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fix(blockage_diag): add dust detection enable option pr5932+6645 #1218

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Apr 1, 2024
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fix(blockage_diag): add dust detection enable option pr5932+6645 #1218

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ce8758e
refactor(pointcloud_preprocessor): blockage_diag (#5932)
badai-nguyen Feb 27, 2024
afff942
chore(blockage_diag): add dust diagnostic option param (#6645)
badai-nguyen Mar 29, 2024
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1 change: 1 addition & 0 deletions sensing/pointcloud_preprocessor/CMakeLists.txt
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Expand Up @@ -211,6 +211,7 @@ ament_export_targets(export_${PROJECT_NAME})

ament_auto_package(INSTALL_TO_SHARE
launch
config
)


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16 changes: 16 additions & 0 deletions sensing/pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml
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@@ -0,0 +1,16 @@
/**:
ros__parameters:
blockage_ratio_threshold: 0.1
blockage_count_threshold: 50
blockage_buffering_frames: 2
blockage_buffering_interval: 1
enable_dust_diag: false
publish_debug_image: false
dust_ratio_threshold: 0.2
dust_count_threshold: 10
dust_kernel_size: 2
dust_buffering_frames: 10
dust_buffering_interval: 1
max_distance_range: 200.0
horizontal_resolution: 0.4
blockage_kernel: 10
5 changes: 4 additions & 1 deletion sensing/pointcloud_preprocessor/docs/blockage_diag.md
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Expand Up @@ -58,14 +58,17 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref
| `horizontal_ring_id` | int | The id of horizontal ring of the LiDAR |
| `angle_range` | vector | The effective range of LiDAR |
| `vertical_bins` | int | The LiDAR channel number |
| `model` | string | The LiDAR model |
| `is_channel_order_top2down` | bool | If the lidar channels are indexed from top to down |
| `blockage_buffering_frames` | int | The number of buffering about blockage detection [range:1-200] |
| `blockage_buffering_interval` | int | The interval of buffering about blockage detection |
| `dust_ratio_threshold` | float | The threshold of dusty area ratio |
| `dust_count_threshold` | int | The threshold of number continuous frames include dusty area |
| `blockage_kernel` | int | The kernel size of morphology processing the detected blockage area |
| `dust_kernel_size` | int | The kernel size of morphology processing in dusty area detection |
| `dust_buffering_frames` | int | The number of buffering about dusty area detection [range:1-200] |
| `dust_buffering_interval` | int | The interval of buffering about dusty area detection |
| `max_distance_range` | double | Maximum view range for the LiDAR |
| `horizontal_resolution` | double | The horizontal resolution of depth map image [deg/pixel] |

## Assumptions / Known limits

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10 changes: 9 additions & 1 deletion ...loud_preprocessor/include/pointcloud_preprocessor/blockage_diag/blockage_diag_nodelet.hpp
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Expand Up @@ -33,6 +33,8 @@
#include <cv_bridge/cv_bridge.h>
#endif

#include <boost/circular_buffer.hpp>

#include <string>
#include <vector>

Expand Down Expand Up @@ -80,15 +82,21 @@ class BlockageDiagComponent : public pointcloud_preprocessor::Filter
int ground_blockage_count_ = 0;
int sky_blockage_count_ = 0;
int blockage_count_threshold_;
std::string lidar_model_;
bool is_channel_order_top2down_;
int blockage_buffering_frames_;
int blockage_buffering_interval_;
bool enable_dust_diag_;
bool publish_debug_image_;
int dust_kernel_size_;
int dust_buffering_frames_;
int dust_buffering_interval_;
int dust_buffering_frame_counter_ = 0;
int dust_count_threshold_;
int dust_frame_count_ = 0;
double max_distance_range_{200.0};
double horizontal_resolution_{0.4};
boost::circular_buffer<cv::Mat> no_return_mask_buffer{1};
boost::circular_buffer<cv::Mat> dust_mask_buffer{1};

public:
PCL_MAKE_ALIGNED_OPERATOR_NEW
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27 changes: 4 additions & 23 deletions sensing/pointcloud_preprocessor/launch/blockage_diag.launch.xml
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@@ -1,37 +1,18 @@
<launch>
<arg name="input_topic_name" default="pointcloud_raw_ex"/>
<arg name="output_topic_name" default="blockage_diag/pointcloud"/>

<arg name="horizontal_ring_id" default="18"/>
<arg name="angle_range" default="[0.0, 360.0]"/>
<arg name="vertical_bins" default="40"/>
<arg name="model" default="Pandar40P"/>
<arg name="blockage_ratio_threshold" default="0.1"/>
<arg name="blockage_count_threshold" default="50"/>
<arg name="blockage_buffering_frames" default="100"/>
<arg name="blockage_buffering_interval" default="5"/>
<arg name="dust_ratio_threshold" default="0.2"/>
<arg name="dust_count_threshold" default="10"/>
<arg name="dust_kernel_size" default="2"/>
<arg name="dust_buffering_frames" default="10"/>
<arg name="dust_buffering_interval" default="1"/>

<arg name="is_channel_order_top2down" default="true"/>
<arg name="blockage_diagnostics_param_file" default="$(find-pkg-share pointcloud_preprocessor)/config/blockage_diagnostics_param_file.yaml"/>
<node pkg="pointcloud_preprocessor" exec="blockage_diag_node" name="blockage_diag">
<remap from="input" to="$(var input_topic_name)"/>
<remap from="output" to="$(var output_topic_name)"/>

<param name="horizontal_ring_id" value="$(var horizontal_ring_id)"/>
<param name="angle_range" value="$(var angle_range)"/>
<param name="vertical_bins" value="$(var vertical_bins)"/>
<param name="model" value="$(var model)"/>
<param name="blockage_ratio_threshold" value="$(var blockage_ratio_threshold)"/>
<param name="blockage_count_threshold" value="$(var blockage_count_threshold)"/>
<param name="blockage_buffering_frames" value="$(var blockage_buffering_frames)"/>
<param name="blockage_buffering_interval" value="$(var blockage_buffering_interval)"/>
<param name="dust_ratio_threshold" value="$(var dust_ratio_threshold)"/>
<param name="dust_count_threshold" value="$(var dust_count_threshold)"/>
<param name="dust_kernel_size" value="$(var dust_kernel_size)"/>
<param name="dust_buffering_frames" value="$(var dust_buffering_frames)"/>
<param name="dust_buffering_interval" value="$(var dust_buffering_interval)"/>
<param name="is_channel_order_top2down" value="$(var is_channel_order_top2down)"/>
<param from="$(var blockage_diagnostics_param_file)"/>
</node>
</launch>
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