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refactor(autoware_pointcloud_preprocessor): rework random downsample filter parameters #8485

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merged 7 commits into from
Sep 12, 2024
Merged

refactor(autoware_pointcloud_preprocessor): rework random downsample filter parameters #8485

merged 7 commits into from
Sep 12, 2024

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vividf
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@vividf vividf commented Aug 15, 2024 •
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Description

This PR includes the following changes

  1. Remove the default parameters for the random downsample filter node.
  2. Add parameter, launch file, and parameters schema for the node.
  3. Change the name nodelet to node.

A big thank you to @Ariiees for the PRs (#8297 and #7422), where we worked together on the entire pointcloud preprocessor parameters, launch file, and schema.

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Parent Issue:

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How was this PR tested?

ros2 launch autoware_pointcloud_preprocessor random_downsample_filter_node.launch.xml

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

@vividf
feat: rework random downsample filter parameter
6ffc3e6 
Signed-off-by: vividf <yihsiang.fang@tier4.jp>
@vividf
chore: change name
5284455 
Signed-off-by: vividf <yihsiang.fang@tier4.jp>
@vividf vividf self-assigned this Aug 15, 2024
@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) labels Aug 15, 2024
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github-actions bot commented Aug 15, 2024 •
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

@vividf vividf added tag:deploy-docs Mark for deploy-docs action generation. (used-by-ci) tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) type:documentation Creating or refining documentation. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) and removed type:documentation Creating or refining documentation. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) labels Aug 15, 2024
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Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-8485/
Modified URLs:

@vividf vividf changed the title feat: rework random downsample filter parameter refactor(autoware_pointcloud_preprocessor): rework random downsample filter parameters Aug 15, 2024
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codecov bot commented Aug 15, 2024 •
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Codecov Report

Attention: Patch coverage is 0% with 1 line in your changes missing coverage. Please review.

Project coverage is 23.78%. Comparing base (6860be8) to head (0fbd889).
Report is 2 commits behind head on main.

Files with missing lines Patch % Lines
...ownsample_filter/random_downsample_filter_node.cpp 0.00% 1 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #8485      +/-   ##
==========================================
- Coverage   27.84%   23.78%   -4.06%     
==========================================
  Files        1324     1413      +89     
  Lines       98838   103175    +4337     
  Branches    39680    39599      -81     
==========================================
- Hits        27523    24542    -2981     
- Misses      71281    76275    +4994     
- Partials       34     2358    +2324
Flag Coverage Δ *Carryforward flag
differential 21.57% <0.00%> (?)
total 23.91% <ø> (-3.94%) ⬇️ Carriedforward from 46d6738

*This pull request uses carry forward flags. Click here to find out more.

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knzo25
knzo25 reviewed Aug 19, 2024
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...ing/autoware_pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_node.cpp
@@ -58,7 +58,7 @@ RandomDownsampleFilterComponent::RandomDownsampleFilterComponent(
{
// set initial parameters
{
sample_num_ = static_cast<size_t>(declare_parameter("sample_num", 1500));
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types do no coincide

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@vividf vividf Aug 20, 2024 •
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@knzo25 thanks! However, declare_parameter<size_t> doesn't work for ros2 parameter. (compile will failed)
image

reference: https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/parameters/

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Same reply as other PRs

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@vividf vividf Aug 20, 2024 •
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Thanks! Fixed in 9d3fb7f

knzo25
knzo25 requested changes Aug 19, 2024
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Just one data type-related comment

@vividf
chore: add explicit cast
9d3fb7f 
Signed-off-by: vividf <yihsiang.fang@tier4.jp>
@vividf
Merge branch 'refactor/rework_random_downsample_filter_parameter' of …
69365fc 
…github.com:vividf/autoware.universe into refactor/rework_random_downsample_filter_parameter
@vividf vividf requested a review from knzo25 August 20, 2024 08:15
This was referenced Aug 20, 2024
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vividf commented Aug 20, 2024

PRs that need an additional cast for variables:

  1. refactor(autoware_pointcloud_preprocessor): rework pointcloud accumulator parameters  #8487
  2. refactor(autoware_pointcloud_preprocessor): rework random downsample filter parameters #8485
  3. refactor(autoware_pointcloud_preprocessor): rework radius search 2d outlier filter parameters #8474
  4. refactor(autoware_pointcloud_preprocessor): rework filter parameters  #8469
  5. refactor(autoware_pointcloud_preprocessor): rework ring outlier filter parameters #8468

This was referenced Aug 20, 2024
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vividf commented Sep 3, 2024

@knzo25 kindly ping

knzo25
knzo25 approved these changes Sep 11, 2024
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LGTM

@vividf vividf enabled auto-merge (squash) September 12, 2024 13:06
@vividf vividf merged commit c44343b into autowarefoundation:main Sep 12, 2024
31 of 32 checks passed
batuhanbeytekin pushed a commit to batuhanbeytekin/autoware.universe that referenced this pull request Sep 12, 2024
@vividf @knzo25 @batuhanbeytekin
refactor(autoware_pointcloud_preprocessor): rework random downsample …
7a45b38 
…filter parameters (autowarefoundation#8485)

* feat: rework random downsample filter parameter

Signed-off-by: vividf <yihsiang.fang@tier4.jp>

* chore: change name

Signed-off-by: vividf <yihsiang.fang@tier4.jp>

* chore: add explicit cast

Signed-off-by: vividf <yihsiang.fang@tier4.jp>

---------

Signed-off-by: vividf <yihsiang.fang@tier4.jp>
Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com>
batuhanbeytekin pushed a commit to batuhanbeytekin/autoware.universe that referenced this pull request Sep 12, 2024
@vividf @knzo25 @batuhanbeytekin
refactor(autoware_pointcloud_preprocessor): rework random downsample …
f7d66c9 
…filter parameters (autowarefoundation#8485)

* feat: rework random downsample filter parameter

Signed-off-by: vividf <yihsiang.fang@tier4.jp>

* chore: change name

Signed-off-by: vividf <yihsiang.fang@tier4.jp>

* chore: add explicit cast

Signed-off-by: vividf <yihsiang.fang@tier4.jp>

---------

Signed-off-by: vividf <yihsiang.fang@tier4.jp>
Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com>
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