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fix: add downsample_after concat #175

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fix: add downsample_after concat #175

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fe1358f
fix: add downsample_after concat
badai-nguyen Sep 25, 2023
4554351
fix: add downsample_after concat for xx1
badai-nguyen Sep 28, 2023
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23 changes: 21 additions & 2 deletions aip_x2_launch/launch/pointcloud_preprocessor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ def launch_setup(context, *args, **kwargs):
name="concatenate_data",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
("output", "concatenated/pointcloud"),
("output", "concatenated/pointcloud_raw"),
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concatenated/pointcloud_raw sounds very weird.
The topic name should represent its status, I think. So, it should be something like concatenated/pointcloud -> concatenated/downsampled/pointcloud.

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@badai-nguyen badai-nguyen Oct 1, 2023 •
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@miursh thank you for your comment. My intention is want to keep using concatenated/pointcloud input for perception including centerpoint, ground_segmentation, etc.
Currently we have 2 options:

  1. Keep output of pointcloud_preprocessor as concatenated/pointcloud and change concatenated/pointcloud_raw -> some more understandable name. For example concatenated/before_downsampled/pointcloud?
  2. Change output of pointcloud_preprocessor and all input perception module to concatenated/downsampled/pointcloud
    I currently prefer to 1) but of course I can change as 2) as your opinion.

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I prefer another option.
Since I don't want to change the interface between sensing and perception, the output of sensing module should be concatenated/pointcloud.
And if you want to apply donwsampling before perception, you should add a donwsampling node in /perception namespace.
BTW, if you change the input point of centerpoint, I want to know that this change does not have much effects on the perception result.

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@miursh Thank you for your comment, Since I am going to add the downsampling before common_ground_filter in perception (tier4/autoware.universe@bc48f9e) , it will not affect on centerpoint input and this PR is unnecessary. I will close this.

],
parameters=[
{
Expand All @@ -55,6 +55,24 @@ def launch_setup(context, *args, **kwargs):
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

concat_downsample = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
name="voxel_grid_downsample_filter",
remappings=[
("input", "concatenated/pointcloud_raw"),
("output", "concatenated/pointcloud"),
],
parameters=[
{
"voxel_size_x": LaunchConfiguration("voxel_size"),
"voxel_size_y": LaunchConfiguration("voxel_size"),
"voxel_size_z": LaunchConfiguration("voxel_size"),
}
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

# set container to run all required components in the same process
container = ComposableNodeContainer(
name=LaunchConfiguration("container_name"),
Expand All @@ -74,7 +92,7 @@ def launch_setup(context, *args, **kwargs):

# load concat or passthrough filter
concat_loader = LoadComposableNodes(
composable_node_descriptions=[concat_component],
composable_node_descriptions=[concat_component, concat_downsample],
target_container=target_container,
condition=IfCondition(LaunchConfiguration("use_concat_filter")),
)
Expand All @@ -93,6 +111,7 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("use_intra_process", "True")
add_launch_arg("use_pointcloud_container", "False")
add_launch_arg("container_name", "pointcloud_preprocessor_container")
add_launch_arg("voxel_size", "0.1")

set_container_executable = SetLaunchConfiguration(
"container_executable",
Expand Down
23 changes: 21 additions & 2 deletions aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ def launch_setup(context, *args, **kwargs):
name="concatenate_data",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
("output", "concatenated/pointcloud"),
("output", "concatenated/pointcloud_raw"),
],
parameters=[
{
Expand All @@ -56,6 +56,24 @@ def launch_setup(context, *args, **kwargs):
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

concat_downsample = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
name="voxel_grid_downsample_filter",
remappings=[
("input", "concatenated/pointcloud_raw"),
("output", "concatenated/pointcloud"),
],
parameters=[
{
"voxel_size_x": LaunchConfiguration("voxel_size"),
"voxel_size_y": LaunchConfiguration("voxel_size"),
"voxel_size_z": LaunchConfiguration("voxel_size"),
}
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

# set container to run all required components in the same process
container = ComposableNodeContainer(
name=LaunchConfiguration("container_name"),
Expand All @@ -75,7 +93,7 @@ def launch_setup(context, *args, **kwargs):

# load concat or passthrough filter
concat_loader = LoadComposableNodes(
composable_node_descriptions=[concat_component],
composable_node_descriptions=[concat_component, concat_downsample],
target_container=target_container,
condition=IfCondition(LaunchConfiguration("use_concat_filter")),
)
Expand All @@ -94,6 +112,7 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("use_intra_process", "False")
add_launch_arg("use_pointcloud_container", "False")
add_launch_arg("container_name", "pointcloud_preprocessor_container")
add_launch_arg("voxel_size", "0.1")

set_container_executable = SetLaunchConfiguration(
"container_executable",
Expand Down