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

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6ffc3e6
feat: rework random downsample filter parameter
vividf Aug 15, 2024
5284455
chore: change name
vividf Aug 15, 2024
153c19b
Merge branch 'main' into refactor/rework_random_downsample_filter_par…
knzo25 Aug 19, 2024
9d3fb7f
chore: add explicit cast
vividf Aug 20, 2024
69365fc
Merge branch 'refactor/rework_random_downsample_filter_parameter' of …
vividf Aug 20, 2024
46d6738
Merge branch 'main' into refactor/rework_random_downsample_filter_par…
vividf Aug 26, 2024
0fbd889
Merge branch 'main' into refactor/rework_random_downsample_filter_par…
vividf Sep 12, 2024
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2 changes: 1 addition & 1 deletion sensing/autoware_pointcloud_preprocessor/CMakeLists.txt
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Expand Up @@ -67,7 +67,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
src/time_synchronizer/time_synchronizer_node.cpp
src/crop_box_filter/crop_box_filter_nodelet.cpp
src/downsample_filter/voxel_grid_downsample_filter_node.cpp
src/downsample_filter/random_downsample_filter_nodelet.cpp
src/downsample_filter/random_downsample_filter_node.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
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3 changes: 3 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/random_downsample_filter_node.param.yaml
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@@ -0,0 +1,3 @@
/**:
ros__parameters:
sample_num: 1500
4 changes: 1 addition & 3 deletions sensing/autoware_pointcloud_preprocessor/docs/downsample-filter.md
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Expand Up @@ -44,9 +44,7 @@ These implementations inherit `autoware::pointcloud_preprocessor::Filter` class,

### Random Downsample Filter

| Name | Type | Default Value | Description |
| ------------ | ---- | ------------- | ------------------------------- |
| `sample_num` | int | 1500 | number of indices to be sampled |
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/random_downsample_filter_node.schema.json") }}

### Voxel Grid Downsample Filter

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8 changes: 4 additions & 4 deletions ...lter/random_downsample_filter_nodelet.hpp → ..._filter/random_downsample_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 Down Expand Up @@ -48,8 +48,8 @@
*
*/

#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__RANDOM_DOWNSAMPLE_FILTER_NODELET_HPP_
#define AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__RANDOM_DOWNSAMPLE_FILTER_NODELET_HPP_
#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__RANDOM_DOWNSAMPLE_FILTER_NODE_HPP_
#define AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__RANDOM_DOWNSAMPLE_FILTER_NODE_HPP_

#include "autoware/pointcloud_preprocessor/filter.hpp"

Expand Down Expand Up @@ -81,5 +81,5 @@ class RandomDownsampleFilterComponent : public autoware::pointcloud_preprocessor
} // namespace autoware::pointcloud_preprocessor

// clang-format off
#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__RANDOM_DOWNSAMPLE_FILTER_NODELET_HPP_ // NOLINT
#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__RANDOM_DOWNSAMPLE_FILTER_NODE_HPP_ // NOLINT
// clang-format on
12 changes: 6 additions & 6 deletions ...aunch/random_downsample_filter.launch.xml → .../random_downsample_filter_node.launch.xml
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@@ -1,16 +1,16 @@
<launch>
<arg name="input_topic_name" default="/sensing/lidar/top/pointcloud_raw"/>
<arg name="output_topic_name" default="/sensing/lidar/top/random_downsample_filter/pointcloud"/>

<arg name="sample_num" default="1500"/>
<arg name="input_frame" default=""/>
<arg name="output_frame" default="base_link"/>
<arg name="output_frame" default=""/>
<arg name="random_downsample_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/random_downsample_filter_node.param.yaml"/>
<arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>

<node pkg="autoware_pointcloud_preprocessor" exec="random_downsample_filter_node" name="random_downsample_filter">
<node pkg="autoware_pointcloud_preprocessor" exec="random_downsample_filter_node" name="random_downsample_filter_node">
<param from="$(var random_downsample_filter_param_file)"/>
<param from="$(var filter_param_file)"/>
<remap from="input" to="$(var input_topic_name)"/>
<remap from="output" to="$(var output_topic_name)"/>

<param name="sample_num" value="$(var sample_num)"/>
<param name="input_frame" value="$(var input_frame)"/>
<param name="output_frame" value="$(var output_frame)"/>
</node>
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34 changes: 34 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/schema/random_downsample_filter_node.schema.json
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@@ -0,0 +1,34 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Random Downsample Filter Node",
"type": "object",
"definitions": {
"random_downsample_filter": {
"type": "object",
"properties": {
"sample_num": {
"type": "integer",
"minimum": 0,
"description": "number of indices to be sampled",
"default": "1500"
}
},
"required": ["sample_num"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/random_downsample_filter"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
6 changes: 3 additions & 3 deletions ...lter/random_downsample_filter_nodelet.cpp → ..._filter/random_downsample_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 Down Expand Up @@ -46,7 +46,7 @@
*
*/

#include "autoware/pointcloud_preprocessor/downsample_filter/random_downsample_filter_nodelet.hpp"
#include "autoware/pointcloud_preprocessor/downsample_filter/random_downsample_filter_node.hpp"

#include <vector>

Expand All @@ -58,7 +58,7 @@ RandomDownsampleFilterComponent::RandomDownsampleFilterComponent(
{
// set initial parameters
{
sample_num_ = static_cast<size_t>(declare_parameter("sample_num", 1500));
sample_num_ = static_cast<size_t>(declare_parameter<int64_t>("sample_num"));
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types do no coincide

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

}

using std::placeholders::_1;
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