-
Notifications
You must be signed in to change notification settings - Fork 690
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 ring outlier filte…
…r parameters (#8468) * feat: rework ring outlier parameters Signed-off-by: vividf <[email protected]> * chore: add explicit cast Signed-off-by: vividf <[email protected]> * chore: add boundary Signed-off-by: vividf <[email protected]> * chore: remove filter.param Signed-off-by: vividf <[email protected]> * chore: set default frame Signed-off-by: vividf <[email protected]> * chore: add maximum boundary Signed-off-by: vividf <[email protected]> * chore: boundary to float type Signed-off-by: vividf <[email protected]> --------- Signed-off-by: vividf <[email protected]>
- Loading branch information
Showing
7 changed files
with
165 additions
and
36 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
14 changes: 14 additions & 0 deletions
14
sensing/autoware_pointcloud_preprocessor/config/ring_outlier_filter_node.param.yaml
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 +1,14 @@ | ||
| /**: | ||
| 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 |
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
16 changes: 16 additions & 0 deletions
16
sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter_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 +1,16 @@ | ||
| <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> |
113 changes: 113 additions & 0 deletions
113
sensing/autoware_pointcloud_preprocessor/schema/ring_outlier_filter_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 +1,113 @@ | ||
| { | ||
| "$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": 0.0 | ||
| }, | ||
| "object_length_threshold": { | ||
| "type": "number", | ||
| "description": "object_length_threshold", | ||
| "default": "0.1", | ||
| "minimum": 0.0 | ||
| }, | ||
| "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": 0.0 | ||
| }, | ||
| "max_azimuth_deg": { | ||
| "type": "number", | ||
| "description": "The right limit of azimuth for visibility score calculation", | ||
| "default": "360.0", | ||
| "minimum": 0.0, | ||
| "maximum": 360.0 | ||
| }, | ||
| "max_distance": { | ||
| "type": "number", | ||
| "description": "The limit distance for visibility score calculation", | ||
| "default": "12.0", | ||
| "minimum": 0.0 | ||
| }, | ||
| "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", | ||
| "minimum": 0 | ||
| } | ||
| }, | ||
| "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 | ||
| } |
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