number", | ||
| "description": "Minimum of z in meters for `Fixed_xyz_ROI` mode", | ||
| "default": "0.0" | ||
| }, | ||
| "min_azimuth_deg": { | ||
| "type": "number", | ||
| "description": "The left limit of azimuth in degrees for `Fixed_azimuth_ROI` mode", | ||
| "default": "135.0", | ||
| "minimum": 0, | ||
| "maximum": 360 | ||
| }, | ||
| "max_azimuth_deg": { | ||
| "type": "number", | ||
| "description": "The right limit of azimuth in degrees for `Fixed_azimuth_ROI` mode", | ||
| "default": "225.0", | ||
| "minimum": 0, | ||
| "maximum": 360 | ||
| }, | ||
| "max_distance": { | ||
| "type": "number", | ||
| "description": "The limit distance in meters for `Fixed_azimuth_ROI` mode", | ||
| "default": "12.0", | ||
| "minimum": 0 | ||
| }, | ||
| "vertical_bins": { | ||
| "type": "integer", | ||
| "description": "The number of vertical bins for the visibility histogram", | ||
| "default": "128", | ||
| "minimum": 1 | ||
| }, | ||
| "max_azimuth_diff": { | ||
| "type": "number", | ||
| "description": "The azimuth difference threshold in degrees for ring_outlier_filter", | ||
| "default": "50", | ||
| "minimum": 0 | ||
| }, | ||
| "weak_first_distance_ratio": { | ||
| "type": "number", | ||
| "description": "The maximum allowed ratio between consecutive weak point distances", | ||
| "default": "1.004", | ||
| "minimum": 0 | ||
| }, | ||
| "general_distance_ratio": { | ||
| "type": "number", | ||
| "description": "The maximum allowed ratio between consecutive normal point distances", | ||
| "default": "1.03", | ||
| "minimum": 0 | ||
| }, | ||
| "weak_first_local_noise_threshold": { | ||
| "type": "integer", | ||
| "description": "If the number of outliers among weak points is less than the weak_first_local_noise_threshold in the (max_azimuth - min_azimuth) / horizontal_bins interval, all points within the interval will not be filtered out.", | ||
| "default": "2", | ||
| "minimum": 0 | ||
| }, | ||
| "roi_mode": { | ||
| "type": "string", | ||
| "description": "roi mode", | ||
| "default": "Fixed_xyz_ROI", | ||
| "enum": ["Fixed_xyz_ROI", "No_ROI", "Fixed_azimuth_ROI"] | ||
| }, | ||
| "visibility_error_threshold": { | ||
| "type": "number", | ||
| "description": "When the proportion of white pixels in the binary histogram falls below this parameter the diagnostic status becomes ERR", | ||
| "default": "0.5", | ||
| "minimum": 0, | ||
| "maximum": 1 | ||
| }, | ||
| "visibility_warn_threshold": { | ||
| "type": "number", | ||
| "description": "When the proportion of white pixels in the binary histogram falls below this parameter the diagnostic status becomes WARN", | ||
| "default": "0.7", | ||
| "minimum": 0, | ||
| "maximum": 1 | ||
| } | ||
| }, | ||
| "required": [ | ||
| "x_max", | ||
| "x_min", | ||
| "y_max", | ||
| "y_min", | ||
| "z_max", | ||
| "z_min", | ||
| "min_azimuth_deg", | ||
| "max_azimuth_deg", | ||
| "max_distance", | ||
| "vertical_bins", | ||
| "max_azimuth_diff", | ||
| "weak_first_distance_ratio", | ||
| "general_distance_ratio", | ||
| "weak_first_local_noise_threshold", | ||
| "roi_mode", | ||
| "visibility_error_threshold", | ||
| "visibility_warn_threshold" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/dual_return_outlier_filter" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } | ||
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Like I explained before, maybe in another PR, ROS is weak with the difference between floating points and integers.
-> just in case, please keep consistency between floating point representation and integers.
This applies in several places here