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refactor(autoware_pointcloud_preprocessor): rework dual return outlier filter parameters (autowarefoundation#8475)
* feat: rework dual return outlier filter parameters Signed-off-by: vividf <[email protected]> * chore: fix readme Signed-off-by: vividf <[email protected]> * chore: change launch file name Signed-off-by: vividf <[email protected]> * chore: fix type Signed-off-by: vividf <[email protected]> * chore: add boundary Signed-off-by: vividf <[email protected]> * chore: change boundary Signed-off-by: vividf <[email protected]> * chore: fix boundary Signed-off-by: vividf <[email protected]> * chore: fix json schema Signed-off-by: vividf <[email protected]> * Update sensing/autoware_pointcloud_preprocessor/schema/dual_return_outlier_filter_node.schema.json Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]> * chore: fix grammar error Signed-off-by: vividf <[email protected]> * chore: fix description for weak_first_local_noise_threshold Signed-off-by: vividf <[email protected]> * chore: change minimum and maximum to float Signed-off-by: vividf <[email protected]> --------- Signed-off-by: vividf <[email protected]> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>
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‎sensing/autoware_pointcloud_preprocessor/CMakeLists.txt

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@@ -73,7 +73,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
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src/outlier_filter/ring_outlier_filter_node.cpp
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src/outlier_filter/radius_search_2d_outlier_filter_node.cpp
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src/outlier_filter/voxel_grid_outlier_filter_node.cpp
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src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
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src/outlier_filter/dual_return_outlier_filter_node.cpp
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src/passthrough_filter/passthrough_filter_node.cpp
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src/passthrough_filter/passthrough_filter_uint16_node.cpp
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src/passthrough_filter/passthrough_uint16.cpp

‎sensing/autoware_pointcloud_preprocessor/config/dual_return_outlier_filter_node.param.yaml

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/**:
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ros__parameters:
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x_max: 18.0
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x_min: -12.0
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y_max: 2.0
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y_min: -2.0
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z_max: 10.0
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z_min: 0.0
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min_azimuth_deg: 135.0
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max_azimuth_deg: 225.0
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max_distance: 12.0
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vertical_bins: 128
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max_azimuth_diff: 50.0
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weak_first_distance_ratio: 1.004
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general_distance_ratio: 1.03
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weak_first_local_noise_threshold: 2
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roi_mode: "Fixed_xyz_ROI"
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visibility_error_threshold: 0.5
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visibility_warn_threshold: 0.7

‎sensing/autoware_pointcloud_preprocessor/docs/dual-return-outlier-filter.md

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@@ -50,25 +50,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,
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### Core Parameters
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| Name | Type | Description |
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| ---------------------------------- | ------ | ------------------------------------------------------------------------------------------------------------------------- |
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| `vertical_bins` | int | The number of vertical bin for visibility histogram |
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| `max_azimuth_diff` | float | Threshold for ring_outlier_filter |
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| `weak_first_distance_ratio` | double | Threshold for ring_outlier_filter |
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| `general_distance_ratio` | double | Threshold for ring_outlier_filter |
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| `weak_first_local_noise_threshold` | int | The parameter for determining whether it is noise |
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| `visibility_error_threshold` | float | When the percentage of white pixels in the binary histogram falls below this parameter the diagnostic status becomes ERR |
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| `visibility_warn_threshold` | float | When the percentage of white pixels in the binary histogram falls below this parameter the diagnostic status becomes WARN |
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| `roi_mode` | string | The name of ROI mode for switching |
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| `min_azimuth_deg` | float | The left limit of azimuth for `Fixed_azimuth_ROI` mode |
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| `max_azimuth_deg` | float | The right limit of azimuth for `Fixed_azimuth_ROI` mode |
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| `max_distance` | float | The limit distance for for `Fixed_azimuth_ROI` mode |
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| `x_max` | float | Maximum of x for `Fixed_xyz_ROI` mode |
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| `x_min` | float | Minimum of x for `Fixed_xyz_ROI` mode |
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| `y_max` | float | Maximum of y for `Fixed_xyz_ROI` mode |
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| `y_min` | float | Minimum of y for `Fixed_xyz_ROI` mode |
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| `z_max` | float | Maximum of z for `Fixed_xyz_ROI` mode |
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| `z_min` | float | Minimum of z for `Fixed_xyz_ROI` mode |
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{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/dual_return_outlier_filter_node.schema.json") }}
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## Assumptions / Known limits
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‎sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp renamed to ‎sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_node.hpp

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// Copyright 2021 Tier IV, Inc.
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// Copyright 2024 TIER IV, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
@@ -12,8 +12,8 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__DUAL_RETURN_OUTLIER_FILTER_NODELET_HPP_
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#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__DUAL_RETURN_OUTLIER_FILTER_NODELET_HPP_
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#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__DUAL_RETURN_OUTLIER_FILTER_NODE_HPP_
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#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__DUAL_RETURN_OUTLIER_FILTER_NODE_HPP_
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#include "autoware/pointcloud_preprocessor/filter.hpp"
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@@ -94,5 +94,5 @@ class DualReturnOutlierFilterComponent : public autoware::pointcloud_preprocesso
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} // namespace autoware::pointcloud_preprocessor
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// clang-format off
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#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__DUAL_RETURN_OUTLIER_FILTER_NODELET_HPP_ // NOLINT
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#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__DUAL_RETURN_OUTLIER_FILTER_NODE_HPP_ // NOLINT
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// clang-format on

‎sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter.launch.xml

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This file was deleted.

‎sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml

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<launch>
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<arg name="input_topic_name" default="/pointcloud"/>
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<arg name="output_topic_name" default="/pointcloud_filtered"/>
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<arg name="input_frame" default=""/>
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<arg name="output_frame" default=""/>
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<arg name="dual_return_outlier_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/dual_return_outlier_filter_node.param.yaml"/>
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<arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
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<node pkg="autoware_pointcloud_preprocessor" exec="dual_return_outlier_filter_node" name="dual_return_outlier_filter_node">
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<param from="$(var dual_return_outlier_filter_param_file)"/>
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<param from="$(var filter_param_file)"/>
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<remap from="input" to="$(var input_topic_name)"/>
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<remap from="output" to="$(var output_topic_name)"/>
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<param name="input_frame" value="$(var input_frame)"/>
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<param name="output_frame" value="$(var output_frame)"/>
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</node>
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</launch>

‎sensing/autoware_pointcloud_preprocessor/schema/dual_return_outlier_filter_node.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Dual Return Outlier Filter Node",
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"type": "object",
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"definitions": {
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"dual_return_outlier_filter": {
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"type": "object",
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"properties": {
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"x_max": {
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"type": "number",
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"description": "Maximum of x in meters for `Fixed_xyz_ROI` mode",
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"default": "18.0"
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},
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"x_min": {
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"type": "number",
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"description": "Minimum of x in meters for `Fixed_xyz_ROI` mode",
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"default": "-12.0"
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},
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"y_max": {
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"type": "number",
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"description": "Maximum of y in meters for `Fixed_xyz_ROI` mode",
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"default": "2.0"
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},
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"y_min": {
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"type": "number",
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"description": "Minimum of y in meters for `Fixed_xyz_ROI` mode",
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"default": "-2.0"
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},
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"z_max": {
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"type": "number",
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"description": "Maximum of z in meters for `Fixed_xyz_ROI` mode",
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"default": "10.0"
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},
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"z_min": {
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"type": "number",
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"description": "Minimum of z in meters for `Fixed_xyz_ROI` mode",
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"default": "0.0"
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},
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"min_azimuth_deg": {
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"type": "number",
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"description": "The left limit of azimuth in degrees for `Fixed_azimuth_ROI` mode",
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"default": "135.0",
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"minimum": 0,
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"maximum": 360
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},
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"max_azimuth_deg": {
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"type": "number",
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"description": "The right limit of azimuth in degrees for `Fixed_azimuth_ROI` mode",
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"default": "225.0",
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"minimum": 0,
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"maximum": 360
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},
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"max_distance": {
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"type": "number",
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"description": "The limit distance in meters for `Fixed_azimuth_ROI` mode",
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"default": "12.0",
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"minimum": 0.0
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},
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"vertical_bins": {
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"type": "integer",
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"description": "The number of vertical bins for the visibility histogram",
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"default": "128",
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"minimum": 1
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},
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"max_azimuth_diff": {
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"type": "number",
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"description": "The azimuth difference threshold in degrees for ring_outlier_filter",
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"default": "50.0",
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"minimum": 0.0
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},
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"weak_first_distance_ratio": {
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"type": "number",
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"description": "The maximum allowed ratio between consecutive weak point distances",
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"default": "1.004",
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"minimum": 0.0
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},
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"general_distance_ratio": {
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"type": "number",
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"description": "The maximum allowed ratio between consecutive normal point distances",
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"default": "1.03",
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"minimum": 0.0
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},
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"weak_first_local_noise_threshold": {
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"type": "integer",
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"description": "If the number of outliers among weak points is less than the weak_first_local_noise_threshold in the (max_azimuth - min_azimuth) / horizontal_bins interval, all points within the interval will not be filtered out.",
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"default": "2",
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"minimum": 0
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},
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"roi_mode": {
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"type": "string",
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"description": "roi mode",
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"default": "Fixed_xyz_ROI",
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"enum": ["Fixed_xyz_ROI", "No_ROI", "Fixed_azimuth_ROI"]
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},
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"visibility_error_threshold": {
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"type": "number",
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"description": "When the proportion of white pixels in the binary histogram falls below this parameter the diagnostic status becomes ERR",
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"default": "0.5",
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"minimum": 0.0,
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"maximum": 1.0
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},
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"visibility_warn_threshold": {
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"type": "number",
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"description": "When the proportion of white pixels in the binary histogram falls below this parameter the diagnostic status becomes WARN",
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"default": "0.7",
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"minimum": 0.0,
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"maximum": 1.0
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}
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},
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"required": [
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"x_max",
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"x_min",
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"y_max",
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"y_min",
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"z_max",
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"z_min",
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"min_azimuth_deg",
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"max_azimuth_deg",
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"max_distance",
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"vertical_bins",
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"max_azimuth_diff",
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"weak_first_distance_ratio",
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"general_distance_ratio",
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"weak_first_local_noise_threshold",
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"roi_mode",
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"visibility_error_threshold",
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"visibility_warn_threshold"
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],
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"additionalProperties": false
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/dual_return_outlier_filter"
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}
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},
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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},
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"required": ["/**"],
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"additionalProperties": false
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}

‎sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp renamed to ‎sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp

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// Copyright 2021 Tier IV, Inc.
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// Copyright 2024 TIER IV, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp"
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#include "autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_node.hpp"
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#include "autoware_point_types/types.hpp"
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@@ -38,29 +38,24 @@ DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent(
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{
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// set initial parameters
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{
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x_max_ = static_cast<float>(declare_parameter("x_max", 18.0));
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x_min_ = static_cast<float>(declare_parameter("x_min", -12.0));
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y_max_ = static_cast<float>(declare_parameter("y_max", 2.0));
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y_min_ = static_cast<float>(declare_parameter("y_min", -2.0));
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z_max_ = static_cast<float>(declare_parameter("z_max", 10.0));
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z_min_ = static_cast<float>(declare_parameter("z_min", 0.0));
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min_azimuth_deg_ = static_cast<float>(declare_parameter("min_azimuth_deg", 135.0));
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max_azimuth_deg_ = static_cast<float>(declare_parameter("max_azimuth_deg", 225.0));
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max_distance_ = static_cast<float>(declare_parameter("max_distance", 12.0));
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vertical_bins_ = static_cast<int>(declare_parameter("vertical_bins", 128));
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max_azimuth_diff_ = static_cast<float>(declare_parameter("max_azimuth_diff", 50.0));
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weak_first_distance_ratio_ =
53-
static_cast<double>(declare_parameter("weak_first_distance_ratio", 1.004));
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general_distance_ratio_ =
55-
static_cast<double>(declare_parameter("general_distance_ratio", 1.03));
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weak_first_local_noise_threshold_ =
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static_cast<int>(declare_parameter("weak_first_local_noise_threshold", 2));
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roi_mode_ = static_cast<std::string>(declare_parameter("roi_mode", "Fixed_xyz_ROI"));
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visibility_error_threshold_ =
61-
static_cast<float>(declare_parameter("visibility_error_threshold", 0.5));
62-
visibility_warn_threshold_ =
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static_cast<float>(declare_parameter("visibility_warn_threshold", 0.7));
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x_max_ = declare_parameter<float>("x_max");
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x_min_ = declare_parameter<float>("x_min");
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y_max_ = declare_parameter<float>("y_max");
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y_min_ = declare_parameter<float>("y_min");
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z_max_ = declare_parameter<float>("z_max");
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z_min_ = declare_parameter<float>("z_min");
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min_azimuth_deg_ = declare_parameter<float>("min_azimuth_deg");
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max_azimuth_deg_ = declare_parameter<float>("max_azimuth_deg");
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max_distance_ = declare_parameter<float>("max_distance");
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vertical_bins_ = declare_parameter<int>("vertical_bins");
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max_azimuth_diff_ = declare_parameter<float>("max_azimuth_diff");
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weak_first_distance_ratio_ = declare_parameter<double>("weak_first_distance_ratio");
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general_distance_ratio_ = declare_parameter<double>("general_distance_ratio");
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weak_first_local_noise_threshold_ = declare_parameter<int>("weak_first_local_noise_threshold");
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roi_mode_ = declare_parameter<std::string>("roi_mode");
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visibility_error_threshold_ = declare_parameter<double>("visibility_error_threshold");
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visibility_warn_threshold_ = declare_parameter<double>("visibility_warn_threshold");
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}
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updater_.setHardwareID("dual_return_outlier_filter");
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updater_.add(

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