From 4d556e4f2d920ee07df7564ac553419fa2fe7303 Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Thu, 3 Feb 2022 16:25:26 +0900 Subject: [PATCH 01/27] feat: check segment in both directions Signed-off-by: badai-nguyen --- .../dual_return_outlier_filter_nodelet.hpp | 2 + .../dual_return_outlier_filter_nodelet.cpp | 49 +++++++++++++++++-- 2 files changed, 48 insertions(+), 3 deletions(-) diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp index 6e46123cfba4e..0350628dc84da 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp @@ -73,6 +73,8 @@ class DualReturnOutlierFilterComponent : public pointcloud_preprocessor::Filter double visibility_threshold_; int vertical_bins_; float max_azimuth_diff_; + uint weak_first_segment_check_size_v_; + uint weak_first_segment_check_size_h_; public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index cc442ed081b5d..fde2582d31cc6 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -44,6 +44,8 @@ DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent( weak_first_local_noise_threshold_ = static_cast(declare_parameter("weak_first_local_noise_threshold", 10)); visibility_threshold_ = static_cast(declare_parameter("visibility_threshold", 0.5)); + weak_first_segment_check_size_h_ = static_cast(declare_parameter("weak_first_segment_check_size_h",30)); + weak_first_segment_check_size_v_ = static_cast(declare_parameter("weak_first_segment_check_size_v",3)); } updater_.setHardwareID("dual_return_outlier_filter"); updater_.add( @@ -111,12 +113,23 @@ void DualReturnOutlierFilterComponent::filter( vertical_bins); // TODO(davidw): this is for Pandar 40 only, make dynamic weak_first_pcl_input_ring_array.resize(vertical_bins); + const uint ring_number = vertical_bins; + const uint azimuth_steps = 36000; + float * distance_inputpcl_array = new float[ring_number * azimuth_steps]; + float * distance_weakfirstpcl_array = new float[ring_number * azimuth_steps]; + for (uint i = 0; i < ring_number * azimuth_steps; i++){ + distance_inputpcl_array[i] = -1.0f; + distance_weakfirstpcl_array[i] = -1.0f; + } // Split into 36 x 10 degree bins x 40 lines (TODO: change to dynamic) for (const auto & p : pcl_input->points) { + uint azimuth_ind = static_cast(p.azimuth < 0.0f ? p.azimuth + 36000.0f : p.azimuth); if (p.return_type == ReturnType::DUAL_WEAK_FIRST) { weak_first_pcl_input_ring_array.at(p.ring).push_back(p); + distance_weakfirstpcl_array[p.ring*azimuth_steps + azimuth_ind] = p.distance; } else { pcl_input_ring_array.at(p.ring).push_back(p); + distance_inputpcl_array[p.ring * azimuth_steps +azimuth_ind] = p.distance; } } @@ -135,12 +148,39 @@ void DualReturnOutlierFilterComponent::filter( uint ring_id = weak_first_single_ring.points.front().ring; for (auto iter = std::begin(weak_first_single_ring) + 1; iter != std::end(weak_first_single_ring) - 1; ++iter) { - const float min_dist = std::min(iter->distance, (iter + 1)->distance); - const float max_dist = std::max(iter->distance, (iter + 1)->distance); + uint azimuth_id = static_cast (iter->azimuth); + uint segment_check = 0, segment_check_thresh = 2; + uint weakfirst_ring_min = 0, weakfirst_ring_max = ring_number; + uint weakfirst_w_min = 0, weakfirst_w_max = azimuth_steps; + + weakfirst_ring_min = ring_id > weak_first_segment_check_size_v_ ? + ring_id - weak_first_segment_check_size_v_ : 0; + weakfirst_ring_max = ring_id + weak_first_segment_check_size_v_ < ring_number ? + ring_id + weak_first_segment_check_size_v_ + 1: ring_number; + weakfirst_w_min = azimuth_id > weak_first_segment_check_size_h_ ? + azimuth_id - weak_first_segment_check_size_h_ : 0; + weakfirst_w_max = azimuth_id + weak_first_segment_check_size_h_ < azimuth_steps ? + azimuth_id + weak_first_segment_check_size_h_ +1 : azimuth_steps; + + for ( auto i = weakfirst_ring_min; i < weakfirst_ring_max; i++){ + for (auto j = weakfirst_w_min; j < weakfirst_w_max; j++){ + if(distance_weakfirstpcl_array[i*azimuth_steps + j] > 0.0){ + const float min_dist = std::min(iter->distance, distance_weakfirstpcl_array[i*azimuth_steps + j]); + const float max_dist = std::max(iter->distance, distance_weakfirstpcl_array[i* azimuth_steps + j]); float azimuth_diff = (iter + 1)->azimuth - iter->azimuth; azimuth_diff = azimuth_diff < 0.f ? azimuth_diff + 36000.f : azimuth_diff; - if (max_dist < min_dist * weak_first_distance_ratio_ && azimuth_diff < max_azimuth_diff) { + if (max_dist < min_dist * weak_first_distance_ratio_){ + segment_check++; + } + } + if (segment_check >= segment_check_thresh ){ + goto exit_segment_check;} + } + } + exit_segment_check: + + if (segment_check >= segment_check_thresh) { temp_segment.points.push_back(*iter); keep_next = true; } else if (keep_next) { @@ -220,6 +260,9 @@ void DualReturnOutlierFilterComponent::filter( pcl_output->points.push_back(tmp_p); } } + + delete [] distance_inputpcl_array; + delete [] distance_weakfirstpcl_array; // Threshold for diagnostics (tunable) cv::Mat binary_image; cv::inRange(frequency_image, weak_first_local_noise_threshold_, 255, binary_image); From 6a14e9093fcbd84a8e38cc241bb1c81651a04234 Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Thu, 3 Feb 2022 16:50:26 +0900 Subject: [PATCH 02/27] feat: add free-space ROI setting and mode switching Check normal pcl surrounding weak_first_return pcl to get free space. Signed-off-by: badai-nguyen --- .../dual_return_outlier_filter_nodelet.hpp | 2 + .../dual_return_outlier_filter_nodelet.cpp | 45 +++++++++++++++++-- 2 files changed, 43 insertions(+), 4 deletions(-) diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp index 0350628dc84da..e83b3f630de4c 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp @@ -73,8 +73,10 @@ class DualReturnOutlierFilterComponent : public pointcloud_preprocessor::Filter double visibility_threshold_; int vertical_bins_; float max_azimuth_diff_; + float neighbor_r_thresh_ = 0.5f; uint weak_first_segment_check_size_v_; uint weak_first_segment_check_size_h_; + uchar ROI_mode_; public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index fde2582d31cc6..e8edafba92d7a 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -44,6 +44,7 @@ DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent( weak_first_local_noise_threshold_ = static_cast(declare_parameter("weak_first_local_noise_threshold", 10)); visibility_threshold_ = static_cast(declare_parameter("visibility_threshold", 0.5)); + ROI_mode_ = static_cast(declare_parameter("ROI_mode",0))azimuth_steps; weak_first_segment_check_size_h_ = static_cast(declare_parameter("weak_first_segment_check_size_h",30)); weak_first_segment_check_size_v_ = static_cast(declare_parameter("weak_first_segment_check_size_v",3)); } @@ -189,11 +190,47 @@ void DualReturnOutlierFilterComponent::filter( // Analyse segment points here } else { // Log the deleted azimuth and its distance for analysis - deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); - deleted_distances.push_back(iter->distance); - noise_output->points.push_back(*iter); - } + switch (ROI_mode_) + { + case 1: //dynamic ROI free space + { + // check surrounding normal pcl + uint neighbor_check = 0, h_range = 3, w_range = 10; + uint min_h = 0, max_h = ring_number; + uint min_w = 0, max_w = azimuth_steps; + min_h = iter->ring > h_range ? iter->ring - h_range : 0; + max_h = iter->ring < ring_number - h_range ? iter->ring + h_range : ring_number; + + min_w = azimuth_id > w_range ? azimuth_id - w_range : 0; + max_w = azimuth_id < azimuth_steps - w_range ? azimuth_id + w_range : azimuth_steps; + for (auto i = min_h ; i < max_h; i++){ + for (auto j = min_w ; j < max_w; j++){ + if((distance_inputpcl_array[i*azimuth_steps + j] > 0.0f) && (iter->distance > + (distance_inputpcl_array[i*azimuth_steps + j] - neighbor_r_thresh_))){ + neighbor_check++; + } + if (neighbor_check > 1){ + goto exit_neighbor_check; + } + } + } + exit_neighbor_check: + if(neighbor_check < 2){ + deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); + deleted_distances.push_back(iter->distance); + noise_output->points.push_back(*iter);} + break; + } + default: + { + deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); + deleted_distances.push_back(iter->distance); + noise_output->points.push_back(*iter); + break; + } + } } + } // Analyse last segment points here std::vector noise_frequency(horizontal_bins, 0); uint current_deleted_index = 0; From 2c3780444c16a2db5d352bc8759fd185109bf85b Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Thu, 3 Feb 2022 17:07:23 +0900 Subject: [PATCH 03/27] feat: add ROI-xyz setting and mode switching Signed-off-by: badai-nguyen --- .../dual_return_outlier_filter_nodelet.hpp | 6 +++ .../dual_return_outlier_filter_nodelet.cpp | 38 +++++++++++++++++-- 2 files changed, 41 insertions(+), 3 deletions(-) diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp index e83b3f630de4c..b29eb39e0d4d9 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp @@ -77,6 +77,12 @@ class DualReturnOutlierFilterComponent : public pointcloud_preprocessor::Filter uint weak_first_segment_check_size_v_; uint weak_first_segment_check_size_h_; uchar ROI_mode_; + float x_max_; + float x_min_; + float y_max_; + float y_min_; + float z_max_; + float z_min_; public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index e8edafba92d7a..8078b877a36ef 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -34,6 +34,12 @@ DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent( { // set initial parameters { + x_max_ = static_cast(declare_parameter("x_max", 18.0)); + x_min_ = static_cast(declare_parameter("x_min", -12.0)); + y_max_ = static_cast(declare_parameter("y_max", 2.0)); + y_min_ = static_cast(declare_parameter("y_min", -2.0)); + z_max_ = static_cast(declare_parameter("z_max", 10.0)); + z_min_ = static_cast(declare_parameter("z_min", 0.0)); vertical_bins_ = static_cast(declare_parameter("vertical_bins", 128)); max_azimuth_diff_ = static_cast(declare_parameter("max_azimuth_diff", 50.0)); weak_first_distance_ratio_ = @@ -221,6 +227,14 @@ void DualReturnOutlierFilterComponent::filter( noise_output->points.push_back(*iter);} break; } + case 2: //base_link xyz-ROI + { + if (iter->x > x_min_ && iter->x < x_max_ && iter->y > y_min_ && iter->y < y_max_ && iter->z > z_min_ && iter->z < z_max_){ + deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); + deleted_distances.push_back(iter->distance); + noise_output->points.push_back(*iter);} + break; + } default: { deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); @@ -245,9 +259,8 @@ void DualReturnOutlierFilterComponent::filter( noise_frequency[i] = noise_frequency[i] + 1; current_deleted_index++; } - if (temp_segment.points.size() == 0) { - continue; - } + if (temp_segment.points.size() > 0) { + while ((temp_segment.points[current_temp_segment_index].azimuth < 0.f ? 0.f : temp_segment.points[current_temp_segment_index].azimuth) < @@ -256,12 +269,31 @@ void DualReturnOutlierFilterComponent::filter( if (noise_frequency[i] < weak_first_local_noise_threshold_) { pcl_output->points.push_back(temp_segment.points[current_temp_segment_index]); } else { + switch (ROI_mode_) + { + case 2: + {if(temp_segment.points[current_temp_segment_index].x < x_max_ && + temp_segment.points[current_temp_segment_index].x > x_min_ && + temp_segment.points[current_temp_segment_index].y > y_max_ && + temp_segment.points[current_temp_segment_index].y < y_min_ && + temp_segment.points[current_temp_segment_index].z < z_max_ && + temp_segment.points[current_temp_segment_index].z > z_min_){ noise_frequency[i] = noise_frequency[i] + 1; noise_output->points.push_back(temp_segment.points[current_temp_segment_index]); + } + break; + } + default: { + noise_frequency[i] = noise_frequency[i] + 1; + noise_output->points.push_back(temp_segment.points[current_temp_segment_index]); + break; + } + } } current_temp_segment_index++; frequency_image.at(ring_id, i) = noise_frequency[i]; } + } } } From 242a25ffcbf827a9120639be88b5d336ac6cd48f Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Thu, 3 Feb 2022 17:16:32 +0900 Subject: [PATCH 04/27] feat: add ROI-azimuth setting and mode switching Signed-off-by: badai-nguyen --- .../dual_return_outlier_filter_nodelet.hpp | 3 ++ .../dual_return_outlier_filter_nodelet.cpp | 44 ++++++++++++++++++- 2 files changed, 45 insertions(+), 2 deletions(-) diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp index b29eb39e0d4d9..39889bf65f790 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp @@ -84,6 +84,9 @@ class DualReturnOutlierFilterComponent : public pointcloud_preprocessor::Filter float z_max_; float z_min_; + float min_azimuth_; + float max_azimuth_; + float max_distance_; public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW explicit DualReturnOutlierFilterComponent(const rclcpp::NodeOptions & options); diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index 8078b877a36ef..07cdbf27a127a 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -40,6 +40,9 @@ DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent( y_min_ = static_cast(declare_parameter("y_min", -2.0)); z_max_ = static_cast(declare_parameter("z_max", 10.0)); z_min_ = static_cast(declare_parameter("z_min", 0.0)); + min_azimuth_ = static_cast(declare_parameter("min_azimuth",13500.0)); + max_azimuth_ = static_cast(declare_parameter("max_azimuth", 22500.0)); + max_distance_ = static_cast(declare_parameter("max_distance",12.0)); vertical_bins_ = static_cast(declare_parameter("vertical_bins", 128)); max_azimuth_diff_ = static_cast(declare_parameter("max_azimuth_diff", 50.0)); weak_first_distance_ratio_ = @@ -105,6 +108,26 @@ void DualReturnOutlierFilterComponent::filter( uint32_t vertical_bins = vertical_bins_; uint32_t horizontal_bins = 36; + float max_azimuth = 36000.0f; + float min_azimuth = 0; + switch (ROI_mode_) + { + case 3: + { + max_azimuth = max_azimuth_; + min_azimuth = min_azimuth_; + break; + } + + default: + { + max_azimuth = 36000.0f; + min_azimuth = 0.0f; + break; + } + } + + uint32_t horizontal_res = static_cast ((max_azimuth - min_azimuth)/horizontal_bins); pcl::PointCloud::Ptr pcl_output( new pcl::PointCloud); @@ -235,6 +258,14 @@ void DualReturnOutlierFilterComponent::filter( noise_output->points.push_back(*iter);} break; } + case 3: + { + + if (iter->azimuth > min_azimuth && iter->azimuth < max_azimuth && iter->distance < max_distance_){ + deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); + noise_output->points.push_back(*iter); + deleted_distances.push_back(iter->distance);} + break; default: { deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); @@ -254,7 +285,7 @@ void DualReturnOutlierFilterComponent::filter( continue; } while ((uint)deleted_azimuths[current_deleted_index] < - ((i + 1) * (36000 / horizontal_bins)) && + ((i + static_cast(min_azimuth/horizontal_res) + 1) * horizontal_res) && current_deleted_index < (deleted_azimuths.size() - 1)) { noise_frequency[i] = noise_frequency[i] + 1; current_deleted_index++; @@ -264,7 +295,7 @@ void DualReturnOutlierFilterComponent::filter( while ((temp_segment.points[current_temp_segment_index].azimuth < 0.f ? 0.f : temp_segment.points[current_temp_segment_index].azimuth) < - ((i + 1) * (36000 / horizontal_bins)) && + ((i + 1 + static_cast(min_azimuth/horizontal_res)) * horizontal_res) && current_temp_segment_index < (temp_segment.points.size() - 1)) { if (noise_frequency[i] < weak_first_local_noise_threshold_) { pcl_output->points.push_back(temp_segment.points[current_temp_segment_index]); @@ -283,6 +314,15 @@ void DualReturnOutlierFilterComponent::filter( } break; } + case 3: + { + if(temp_segment.points[current_temp_segment_index].azimuth < max_azimuth && + temp_segment.points[current_temp_segment_index].azimuth > min_azimuth && + temp_segment.points[current_temp_segment_index].distance < max_distance_){ + noise_frequency[i] = noise_frequency[i] + 1; + noise_output->points.push_back(temp_segment.points[current_temp_segment_index]);} + break; + } default: { noise_frequency[i] = noise_frequency[i] + 1; noise_output->points.push_back(temp_segment.points[current_temp_segment_index]); From 7d346b2a9bc63545c766d3e0b2f4ce3f7c2fe093 Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Thu, 3 Feb 2022 17:22:34 +0900 Subject: [PATCH 05/27] fix: frequency_image header Signed-off-by: badai-nguyen --- .../src/outlier_filter/dual_return_outlier_filter_nodelet.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index 07cdbf27a127a..0af2624be489c 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -385,7 +385,7 @@ void DualReturnOutlierFilterComponent::filter( cv::applyColorMap(frequency_image * 4, frequency_image_colorized, cv::COLORMAP_JET); sensor_msgs::msg::Image::SharedPtr frequency_image_msg = cv_bridge::CvImage(std_msgs::msg::Header(), "bgr8", frequency_image_colorized).toImageMsg(); - + frequency_image_msg->header = input->header; // Publish histogram image image_pub_.publish(frequency_image_msg); tier4_debug_msgs::msg::Float32Stamped visibility_msg; From 40ba01384395981b346dc309222f67c1a6c4f0f3 Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Thu, 3 Feb 2022 17:23:23 +0900 Subject: [PATCH 06/27] fix: update frequency image issue Signed-off-by: badai-nguyen --- .../src/outlier_filter/dual_return_outlier_filter_nodelet.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index 0af2624be489c..1a3fc511ee085 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -170,7 +170,7 @@ void DualReturnOutlierFilterComponent::filter( if (weak_first_single_ring.points.size() < 2) { continue; } - std::vector deleted_azimuths; + std::vector deleted_azimuths; std::vector deleted_distances; pcl::PointCloud temp_segment; @@ -334,6 +334,7 @@ void DualReturnOutlierFilterComponent::filter( frequency_image.at(ring_id, i) = noise_frequency[i]; } } + frequency_image.at(ring_id, i) = noise_frequency[i]; } } From e88f21d7e170337985030a431398ba293f2fc9aa Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Thu, 3 Feb 2022 17:31:04 +0900 Subject: [PATCH 07/27] fix: typo Signed-off-by: badai-nguyen --- .../src/outlier_filter/dual_return_outlier_filter_nodelet.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index 1a3fc511ee085..420aca78230d0 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -53,7 +53,7 @@ DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent( weak_first_local_noise_threshold_ = static_cast(declare_parameter("weak_first_local_noise_threshold", 10)); visibility_threshold_ = static_cast(declare_parameter("visibility_threshold", 0.5)); - ROI_mode_ = static_cast(declare_parameter("ROI_mode",0))azimuth_steps; + ROI_mode_ = static_cast(declare_parameter("ROI_mode",0)); weak_first_segment_check_size_h_ = static_cast(declare_parameter("weak_first_segment_check_size_h",30)); weak_first_segment_check_size_v_ = static_cast(declare_parameter("weak_first_segment_check_size_v",3)); } From dd129eb22db479f025f7e68acdcf92fb2bdb6802 Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Thu, 3 Feb 2022 18:31:16 +0900 Subject: [PATCH 08/27] fix: typo Signed-off-by: badai-nguyen --- .../dual_return_outlier_filter_nodelet.cpp | 20 ++++++++++--------- 1 file changed, 11 insertions(+), 9 deletions(-) diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index 420aca78230d0..55c82e402f2aa 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -266,6 +266,7 @@ void DualReturnOutlierFilterComponent::filter( noise_output->points.push_back(*iter); deleted_distances.push_back(iter->distance);} break; + } default: { deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); @@ -274,8 +275,8 @@ void DualReturnOutlierFilterComponent::filter( break; } } + } } - } // Analyse last segment points here std::vector noise_frequency(horizontal_bins, 0); uint current_deleted_index = 0; @@ -303,17 +304,18 @@ void DualReturnOutlierFilterComponent::filter( switch (ROI_mode_) { case 2: - {if(temp_segment.points[current_temp_segment_index].x < x_max_ && + { + if(temp_segment.points[current_temp_segment_index].x < x_max_ && temp_segment.points[current_temp_segment_index].x > x_min_ && temp_segment.points[current_temp_segment_index].y > y_max_ && temp_segment.points[current_temp_segment_index].y < y_min_ && temp_segment.points[current_temp_segment_index].z < z_max_ && temp_segment.points[current_temp_segment_index].z > z_min_){ - noise_frequency[i] = noise_frequency[i] + 1; - noise_output->points.push_back(temp_segment.points[current_temp_segment_index]); - } - break; + noise_frequency[i] = noise_frequency[i] + 1; + noise_output->points.push_back(temp_segment.points[current_temp_segment_index]); } + break; + } case 3: { if(temp_segment.points[current_temp_segment_index].azimuth < max_azimuth && @@ -323,7 +325,8 @@ void DualReturnOutlierFilterComponent::filter( noise_output->points.push_back(temp_segment.points[current_temp_segment_index]);} break; } - default: { + default: + { noise_frequency[i] = noise_frequency[i] + 1; noise_output->points.push_back(temp_segment.points[current_temp_segment_index]); break; @@ -331,10 +334,9 @@ void DualReturnOutlierFilterComponent::filter( } } current_temp_segment_index++; - frequency_image.at(ring_id, i) = noise_frequency[i]; } } - frequency_image.at(ring_id, i) = noise_frequency[i]; + frequency_image.at(ring_id, i) = noise_frequency[i]; } } From 36725ff23dc511771265f33bb4a4eec94d85c8c8 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 3 Feb 2022 14:16:38 +0000 Subject: [PATCH 09/27] ci(pre-commit): autofix --- .../dual_return_outlier_filter_nodelet.hpp | 1 + .../dual_return_outlier_filter_nodelet.cpp | 278 +++++++++--------- 2 files changed, 144 insertions(+), 135 deletions(-) diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp index 39889bf65f790..cab8c5feed409 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp @@ -87,6 +87,7 @@ class DualReturnOutlierFilterComponent : public pointcloud_preprocessor::Filter float min_azimuth_; float max_azimuth_; float max_distance_; + public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW explicit DualReturnOutlierFilterComponent(const rclcpp::NodeOptions & options); diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index 55c82e402f2aa..7db3cdb6abc25 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -40,9 +40,9 @@ DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent( y_min_ = static_cast(declare_parameter("y_min", -2.0)); z_max_ = static_cast(declare_parameter("z_max", 10.0)); z_min_ = static_cast(declare_parameter("z_min", 0.0)); - min_azimuth_ = static_cast(declare_parameter("min_azimuth",13500.0)); + min_azimuth_ = static_cast(declare_parameter("min_azimuth", 13500.0)); max_azimuth_ = static_cast(declare_parameter("max_azimuth", 22500.0)); - max_distance_ = static_cast(declare_parameter("max_distance",12.0)); + max_distance_ = static_cast(declare_parameter("max_distance", 12.0)); vertical_bins_ = static_cast(declare_parameter("vertical_bins", 128)); max_azimuth_diff_ = static_cast(declare_parameter("max_azimuth_diff", 50.0)); weak_first_distance_ratio_ = @@ -53,9 +53,11 @@ DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent( weak_first_local_noise_threshold_ = static_cast(declare_parameter("weak_first_local_noise_threshold", 10)); visibility_threshold_ = static_cast(declare_parameter("visibility_threshold", 0.5)); - ROI_mode_ = static_cast(declare_parameter("ROI_mode",0)); - weak_first_segment_check_size_h_ = static_cast(declare_parameter("weak_first_segment_check_size_h",30)); - weak_first_segment_check_size_v_ = static_cast(declare_parameter("weak_first_segment_check_size_v",3)); + ROI_mode_ = static_cast(declare_parameter("ROI_mode", 0)); + weak_first_segment_check_size_h_ = + static_cast(declare_parameter("weak_first_segment_check_size_h", 30)); + weak_first_segment_check_size_v_ = + static_cast(declare_parameter("weak_first_segment_check_size_v", 3)); } updater_.setHardwareID("dual_return_outlier_filter"); updater_.add( @@ -110,24 +112,21 @@ void DualReturnOutlierFilterComponent::filter( uint32_t horizontal_bins = 36; float max_azimuth = 36000.0f; float min_azimuth = 0; - switch (ROI_mode_) - { - case 3: - { + switch (ROI_mode_) { + case 3: { max_azimuth = max_azimuth_; min_azimuth = min_azimuth_; - break; + break; } - - default: - { + + default: { max_azimuth = 36000.0f; min_azimuth = 0.0f; - break; + break; } } - uint32_t horizontal_res = static_cast ((max_azimuth - min_azimuth)/horizontal_bins); + uint32_t horizontal_res = static_cast((max_azimuth - min_azimuth) / horizontal_bins); pcl::PointCloud::Ptr pcl_output( new pcl::PointCloud); @@ -147,7 +146,7 @@ void DualReturnOutlierFilterComponent::filter( const uint azimuth_steps = 36000; float * distance_inputpcl_array = new float[ring_number * azimuth_steps]; float * distance_weakfirstpcl_array = new float[ring_number * azimuth_steps]; - for (uint i = 0; i < ring_number * azimuth_steps; i++){ + for (uint i = 0; i < ring_number * azimuth_steps; i++) { distance_inputpcl_array[i] = -1.0f; distance_weakfirstpcl_array[i] = -1.0f; } @@ -156,10 +155,10 @@ void DualReturnOutlierFilterComponent::filter( uint azimuth_ind = static_cast(p.azimuth < 0.0f ? p.azimuth + 36000.0f : p.azimuth); if (p.return_type == ReturnType::DUAL_WEAK_FIRST) { weak_first_pcl_input_ring_array.at(p.ring).push_back(p); - distance_weakfirstpcl_array[p.ring*azimuth_steps + azimuth_ind] = p.distance; + distance_weakfirstpcl_array[p.ring * azimuth_steps + azimuth_ind] = p.distance; } else { pcl_input_ring_array.at(p.ring).push_back(p); - distance_inputpcl_array[p.ring * azimuth_steps +azimuth_ind] = p.distance; + distance_inputpcl_array[p.ring * azimuth_steps + azimuth_ind] = p.distance; } } @@ -178,37 +177,43 @@ void DualReturnOutlierFilterComponent::filter( uint ring_id = weak_first_single_ring.points.front().ring; for (auto iter = std::begin(weak_first_single_ring) + 1; iter != std::end(weak_first_single_ring) - 1; ++iter) { - uint azimuth_id = static_cast (iter->azimuth); - uint segment_check = 0, segment_check_thresh = 2; + uint azimuth_id = static_cast(iter->azimuth); + uint segment_check = 0, segment_check_thresh = 2; uint weakfirst_ring_min = 0, weakfirst_ring_max = ring_number; uint weakfirst_w_min = 0, weakfirst_w_max = azimuth_steps; - - weakfirst_ring_min = ring_id > weak_first_segment_check_size_v_ ? - ring_id - weak_first_segment_check_size_v_ : 0; - weakfirst_ring_max = ring_id + weak_first_segment_check_size_v_ < ring_number ? - ring_id + weak_first_segment_check_size_v_ + 1: ring_number; - weakfirst_w_min = azimuth_id > weak_first_segment_check_size_h_ ? - azimuth_id - weak_first_segment_check_size_h_ : 0; - weakfirst_w_max = azimuth_id + weak_first_segment_check_size_h_ < azimuth_steps ? - azimuth_id + weak_first_segment_check_size_h_ +1 : azimuth_steps; - - for ( auto i = weakfirst_ring_min; i < weakfirst_ring_max; i++){ - for (auto j = weakfirst_w_min; j < weakfirst_w_max; j++){ - if(distance_weakfirstpcl_array[i*azimuth_steps + j] > 0.0){ - const float min_dist = std::min(iter->distance, distance_weakfirstpcl_array[i*azimuth_steps + j]); - const float max_dist = std::max(iter->distance, distance_weakfirstpcl_array[i* azimuth_steps + j]); - float azimuth_diff = (iter + 1)->azimuth - iter->azimuth; - azimuth_diff = azimuth_diff < 0.f ? azimuth_diff + 36000.f : azimuth_diff; - if (max_dist < min_dist * weak_first_distance_ratio_){ - segment_check++; + weakfirst_ring_min = + ring_id > weak_first_segment_check_size_v_ ? ring_id - weak_first_segment_check_size_v_ : 0; + weakfirst_ring_max = ring_id + weak_first_segment_check_size_v_ < ring_number + ? ring_id + weak_first_segment_check_size_v_ + 1 + : ring_number; + weakfirst_w_min = azimuth_id > weak_first_segment_check_size_h_ + ? azimuth_id - weak_first_segment_check_size_h_ + : 0; + weakfirst_w_max = azimuth_id + weak_first_segment_check_size_h_ < azimuth_steps + ? azimuth_id + weak_first_segment_check_size_h_ + 1 + : azimuth_steps; + + for (auto i = weakfirst_ring_min; i < weakfirst_ring_max; i++) { + for (auto j = weakfirst_w_min; j < weakfirst_w_max; j++) { + if (distance_weakfirstpcl_array[i * azimuth_steps + j] > 0.0) { + const float min_dist = + std::min(iter->distance, distance_weakfirstpcl_array[i * azimuth_steps + j]); + const float max_dist = + std::max(iter->distance, distance_weakfirstpcl_array[i * azimuth_steps + j]); + float azimuth_diff = (iter + 1)->azimuth - iter->azimuth; + azimuth_diff = azimuth_diff < 0.f ? azimuth_diff + 36000.f : azimuth_diff; + + if (max_dist < min_dist * weak_first_distance_ratio_) { + segment_check++; + } } + if (segment_check >= segment_check_thresh) { + goto exit_segment_check; } - if (segment_check >= segment_check_thresh ){ - goto exit_segment_check;} } } - exit_segment_check: + exit_segment_check: if (segment_check >= segment_check_thresh) { temp_segment.points.push_back(*iter); @@ -219,60 +224,65 @@ void DualReturnOutlierFilterComponent::filter( // Analyse segment points here } else { // Log the deleted azimuth and its distance for analysis - switch (ROI_mode_) - { - case 1: //dynamic ROI free space - { - // check surrounding normal pcl - uint neighbor_check = 0, h_range = 3, w_range = 10; - uint min_h = 0, max_h = ring_number; - uint min_w = 0, max_w = azimuth_steps; - min_h = iter->ring > h_range ? iter->ring - h_range : 0; - max_h = iter->ring < ring_number - h_range ? iter->ring + h_range : ring_number; - - min_w = azimuth_id > w_range ? azimuth_id - w_range : 0; - max_w = azimuth_id < azimuth_steps - w_range ? azimuth_id + w_range : azimuth_steps; - for (auto i = min_h ; i < max_h; i++){ - for (auto j = min_w ; j < max_w; j++){ - if((distance_inputpcl_array[i*azimuth_steps + j] > 0.0f) && (iter->distance > - (distance_inputpcl_array[i*azimuth_steps + j] - neighbor_r_thresh_))){ - neighbor_check++; - } - if (neighbor_check > 1){ - goto exit_neighbor_check; + switch (ROI_mode_) { + case 1: // dynamic ROI free space + { + // check surrounding normal pcl + uint neighbor_check = 0, h_range = 3, w_range = 10; + uint min_h = 0, max_h = ring_number; + uint min_w = 0, max_w = azimuth_steps; + min_h = iter->ring > h_range ? iter->ring - h_range : 0; + max_h = iter->ring < ring_number - h_range ? iter->ring + h_range : ring_number; + + min_w = azimuth_id > w_range ? azimuth_id - w_range : 0; + max_w = azimuth_id < azimuth_steps - w_range ? azimuth_id + w_range : azimuth_steps; + for (auto i = min_h; i < max_h; i++) { + for (auto j = min_w; j < max_w; j++) { + if ( + (distance_inputpcl_array[i * azimuth_steps + j] > 0.0f) && + (iter->distance > + (distance_inputpcl_array[i * azimuth_steps + j] - neighbor_r_thresh_))) { + neighbor_check++; + } + if (neighbor_check > 1) { + goto exit_neighbor_check; + } } } - } exit_neighbor_check: - if(neighbor_check < 2){ - deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); - deleted_distances.push_back(iter->distance); - noise_output->points.push_back(*iter);} - break; - } - case 2: //base_link xyz-ROI - { - if (iter->x > x_min_ && iter->x < x_max_ && iter->y > y_min_ && iter->y < y_max_ && iter->z > z_min_ && iter->z < z_max_){ - deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); - deleted_distances.push_back(iter->distance); - noise_output->points.push_back(*iter);} - break; - } - case 3: - { - - if (iter->azimuth > min_azimuth && iter->azimuth < max_azimuth && iter->distance < max_distance_){ - deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); - noise_output->points.push_back(*iter); - deleted_distances.push_back(iter->distance);} - break; - } - default: + if (neighbor_check < 2) { + deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); + deleted_distances.push_back(iter->distance); + noise_output->points.push_back(*iter); + } + break; + } + case 2: // base_link xyz-ROI { - deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); - deleted_distances.push_back(iter->distance); - noise_output->points.push_back(*iter); - break; + if ( + iter->x > x_min_ && iter->x < x_max_ && iter->y > y_min_ && iter->y < y_max_ && + iter->z > z_min_ && iter->z < z_max_) { + deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); + deleted_distances.push_back(iter->distance); + noise_output->points.push_back(*iter); + } + break; + } + case 3: { + if ( + iter->azimuth > min_azimuth && iter->azimuth < max_azimuth && + iter->distance < max_distance_) { + deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); + noise_output->points.push_back(*iter); + deleted_distances.push_back(iter->distance); + } + break; + } + default: { + deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); + deleted_distances.push_back(iter->distance); + noise_output->points.push_back(*iter); + break; } } } @@ -286,55 +296,53 @@ void DualReturnOutlierFilterComponent::filter( continue; } while ((uint)deleted_azimuths[current_deleted_index] < - ((i + static_cast(min_azimuth/horizontal_res) + 1) * horizontal_res) && + ((i + static_cast(min_azimuth / horizontal_res) + 1) * horizontal_res) && current_deleted_index < (deleted_azimuths.size() - 1)) { noise_frequency[i] = noise_frequency[i] + 1; current_deleted_index++; } if (temp_segment.points.size() > 0) { - - while ((temp_segment.points[current_temp_segment_index].azimuth < 0.f - ? 0.f - : temp_segment.points[current_temp_segment_index].azimuth) < - ((i + 1 + static_cast(min_azimuth/horizontal_res)) * horizontal_res) && - current_temp_segment_index < (temp_segment.points.size() - 1)) { - if (noise_frequency[i] < weak_first_local_noise_threshold_) { - pcl_output->points.push_back(temp_segment.points[current_temp_segment_index]); - } else { - switch (ROI_mode_) - { - case 2: - { - if(temp_segment.points[current_temp_segment_index].x < x_max_ && - temp_segment.points[current_temp_segment_index].x > x_min_ && - temp_segment.points[current_temp_segment_index].y > y_max_ && - temp_segment.points[current_temp_segment_index].y < y_min_ && - temp_segment.points[current_temp_segment_index].z < z_max_ && - temp_segment.points[current_temp_segment_index].z > z_min_){ - noise_frequency[i] = noise_frequency[i] + 1; - noise_output->points.push_back(temp_segment.points[current_temp_segment_index]); + while ((temp_segment.points[current_temp_segment_index].azimuth < 0.f + ? 0.f + : temp_segment.points[current_temp_segment_index].azimuth) < + ((i + 1 + static_cast(min_azimuth / horizontal_res)) * horizontal_res) && + current_temp_segment_index < (temp_segment.points.size() - 1)) { + if (noise_frequency[i] < weak_first_local_noise_threshold_) { + pcl_output->points.push_back(temp_segment.points[current_temp_segment_index]); + } else { + switch (ROI_mode_) { + case 2: { + if ( + temp_segment.points[current_temp_segment_index].x < x_max_ && + temp_segment.points[current_temp_segment_index].x > x_min_ && + temp_segment.points[current_temp_segment_index].y > y_max_ && + temp_segment.points[current_temp_segment_index].y < y_min_ && + temp_segment.points[current_temp_segment_index].z < z_max_ && + temp_segment.points[current_temp_segment_index].z > z_min_) { + noise_frequency[i] = noise_frequency[i] + 1; + noise_output->points.push_back(temp_segment.points[current_temp_segment_index]); + } + break; + } + case 3: { + if ( + temp_segment.points[current_temp_segment_index].azimuth < max_azimuth && + temp_segment.points[current_temp_segment_index].azimuth > min_azimuth && + temp_segment.points[current_temp_segment_index].distance < max_distance_) { + noise_frequency[i] = noise_frequency[i] + 1; + noise_output->points.push_back(temp_segment.points[current_temp_segment_index]); + } + break; + } + default: { + noise_frequency[i] = noise_frequency[i] + 1; + noise_output->points.push_back(temp_segment.points[current_temp_segment_index]); + break; + } } - break; - } - case 3: - { - if(temp_segment.points[current_temp_segment_index].azimuth < max_azimuth && - temp_segment.points[current_temp_segment_index].azimuth > min_azimuth && - temp_segment.points[current_temp_segment_index].distance < max_distance_){ - noise_frequency[i] = noise_frequency[i] + 1; - noise_output->points.push_back(temp_segment.points[current_temp_segment_index]);} - break; - } - default: - { - noise_frequency[i] = noise_frequency[i] + 1; - noise_output->points.push_back(temp_segment.points[current_temp_segment_index]); - break; - } } + current_temp_segment_index++; } - current_temp_segment_index++; - } } frequency_image.at(ring_id, i) = noise_frequency[i]; } @@ -373,8 +381,8 @@ void DualReturnOutlierFilterComponent::filter( } } - delete [] distance_inputpcl_array; - delete [] distance_weakfirstpcl_array; + delete[] distance_inputpcl_array; + delete[] distance_weakfirstpcl_array; // Threshold for diagnostics (tunable) cv::Mat binary_image; cv::inRange(frequency_image, weak_first_local_noise_threshold_, 255, binary_image); From 7122a4c1617ea0c1a9d7e3d41f25c5556242e245 Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Fri, 4 Feb 2022 09:58:49 +0900 Subject: [PATCH 10/27] fix: typo Signed-off-by: badai-nguyen --- .../dual_return_outlier_filter_nodelet.cpp | 26 +++++++++---------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index 7db3cdb6abc25..40b7abd2c0d74 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -144,21 +144,21 @@ void DualReturnOutlierFilterComponent::filter( const uint ring_number = vertical_bins; const uint azimuth_steps = 36000; - float * distance_inputpcl_array = new float[ring_number * azimuth_steps]; - float * distance_weakfirstpcl_array = new float[ring_number * azimuth_steps]; + float * pcl_input_distance_array = new float[ring_number * azimuth_steps]; + float * pcl_weak_first_distance_array = new float[ring_number * azimuth_steps]; for (uint i = 0; i < ring_number * azimuth_steps; i++) { - distance_inputpcl_array[i] = -1.0f; - distance_weakfirstpcl_array[i] = -1.0f; + pcl_input_distance_array[i] = -1.0f; + pcl_weak_first_distance_array[i] = -1.0f; } // Split into 36 x 10 degree bins x 40 lines (TODO: change to dynamic) for (const auto & p : pcl_input->points) { uint azimuth_ind = static_cast(p.azimuth < 0.0f ? p.azimuth + 36000.0f : p.azimuth); if (p.return_type == ReturnType::DUAL_WEAK_FIRST) { weak_first_pcl_input_ring_array.at(p.ring).push_back(p); - distance_weakfirstpcl_array[p.ring * azimuth_steps + azimuth_ind] = p.distance; + pcl_weak_first_distance_array[p.ring * azimuth_steps + azimuth_ind] = p.distance; } else { pcl_input_ring_array.at(p.ring).push_back(p); - distance_inputpcl_array[p.ring * azimuth_steps + azimuth_ind] = p.distance; + pcl_input_distance_array[p.ring * azimuth_steps + azimuth_ind] = p.distance; } } @@ -196,11 +196,11 @@ void DualReturnOutlierFilterComponent::filter( for (auto i = weakfirst_ring_min; i < weakfirst_ring_max; i++) { for (auto j = weakfirst_w_min; j < weakfirst_w_max; j++) { - if (distance_weakfirstpcl_array[i * azimuth_steps + j] > 0.0) { + if (pcl_weak_first_distance_array[i * azimuth_steps + j] > 0.0) { const float min_dist = - std::min(iter->distance, distance_weakfirstpcl_array[i * azimuth_steps + j]); + std::min(iter->distance, pcl_weak_first_distance_array[i * azimuth_steps + j]); const float max_dist = - std::max(iter->distance, distance_weakfirstpcl_array[i * azimuth_steps + j]); + std::max(iter->distance, pcl_weak_first_distance_array[i * azimuth_steps + j]); float azimuth_diff = (iter + 1)->azimuth - iter->azimuth; azimuth_diff = azimuth_diff < 0.f ? azimuth_diff + 36000.f : azimuth_diff; @@ -239,9 +239,9 @@ void DualReturnOutlierFilterComponent::filter( for (auto i = min_h; i < max_h; i++) { for (auto j = min_w; j < max_w; j++) { if ( - (distance_inputpcl_array[i * azimuth_steps + j] > 0.0f) && + (pcl_input_distance_array[i * azimuth_steps + j] > 0.0f) && (iter->distance > - (distance_inputpcl_array[i * azimuth_steps + j] - neighbor_r_thresh_))) { + (pcl_input_distance_array[i * azimuth_steps + j] - neighbor_r_thresh_))) { neighbor_check++; } if (neighbor_check > 1) { @@ -381,8 +381,8 @@ void DualReturnOutlierFilterComponent::filter( } } - delete[] distance_inputpcl_array; - delete[] distance_weakfirstpcl_array; + delete[] pcl_input_distance_array; + delete[] pcl_weak_first_distance_array; // Threshold for diagnostics (tunable) cv::Mat binary_image; cv::inRange(frequency_image, weak_first_local_noise_threshold_, 255, binary_image); From 99b6df0f4655aaf7f25624e47925f05f2af65ccb Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Tue, 8 Feb 2022 09:38:51 +0900 Subject: [PATCH 11/27] fix: typo Signed-off-by: badai-nguyen --- .../dual_return_outlier_filter_nodelet.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index 40b7abd2c0d74..594e8cdb3d79a 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -179,23 +179,23 @@ void DualReturnOutlierFilterComponent::filter( iter != std::end(weak_first_single_ring) - 1; ++iter) { uint azimuth_id = static_cast(iter->azimuth); uint segment_check = 0, segment_check_thresh = 2; - uint weakfirst_ring_min = 0, weakfirst_ring_max = ring_number; - uint weakfirst_w_min = 0, weakfirst_w_max = azimuth_steps; + uint weak_first_ring_min = 0, weak_first_ring_max = ring_number; + uint weak_first_w_min = 0, weak_first_w_max = azimuth_steps; - weakfirst_ring_min = + weak_first_ring_min = ring_id > weak_first_segment_check_size_v_ ? ring_id - weak_first_segment_check_size_v_ : 0; - weakfirst_ring_max = ring_id + weak_first_segment_check_size_v_ < ring_number + weak_first_ring_max = ring_id + weak_first_segment_check_size_v_ < ring_number ? ring_id + weak_first_segment_check_size_v_ + 1 : ring_number; - weakfirst_w_min = azimuth_id > weak_first_segment_check_size_h_ + weak_first_w_min = azimuth_id > weak_first_segment_check_size_h_ ? azimuth_id - weak_first_segment_check_size_h_ : 0; - weakfirst_w_max = azimuth_id + weak_first_segment_check_size_h_ < azimuth_steps + weak_first_w_max = azimuth_id + weak_first_segment_check_size_h_ < azimuth_steps ? azimuth_id + weak_first_segment_check_size_h_ + 1 : azimuth_steps; - for (auto i = weakfirst_ring_min; i < weakfirst_ring_max; i++) { - for (auto j = weakfirst_w_min; j < weakfirst_w_max; j++) { + for (auto i = weak_first_ring_min; i < weak_first_ring_max; i++) { + for (auto j = weak_first_w_min; j < weak_first_w_max; j++) { if (pcl_weak_first_distance_array[i * azimuth_steps + j] > 0.0) { const float min_dist = std::min(iter->distance, pcl_weak_first_distance_array[i * azimuth_steps + j]); From 8cec26f7e471a4b448cfc3683eab3a6916a3e210 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 8 Feb 2022 00:39:58 +0000 Subject: [PATCH 12/27] ci(pre-commit): autofix --- .../dual_return_outlier_filter_nodelet.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index 594e8cdb3d79a..55cf5e21240f8 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -185,14 +185,14 @@ void DualReturnOutlierFilterComponent::filter( weak_first_ring_min = ring_id > weak_first_segment_check_size_v_ ? ring_id - weak_first_segment_check_size_v_ : 0; weak_first_ring_max = ring_id + weak_first_segment_check_size_v_ < ring_number - ? ring_id + weak_first_segment_check_size_v_ + 1 - : ring_number; + ? ring_id + weak_first_segment_check_size_v_ + 1 + : ring_number; weak_first_w_min = azimuth_id > weak_first_segment_check_size_h_ - ? azimuth_id - weak_first_segment_check_size_h_ - : 0; + ? azimuth_id - weak_first_segment_check_size_h_ + : 0; weak_first_w_max = azimuth_id + weak_first_segment_check_size_h_ < azimuth_steps - ? azimuth_id + weak_first_segment_check_size_h_ + 1 - : azimuth_steps; + ? azimuth_id + weak_first_segment_check_size_h_ + 1 + : azimuth_steps; for (auto i = weak_first_ring_min; i < weak_first_ring_max; i++) { for (auto j = weak_first_w_min; j < weak_first_w_max; j++) { From f3c7ff6dfd2aa4384e1ba72d63d0e41003ecddcb Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Fri, 18 Feb 2022 14:56:26 +0900 Subject: [PATCH 13/27] fix: add normal pcl noise for visibility Signed-off-by: badai-nguyen --- .../dual_return_outlier_filter_nodelet.cpp | 50 +++++++++++++++++-- 1 file changed, 47 insertions(+), 3 deletions(-) diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index 55cf5e21240f8..c18920b399e7b 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -111,7 +111,7 @@ void DualReturnOutlierFilterComponent::filter( uint32_t vertical_bins = vertical_bins_; uint32_t horizontal_bins = 36; float max_azimuth = 36000.0f; - float min_azimuth = 0; + float min_azimuth = 0.0f; switch (ROI_mode_) { case 3: { max_azimuth = max_azimuth_; @@ -353,10 +353,12 @@ void DualReturnOutlierFilterComponent::filter( if (input_ring.size() < 2) { continue; } + std::vector deleted_azimuths; pcl::PointCloud temp_segment; bool keep_next = false; - // uint ring_id = input_ring.points.front().ring; + uint16_t ring_id = input_ring.points.front().ring; for (auto iter = std::begin(input_ring) + 1; iter != std::end(input_ring) - 1; ++iter) { + // uint azimuth_id = static_cast(iter->azimuth); const float min_dist = std::min(iter->distance, (iter + 1)->distance); const float max_dist = std::max(iter->distance, (iter + 1)->distance); float azimuth_diff = (iter + 1)->azimuth - iter->azimuth; @@ -371,11 +373,53 @@ void DualReturnOutlierFilterComponent::filter( // Analyse segment points here } else { // Log the deleted azimuth and its distance for analysis - // deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); + float non_neg_azimuth = iter->azimuth; + while(non_neg_azimuth < 0.0f){non_neg_azimuth += 36000.0f;} + switch (ROI_mode_) { + case 2: // base_link xyz-ROI + { + if ( + iter->x > x_min_ && iter->x < x_max_ && iter->y > y_min_ && iter->y < y_max_ && + iter->z > z_min_ && iter->z < z_max_) { + deleted_azimuths.push_back(non_neg_azimuth); + } + break; + } + case 3: { + if ( + non_neg_azimuth > min_azimuth && non_neg_azimuth < max_azimuth && + iter->distance < max_distance_) { + deleted_azimuths.push_back(non_neg_azimuth); + } + break; + } + default: { + if(iter->distance < 15.0f) + {deleted_azimuths.push_back(non_neg_azimuth);} + break; + } + } + // deleted_distances.push_back(iter->distance); noise_output->points.push_back(*iter); } } + std::vector noise_frequency(horizontal_bins, 0); + uint32_t current_deleted_index = 0; + // uint current_temp_segment_index = 0; + for (uint i = 0; i < noise_frequency.size() - 1; i++) { + if (deleted_azimuths.size() == 0) { + continue; + } + while ((uint)deleted_azimuths[current_deleted_index] < + ((i + static_cast(min_azimuth / horizontal_res) + 1) * horizontal_res) && + current_deleted_index < (deleted_azimuths.size() - 1)) { + noise_frequency[i] = noise_frequency[i] + 1; + current_deleted_index++; + } + if(noise_frequency[i] >0){ + frequency_image.at(ring_id, i) = frequency_image.at(ring_id, i) + noise_frequency[i];} + } for (const auto & tmp_p : temp_segment.points) { pcl_output->points.push_back(tmp_p); } From 450857e95098310aca92ea8e902f6c6b59530176 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri, 18 Feb 2022 05:59:01 +0000 Subject: [PATCH 14/27] ci(pre-commit): autofix --- .../dual_return_outlier_filter_nodelet.cpp | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index c18920b399e7b..ac650c130bc7c 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -374,7 +374,9 @@ void DualReturnOutlierFilterComponent::filter( } else { // Log the deleted azimuth and its distance for analysis float non_neg_azimuth = iter->azimuth; - while(non_neg_azimuth < 0.0f){non_neg_azimuth += 36000.0f;} + while (non_neg_azimuth < 0.0f) { + non_neg_azimuth += 36000.0f; + } switch (ROI_mode_) { case 2: // base_link xyz-ROI { @@ -394,12 +396,13 @@ void DualReturnOutlierFilterComponent::filter( break; } default: { - if(iter->distance < 15.0f) - {deleted_azimuths.push_back(non_neg_azimuth);} + if (iter->distance < 15.0f) { + deleted_azimuths.push_back(non_neg_azimuth); + } break; } } - + // deleted_distances.push_back(iter->distance); noise_output->points.push_back(*iter); } @@ -417,8 +420,10 @@ void DualReturnOutlierFilterComponent::filter( noise_frequency[i] = noise_frequency[i] + 1; current_deleted_index++; } - if(noise_frequency[i] >0){ - frequency_image.at(ring_id, i) = frequency_image.at(ring_id, i) + noise_frequency[i];} + if (noise_frequency[i] > 0) { + frequency_image.at(ring_id, i) = + frequency_image.at(ring_id, i) + noise_frequency[i]; + } } for (const auto & tmp_p : temp_segment.points) { pcl_output->points.push_back(tmp_p); From 29ee27727746a8c8993b664dd65ddadb8bd84306 Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Mon, 28 Feb 2022 13:34:55 +0900 Subject: [PATCH 15/27] fix: typo Signed-off-by: badai-nguyen --- .../dual_return_outlier_filter_nodelet.hpp | 15 +++++-- .../dual_return_outlier_filter_nodelet.cpp | 44 +++++++++---------- 2 files changed, 34 insertions(+), 25 deletions(-) diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp index cab8c5feed409..8466814824d48 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp @@ -31,6 +31,7 @@ #include #include +#include namespace pointcloud_preprocessor { @@ -48,6 +49,14 @@ enum ReturnType : uint8_t { DUAL_ONLY, }; +std::unordered_map roi_mode_map_ = +{ + {"No_ROI", 0}, + {"Dynamic_FreeSpace_ROI" , 1}, + {"Fixed_xyz_ROI" , 2}, + {"Fixed_azimuth_ROI" , 3}, +}; + class DualReturnOutlierFilterComponent : public pointcloud_preprocessor::Filter { protected: @@ -76,7 +85,7 @@ class DualReturnOutlierFilterComponent : public pointcloud_preprocessor::Filter float neighbor_r_thresh_ = 0.5f; uint weak_first_segment_check_size_v_; uint weak_first_segment_check_size_h_; - uchar ROI_mode_; + std::string roi_mode_; float x_max_; float x_min_; float y_max_; @@ -84,8 +93,8 @@ class DualReturnOutlierFilterComponent : public pointcloud_preprocessor::Filter float z_max_; float z_min_; - float min_azimuth_; - float max_azimuth_; + float min_azimuth_deg_; + float max_azimuth_deg_; float max_distance_; public: diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index ac650c130bc7c..91409f26479d9 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -40,8 +40,8 @@ DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent( y_min_ = static_cast(declare_parameter("y_min", -2.0)); z_max_ = static_cast(declare_parameter("z_max", 10.0)); z_min_ = static_cast(declare_parameter("z_min", 0.0)); - min_azimuth_ = static_cast(declare_parameter("min_azimuth", 13500.0)); - max_azimuth_ = static_cast(declare_parameter("max_azimuth", 22500.0)); + min_azimuth_deg_ = static_cast(declare_parameter("min_azimuth_deg", 135.0)); + max_azimuth_deg_ = static_cast(declare_parameter("max_azimuth_deg", 225.0)); max_distance_ = static_cast(declare_parameter("max_distance", 12.0)); vertical_bins_ = static_cast(declare_parameter("vertical_bins", 128)); max_azimuth_diff_ = static_cast(declare_parameter("max_azimuth_diff", 50.0)); @@ -53,7 +53,7 @@ DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent( weak_first_local_noise_threshold_ = static_cast(declare_parameter("weak_first_local_noise_threshold", 10)); visibility_threshold_ = static_cast(declare_parameter("visibility_threshold", 0.5)); - ROI_mode_ = static_cast(declare_parameter("ROI_mode", 0)); + roi_mode_ = static_cast(declare_parameter("roi_mode", "Fixed_xyz_ROI")); weak_first_segment_check_size_h_ = static_cast(declare_parameter("weak_first_segment_check_size_h", 30)); weak_first_segment_check_size_v_ = @@ -112,10 +112,10 @@ void DualReturnOutlierFilterComponent::filter( uint32_t horizontal_bins = 36; float max_azimuth = 36000.0f; float min_azimuth = 0.0f; - switch (ROI_mode_) { + switch (roi_mode_map_[roi_mode_]) { case 3: { - max_azimuth = max_azimuth_; - min_azimuth = min_azimuth_; + max_azimuth = max_azimuth_deg_ * 100.0; + min_azimuth = min_azimuth_deg_ * 100.0; break; } @@ -144,21 +144,21 @@ void DualReturnOutlierFilterComponent::filter( const uint ring_number = vertical_bins; const uint azimuth_steps = 36000; - float * pcl_input_distance_array = new float[ring_number * azimuth_steps]; - float * pcl_weak_first_distance_array = new float[ring_number * azimuth_steps]; + float * strong_return_distance_array = new float[ring_number * azimuth_steps]; + float * weak_first_return_distance_array = new float[ring_number * azimuth_steps]; for (uint i = 0; i < ring_number * azimuth_steps; i++) { - pcl_input_distance_array[i] = -1.0f; - pcl_weak_first_distance_array[i] = -1.0f; + strong_return_distance_array[i] = -1.0f; + weak_first_return_distance_array[i] = -1.0f; } // Split into 36 x 10 degree bins x 40 lines (TODO: change to dynamic) for (const auto & p : pcl_input->points) { uint azimuth_ind = static_cast(p.azimuth < 0.0f ? p.azimuth + 36000.0f : p.azimuth); if (p.return_type == ReturnType::DUAL_WEAK_FIRST) { weak_first_pcl_input_ring_array.at(p.ring).push_back(p); - pcl_weak_first_distance_array[p.ring * azimuth_steps + azimuth_ind] = p.distance; + weak_first_return_distance_array[p.ring * azimuth_steps + azimuth_ind] = p.distance; } else { pcl_input_ring_array.at(p.ring).push_back(p); - pcl_input_distance_array[p.ring * azimuth_steps + azimuth_ind] = p.distance; + strong_return_distance_array[p.ring * azimuth_steps + azimuth_ind] = p.distance; } } @@ -196,11 +196,11 @@ void DualReturnOutlierFilterComponent::filter( for (auto i = weak_first_ring_min; i < weak_first_ring_max; i++) { for (auto j = weak_first_w_min; j < weak_first_w_max; j++) { - if (pcl_weak_first_distance_array[i * azimuth_steps + j] > 0.0) { + if (weak_first_return_distance_array[i * azimuth_steps + j] > 0.0) { const float min_dist = - std::min(iter->distance, pcl_weak_first_distance_array[i * azimuth_steps + j]); + std::min(iter->distance, weak_first_return_distance_array[i * azimuth_steps + j]); const float max_dist = - std::max(iter->distance, pcl_weak_first_distance_array[i * azimuth_steps + j]); + std::max(iter->distance, weak_first_return_distance_array[i * azimuth_steps + j]); float azimuth_diff = (iter + 1)->azimuth - iter->azimuth; azimuth_diff = azimuth_diff < 0.f ? azimuth_diff + 36000.f : azimuth_diff; @@ -224,7 +224,7 @@ void DualReturnOutlierFilterComponent::filter( // Analyse segment points here } else { // Log the deleted azimuth and its distance for analysis - switch (ROI_mode_) { + switch (roi_mode_map_[roi_mode_]) { case 1: // dynamic ROI free space { // check surrounding normal pcl @@ -239,9 +239,9 @@ void DualReturnOutlierFilterComponent::filter( for (auto i = min_h; i < max_h; i++) { for (auto j = min_w; j < max_w; j++) { if ( - (pcl_input_distance_array[i * azimuth_steps + j] > 0.0f) && + (strong_return_distance_array[i * azimuth_steps + j] > 0.0f) && (iter->distance > - (pcl_input_distance_array[i * azimuth_steps + j] - neighbor_r_thresh_))) { + (strong_return_distance_array[i * azimuth_steps + j] - neighbor_r_thresh_))) { neighbor_check++; } if (neighbor_check > 1) { @@ -310,7 +310,7 @@ void DualReturnOutlierFilterComponent::filter( if (noise_frequency[i] < weak_first_local_noise_threshold_) { pcl_output->points.push_back(temp_segment.points[current_temp_segment_index]); } else { - switch (ROI_mode_) { + switch (roi_mode_map_[roi_mode_]) { case 2: { if ( temp_segment.points[current_temp_segment_index].x < x_max_ && @@ -377,7 +377,7 @@ void DualReturnOutlierFilterComponent::filter( while (non_neg_azimuth < 0.0f) { non_neg_azimuth += 36000.0f; } - switch (ROI_mode_) { + switch (roi_mode_map_[roi_mode_]) { case 2: // base_link xyz-ROI { if ( @@ -430,8 +430,8 @@ void DualReturnOutlierFilterComponent::filter( } } - delete[] pcl_input_distance_array; - delete[] pcl_weak_first_distance_array; + delete[] strong_return_distance_array; + delete[] weak_first_return_distance_array; // Threshold for diagnostics (tunable) cv::Mat binary_image; cv::inRange(frequency_image, weak_first_local_noise_threshold_, 255, binary_image); From bc6ba3fa9e3bc08758301e72e83afd7225122ce2 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 28 Feb 2022 05:32:36 +0000 Subject: [PATCH 16/27] ci(pre-commit): autofix --- .../dual_return_outlier_filter_nodelet.hpp | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp index 8466814824d48..49d17f0a6bd6e 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp @@ -30,8 +30,8 @@ #include #include +#include #include -#include namespace pointcloud_preprocessor { @@ -49,12 +49,11 @@ enum ReturnType : uint8_t { DUAL_ONLY, }; -std::unordered_map roi_mode_map_ = -{ - {"No_ROI", 0}, - {"Dynamic_FreeSpace_ROI" , 1}, - {"Fixed_xyz_ROI" , 2}, - {"Fixed_azimuth_ROI" , 3}, +std::unordered_map roi_mode_map_ = { + {"No_ROI", 0}, + {"Dynamic_FreeSpace_ROI", 1}, + {"Fixed_xyz_ROI", 2}, + {"Fixed_azimuth_ROI", 3}, }; class DualReturnOutlierFilterComponent : public pointcloud_preprocessor::Filter From 01dc9d601679200825a1a6b6bc9f9eeedb1f50b9 Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Tue, 1 Mar 2022 12:34:45 +0900 Subject: [PATCH 17/27] docs: add ROI mode Signed-off-by: badai-nguyen --- .../docs/dual-return-outlier-filter.md | 19 ++++++++++++++++++ ...filter-dual_return_ROI_setting_options.png | Bin 0 -> 64264 bytes ...tlier_filter-dual_return_detail.drawio.svg | 2 +- 3 files changed, 20 insertions(+), 1 deletion(-) create mode 100644 sensing/pointcloud_preprocessor/docs/image/outlier_filter-dual_return_ROI_setting_options.png diff --git a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md index d2ddc3315256b..64cb3617180f7 100644 --- a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md +++ b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md @@ -14,11 +14,25 @@ Therefore, in order to use this node, the sensor driver must publish custom data Another feature of this node is that it publishes visibility as a diagnostic topic. With this function, for example, in heavy rain, the sensing module can notify that the processing performance has reached its limit, which can lead to ensuring the safety of the vehicle. +In some complicated road scenes where normal objects also reflect the light in two stages, for instance plants, leaves, some plastic net etc, the visibility faces some drop in fine weather condition. To deal with that, optional setings of a region of interest (ROI) are added. + + 1. `Dynamic_FreeSpace_ROI` mode: Visibility estimation based on the weak points in the free space which defined as no normal points region. + 2. `Fixed_xyz_ROI` mode: Visibility estimation based on the weak points in a fixed cuboid surrourding region of ego-vehicle, defined by x, y, z in base_link perspective. + 3. `Fixed_azimuth_ROI` mode: Visibility estimation based on the weak points in a fixed surrouding region of ego-vehicle, defined by azimuth and distance of LiDAR perspective. + +When select 2 fixed ROI modes, due to the range of weak points is shrink, the sensitity of visibility is decrease so that a trade of between `weak_first_local_noise_threshold` and `visibility_threshold` is needed. + + ![outlier_filter-dual_return_overall](./image/outlier_filter-dual_return_overall.drawio.svg) The figure below describe how the node works. ![outlier_filter-dual_return_detail](./image/outlier_filter-dual_return_detail.drawio.svg) +The below picture shows the ROI options. + +![outlier_filter-dual_return_ROI_setting_options](./image/outlier_filter-dual_return_ROI_setting_options.png) + + ## Inputs / Outputs This implementation inherits `pointcloud_preprocessor::Filter` class, please refer [README](../README.md). @@ -31,6 +45,7 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref | `/dual_return_outlier_filter/visibility` | `tier4_debug_msgs::msg::Float32Stamped` | A representation of visibility with a value from 0 to 1 | | `/dual_return_outlier_filter/pointcloud_noise` | `sensor_msgs::msg::Pointcloud2` | The pointcloud removed as noise | + ## Parameters ### Node Parameters @@ -47,6 +62,10 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref | `general_distance_ratio` | double | Threshold for ring_outlier_filter | | `weak_first_local_noise_threshold` | int | The parameter for determining whether it is noise | | `visibility_threshold` | float | When the percentage of white pixels in the binary histogram falls below this parameter the diagnostic status becomes WARN | +| `roi_mode` | string | The name of ROI mode for switching | +| `min_azimuth_deg` | float | The left limit of azimuth for `Fixed_azimuth_ROI` mode | +| `max_azimuth_deg` | float | The right limit of azimuth for `Fixed_azimuth_ROI` mode | +| `max_distance` | float | The limit distance for for `Fixed_azimuth_ROI` mode | ## Assumptions / Known limits diff --git a/sensing/pointcloud_preprocessor/docs/image/outlier_filter-dual_return_ROI_setting_options.png b/sensing/pointcloud_preprocessor/docs/image/outlier_filter-dual_return_ROI_setting_options.png new file mode 100644 index 0000000000000000000000000000000000000000..22be70a642309ea9317027ece2aa7fc526d24034 GIT binary patch literal 64264 zcmXt91ymbb*To4Gin~LLTX6{%w73;_r?|VjySo>6DDLj=#R(L5hmZH(|DUX^BzM-z 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b/sensing/pointcloud_preprocessor/docs/image/outlier_filter-dual_return_detail.drawio.svg @@ -1,4 +1,4 @@ -
input pointcloud (PointXYZIRADT)
input pointcloud (Poi...
split  points by return_type
split  points by r...
ring outlier filter
ring outlier filter
weak points
weak points
normal points
normal points
ring outlier filter
ring outlier filter
combine
combine
good points
good points
create histogram
create histogram
noise points
noise points
diagnostics
diagnostics
create binary histogram
create binary hist...
estimate visibility
estimate visibility
output pointcloud (PointXYZIRADT)
output pointcloud...Viewer does not support full SVG 1.1 \ No newline at end of file +
input pointcloud (PointXYZIRADT)
input pointcloud (Poi...
split  points by return_type
split  points by r...
ring outlier filter
ring outlier filter
weak points
weak points
normal points
normal points
ring outlier filter
ring outlier filter
combine
combine
good points
good points
create histogram
create histogram
noise points
noise points
diagnostics
diagnostics
create binary histogram
create binary hist...
estimate visibility
estimate visibility
output pointcloud (PointXYZIRADT)
output pointcloud...
set ROI
set ROIText is not SVG - cannot display \ No newline at end of file From 804326e8d986697c2210d847a3a1ce364c5af86e Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 1 Mar 2022 03:39:23 +0000 Subject: [PATCH 18/27] ci(pre-commit): autofix --- .../docs/dual-return-outlier-filter.md | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md index 64cb3617180f7..736423ec8befa 100644 --- a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md +++ b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md @@ -16,12 +16,11 @@ Another feature of this node is that it publishes visibility as a diagnostic top In some complicated road scenes where normal objects also reflect the light in two stages, for instance plants, leaves, some plastic net etc, the visibility faces some drop in fine weather condition. To deal with that, optional setings of a region of interest (ROI) are added. - 1. `Dynamic_FreeSpace_ROI` mode: Visibility estimation based on the weak points in the free space which defined as no normal points region. - 2. `Fixed_xyz_ROI` mode: Visibility estimation based on the weak points in a fixed cuboid surrourding region of ego-vehicle, defined by x, y, z in base_link perspective. - 3. `Fixed_azimuth_ROI` mode: Visibility estimation based on the weak points in a fixed surrouding region of ego-vehicle, defined by azimuth and distance of LiDAR perspective. - -When select 2 fixed ROI modes, due to the range of weak points is shrink, the sensitity of visibility is decrease so that a trade of between `weak_first_local_noise_threshold` and `visibility_threshold` is needed. +1. `Dynamic_FreeSpace_ROI` mode: Visibility estimation based on the weak points in the free space which defined as no normal points region. +2. `Fixed_xyz_ROI` mode: Visibility estimation based on the weak points in a fixed cuboid surrourding region of ego-vehicle, defined by x, y, z in base_link perspective. +3. `Fixed_azimuth_ROI` mode: Visibility estimation based on the weak points in a fixed surrouding region of ego-vehicle, defined by azimuth and distance of LiDAR perspective. +When select 2 fixed ROI modes, due to the range of weak points is shrink, the sensitity of visibility is decrease so that a trade of between `weak_first_local_noise_threshold` and `visibility_threshold` is needed. ![outlier_filter-dual_return_overall](./image/outlier_filter-dual_return_overall.drawio.svg) @@ -32,7 +31,6 @@ The below picture shows the ROI options. ![outlier_filter-dual_return_ROI_setting_options](./image/outlier_filter-dual_return_ROI_setting_options.png) - ## Inputs / Outputs This implementation inherits `pointcloud_preprocessor::Filter` class, please refer [README](../README.md). @@ -45,7 +43,6 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref | `/dual_return_outlier_filter/visibility` | `tier4_debug_msgs::msg::Float32Stamped` | A representation of visibility with a value from 0 to 1 | | `/dual_return_outlier_filter/pointcloud_noise` | `sensor_msgs::msg::Pointcloud2` | The pointcloud removed as noise | - ## Parameters ### Node Parameters From 76677022628bf4314bc970f2ad487fe3d0a0f00b Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Tue, 1 Mar 2022 12:44:33 +0900 Subject: [PATCH 19/27] fix: typo Signed-off-by: badai-nguyen --- .../outlier_filter/dual_return_outlier_filter_nodelet.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp index 49d17f0a6bd6e..6ac545e073b8a 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp @@ -29,8 +29,8 @@ #include #include #include - #include +#include #include namespace pointcloud_preprocessor From 2a12a3bf0ed433377d80b63923e59f926acfae36 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 1 Mar 2022 03:45:48 +0000 Subject: [PATCH 20/27] ci(pre-commit): autofix --- .../outlier_filter/dual_return_outlier_filter_nodelet.hpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp index 6ac545e073b8a..30bf3be553b1b 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp @@ -29,8 +29,9 @@ #include #include #include -#include + #include +#include #include namespace pointcloud_preprocessor From ab16c0502da5fc56ac7f031f2919c9588e4e6b1b Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Tue, 1 Mar 2022 15:38:21 +0900 Subject: [PATCH 21/27] fix: typo Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Signed-off-by: badai-nguyen --- .../pointcloud_preprocessor/docs/dual-return-outlier-filter.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md index 736423ec8befa..b3f02f51c8fe8 100644 --- a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md +++ b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md @@ -17,7 +17,7 @@ Another feature of this node is that it publishes visibility as a diagnostic top In some complicated road scenes where normal objects also reflect the light in two stages, for instance plants, leaves, some plastic net etc, the visibility faces some drop in fine weather condition. To deal with that, optional setings of a region of interest (ROI) are added. 1. `Dynamic_FreeSpace_ROI` mode: Visibility estimation based on the weak points in the free space which defined as no normal points region. -2. `Fixed_xyz_ROI` mode: Visibility estimation based on the weak points in a fixed cuboid surrourding region of ego-vehicle, defined by x, y, z in base_link perspective. +2. `Fixed_xyz_ROI` mode: Visibility estimation based on the weak points in a fixed cuboid surrounding region of ego-vehicle, defined by x, y, z in base_link perspective. 3. `Fixed_azimuth_ROI` mode: Visibility estimation based on the weak points in a fixed surrouding region of ego-vehicle, defined by azimuth and distance of LiDAR perspective. When select 2 fixed ROI modes, due to the range of weak points is shrink, the sensitity of visibility is decrease so that a trade of between `weak_first_local_noise_threshold` and `visibility_threshold` is needed. From e0dece34fc603c2e518a2c0029cbd7fdee433f6d Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Tue, 1 Mar 2022 15:44:32 +0900 Subject: [PATCH 22/27] fix: typo Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Signed-off-by: badai-nguyen --- .../pointcloud_preprocessor/docs/dual-return-outlier-filter.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md index b3f02f51c8fe8..b2694d1f92029 100644 --- a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md +++ b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md @@ -14,7 +14,7 @@ Therefore, in order to use this node, the sensor driver must publish custom data Another feature of this node is that it publishes visibility as a diagnostic topic. With this function, for example, in heavy rain, the sensing module can notify that the processing performance has reached its limit, which can lead to ensuring the safety of the vehicle. -In some complicated road scenes where normal objects also reflect the light in two stages, for instance plants, leaves, some plastic net etc, the visibility faces some drop in fine weather condition. To deal with that, optional setings of a region of interest (ROI) are added. +In some complicated road scenes where normal objects also reflect the light in two stages, for instance plants, leaves, some plastic net etc, the visibility faces some drop in fine weather condition. To deal with that, optional settings of a region of interest (ROI) are added. 1. `Dynamic_FreeSpace_ROI` mode: Visibility estimation based on the weak points in the free space which defined as no normal points region. 2. `Fixed_xyz_ROI` mode: Visibility estimation based on the weak points in a fixed cuboid surrounding region of ego-vehicle, defined by x, y, z in base_link perspective. From 4c70a3969f1c4fe69cd38df72a46ee7d4c1290f4 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Tue, 1 Mar 2022 15:44:52 +0900 Subject: [PATCH 23/27] fix: typo Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Signed-off-by: badai-nguyen --- .../pointcloud_preprocessor/docs/dual-return-outlier-filter.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md index b2694d1f92029..b28abf8592ef7 100644 --- a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md +++ b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md @@ -20,7 +20,7 @@ In some complicated road scenes where normal objects also reflect the light in t 2. `Fixed_xyz_ROI` mode: Visibility estimation based on the weak points in a fixed cuboid surrounding region of ego-vehicle, defined by x, y, z in base_link perspective. 3. `Fixed_azimuth_ROI` mode: Visibility estimation based on the weak points in a fixed surrouding region of ego-vehicle, defined by azimuth and distance of LiDAR perspective. -When select 2 fixed ROI modes, due to the range of weak points is shrink, the sensitity of visibility is decrease so that a trade of between `weak_first_local_noise_threshold` and `visibility_threshold` is needed. +When select 2 fixed ROI modes, due to the range of weak points is shrink, the sensitivity of visibility is decrease so that a trade of between `weak_first_local_noise_threshold` and `visibility_threshold` is needed. ![outlier_filter-dual_return_overall](./image/outlier_filter-dual_return_overall.drawio.svg) From 648c78f32999a2ab24de5146249fb29c2df4cf04 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Tue, 1 Mar 2022 15:45:07 +0900 Subject: [PATCH 24/27] fix: typo Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Signed-off-by: badai-nguyen --- .../pointcloud_preprocessor/docs/dual-return-outlier-filter.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md index b28abf8592ef7..e7b75d3c978b8 100644 --- a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md +++ b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md @@ -18,7 +18,7 @@ In some complicated road scenes where normal objects also reflect the light in t 1. `Dynamic_FreeSpace_ROI` mode: Visibility estimation based on the weak points in the free space which defined as no normal points region. 2. `Fixed_xyz_ROI` mode: Visibility estimation based on the weak points in a fixed cuboid surrounding region of ego-vehicle, defined by x, y, z in base_link perspective. -3. `Fixed_azimuth_ROI` mode: Visibility estimation based on the weak points in a fixed surrouding region of ego-vehicle, defined by azimuth and distance of LiDAR perspective. +3. `Fixed_azimuth_ROI` mode: Visibility estimation based on the weak points in a fixed surrounding region of ego-vehicle, defined by azimuth and distance of LiDAR perspective. When select 2 fixed ROI modes, due to the range of weak points is shrink, the sensitivity of visibility is decrease so that a trade of between `weak_first_local_noise_threshold` and `visibility_threshold` is needed. From 0c1b65c4362f2914e83c51dff58334c36ae9e752 Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Tue, 1 Mar 2022 15:54:06 +0900 Subject: [PATCH 25/27] docs: revise documentation Signed-off-by: badai-nguyen --- .../docs/dual-return-outlier-filter.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md index e7b75d3c978b8..3d1d0913b7f07 100644 --- a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md +++ b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md @@ -63,6 +63,12 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref | `min_azimuth_deg` | float | The left limit of azimuth for `Fixed_azimuth_ROI` mode | | `max_azimuth_deg` | float | The right limit of azimuth for `Fixed_azimuth_ROI` mode | | `max_distance` | float | The limit distance for for `Fixed_azimuth_ROI` mode | +| `x_max` | float | Maximum of x for `Fixed_xyz_ROI` mode | +| `x_min` | float | Minimum of x for `Fixed_xyz_ROI` mode | +| `y_max` | float | Maximum of y for `Fixed_xyz_ROI` mode | +| `y_min` | float | Minimum of y for `Fixed_xyz_ROI` mode | +| `z_max` | float | Maximum of z for `Fixed_xyz_ROI` mode | +| `z_min` | float | Minimum of z for `Fixed_xyz_ROI` mode | ## Assumptions / Known limits From 30d104f5897751c9c5db6e9c1b157b8ac35f131c Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Tue, 1 Mar 2022 17:38:59 +0900 Subject: [PATCH 26/27] fix: remove unconfirmed ROI mode Signed-off-by: badai-nguyen --- .../docs/dual-return-outlier-filter.md | 5 +- ...filter-dual_return_ROI_setting_options.png | Bin 64264 -> 87959 bytes .../dual_return_outlier_filter_nodelet.hpp | 8 +- .../dual_return_outlier_filter_nodelet.cpp | 157 ++---------------- 4 files changed, 17 insertions(+), 153 deletions(-) diff --git a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md index 3d1d0913b7f07..dca02739797bd 100644 --- a/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md +++ b/sensing/pointcloud_preprocessor/docs/dual-return-outlier-filter.md @@ -16,9 +16,8 @@ Another feature of this node is that it publishes visibility as a diagnostic top In some complicated road scenes where normal objects also reflect the light in two stages, for instance plants, leaves, some plastic net etc, the visibility faces some drop in fine weather condition. To deal with that, optional settings of a region of interest (ROI) are added. -1. `Dynamic_FreeSpace_ROI` mode: Visibility estimation based on the weak points in the free space which defined as no normal points region. -2. `Fixed_xyz_ROI` mode: Visibility estimation based on the weak points in a fixed cuboid surrounding region of ego-vehicle, defined by x, y, z in base_link perspective. -3. `Fixed_azimuth_ROI` mode: Visibility estimation based on the weak points in a fixed surrounding region of ego-vehicle, defined by azimuth and distance of LiDAR perspective. +1. `Fixed_xyz_ROI` mode: Visibility estimation based on the weak points in a fixed cuboid surrounding region of ego-vehicle, defined by x, y, z in base_link perspective. +2. `Fixed_azimuth_ROI` mode: Visibility estimation based on the weak points in a fixed surrounding region of ego-vehicle, defined by azimuth and distance of LiDAR perspective. 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a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp @@ -52,9 +52,8 @@ enum ReturnType : uint8_t { std::unordered_map roi_mode_map_ = { {"No_ROI", 0}, - {"Dynamic_FreeSpace_ROI", 1}, - {"Fixed_xyz_ROI", 2}, - {"Fixed_azimuth_ROI", 3}, + {"Fixed_xyz_ROI", 1}, + {"Fixed_azimuth_ROI", 2}, }; class DualReturnOutlierFilterComponent : public pointcloud_preprocessor::Filter @@ -82,9 +81,6 @@ class DualReturnOutlierFilterComponent : public pointcloud_preprocessor::Filter double visibility_threshold_; int vertical_bins_; float max_azimuth_diff_; - float neighbor_r_thresh_ = 0.5f; - uint weak_first_segment_check_size_v_; - uint weak_first_segment_check_size_h_; std::string roi_mode_; float x_max_; float x_min_; diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index 91409f26479d9..93c72619df28f 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -51,13 +51,9 @@ DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent( static_cast(declare_parameter("general_distance_ratio", 1.03)); weak_first_local_noise_threshold_ = - static_cast(declare_parameter("weak_first_local_noise_threshold", 10)); + static_cast(declare_parameter("weak_first_local_noise_threshold", 2)); visibility_threshold_ = static_cast(declare_parameter("visibility_threshold", 0.5)); roi_mode_ = static_cast(declare_parameter("roi_mode", "Fixed_xyz_ROI")); - weak_first_segment_check_size_h_ = - static_cast(declare_parameter("weak_first_segment_check_size_h", 30)); - weak_first_segment_check_size_v_ = - static_cast(declare_parameter("weak_first_segment_check_size_v", 3)); } updater_.setHardwareID("dual_return_outlier_filter"); updater_.add( @@ -113,7 +109,7 @@ void DualReturnOutlierFilterComponent::filter( float max_azimuth = 36000.0f; float min_azimuth = 0.0f; switch (roi_mode_map_[roi_mode_]) { - case 3: { + case 2: { max_azimuth = max_azimuth_deg_ * 100.0; min_azimuth = min_azimuth_deg_ * 100.0; break; @@ -142,23 +138,12 @@ void DualReturnOutlierFilterComponent::filter( vertical_bins); // TODO(davidw): this is for Pandar 40 only, make dynamic weak_first_pcl_input_ring_array.resize(vertical_bins); - const uint ring_number = vertical_bins; - const uint azimuth_steps = 36000; - float * strong_return_distance_array = new float[ring_number * azimuth_steps]; - float * weak_first_return_distance_array = new float[ring_number * azimuth_steps]; - for (uint i = 0; i < ring_number * azimuth_steps; i++) { - strong_return_distance_array[i] = -1.0f; - weak_first_return_distance_array[i] = -1.0f; - } // Split into 36 x 10 degree bins x 40 lines (TODO: change to dynamic) for (const auto & p : pcl_input->points) { - uint azimuth_ind = static_cast(p.azimuth < 0.0f ? p.azimuth + 36000.0f : p.azimuth); if (p.return_type == ReturnType::DUAL_WEAK_FIRST) { weak_first_pcl_input_ring_array.at(p.ring).push_back(p); - weak_first_return_distance_array[p.ring * azimuth_steps + azimuth_ind] = p.distance; } else { pcl_input_ring_array.at(p.ring).push_back(p); - strong_return_distance_array[p.ring * azimuth_steps + azimuth_ind] = p.distance; } } @@ -177,45 +162,12 @@ void DualReturnOutlierFilterComponent::filter( uint ring_id = weak_first_single_ring.points.front().ring; for (auto iter = std::begin(weak_first_single_ring) + 1; iter != std::end(weak_first_single_ring) - 1; ++iter) { - uint azimuth_id = static_cast(iter->azimuth); - uint segment_check = 0, segment_check_thresh = 2; - uint weak_first_ring_min = 0, weak_first_ring_max = ring_number; - uint weak_first_w_min = 0, weak_first_w_max = azimuth_steps; - - weak_first_ring_min = - ring_id > weak_first_segment_check_size_v_ ? ring_id - weak_first_segment_check_size_v_ : 0; - weak_first_ring_max = ring_id + weak_first_segment_check_size_v_ < ring_number - ? ring_id + weak_first_segment_check_size_v_ + 1 - : ring_number; - weak_first_w_min = azimuth_id > weak_first_segment_check_size_h_ - ? azimuth_id - weak_first_segment_check_size_h_ - : 0; - weak_first_w_max = azimuth_id + weak_first_segment_check_size_h_ < azimuth_steps - ? azimuth_id + weak_first_segment_check_size_h_ + 1 - : azimuth_steps; - - for (auto i = weak_first_ring_min; i < weak_first_ring_max; i++) { - for (auto j = weak_first_w_min; j < weak_first_w_max; j++) { - if (weak_first_return_distance_array[i * azimuth_steps + j] > 0.0) { - const float min_dist = - std::min(iter->distance, weak_first_return_distance_array[i * azimuth_steps + j]); - const float max_dist = - std::max(iter->distance, weak_first_return_distance_array[i * azimuth_steps + j]); - float azimuth_diff = (iter + 1)->azimuth - iter->azimuth; - azimuth_diff = azimuth_diff < 0.f ? azimuth_diff + 36000.f : azimuth_diff; - - if (max_dist < min_dist * weak_first_distance_ratio_) { - segment_check++; - } - } - if (segment_check >= segment_check_thresh) { - goto exit_segment_check; - } - } - } - exit_segment_check: + const float min_dist = std::min(iter->distance, (iter + 1)->distance); + const float max_dist = std::max(iter->distance, (iter + 1)->distance); + float azimuth_diff = (iter + 1)->azimuth - iter->azimuth; + azimuth_diff = azimuth_diff < 0.f ? azimuth_diff + 36000.f : azimuth_diff; - if (segment_check >= segment_check_thresh) { + if (max_dist < min_dist * weak_first_distance_ratio_ && azimuth_diff < max_azimuth_diff) { temp_segment.points.push_back(*iter); keep_next = true; } else if (keep_next) { @@ -225,39 +177,7 @@ void DualReturnOutlierFilterComponent::filter( } else { // Log the deleted azimuth and its distance for analysis switch (roi_mode_map_[roi_mode_]) { - case 1: // dynamic ROI free space - { - // check surrounding normal pcl - uint neighbor_check = 0, h_range = 3, w_range = 10; - uint min_h = 0, max_h = ring_number; - uint min_w = 0, max_w = azimuth_steps; - min_h = iter->ring > h_range ? iter->ring - h_range : 0; - max_h = iter->ring < ring_number - h_range ? iter->ring + h_range : ring_number; - - min_w = azimuth_id > w_range ? azimuth_id - w_range : 0; - max_w = azimuth_id < azimuth_steps - w_range ? azimuth_id + w_range : azimuth_steps; - for (auto i = min_h; i < max_h; i++) { - for (auto j = min_w; j < max_w; j++) { - if ( - (strong_return_distance_array[i * azimuth_steps + j] > 0.0f) && - (iter->distance > - (strong_return_distance_array[i * azimuth_steps + j] - neighbor_r_thresh_))) { - neighbor_check++; - } - if (neighbor_check > 1) { - goto exit_neighbor_check; - } - } - } - exit_neighbor_check: - if (neighbor_check < 2) { - deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); - deleted_distances.push_back(iter->distance); - noise_output->points.push_back(*iter); - } - break; - } - case 2: // base_link xyz-ROI + case 1: // base_link xyz-ROI { if ( iter->x > x_min_ && iter->x < x_max_ && iter->y > y_min_ && iter->y < y_max_ && @@ -268,7 +188,7 @@ void DualReturnOutlierFilterComponent::filter( } break; } - case 3: { + case 2: { if ( iter->azimuth > min_azimuth && iter->azimuth < max_azimuth && iter->distance < max_distance_) { @@ -311,7 +231,7 @@ void DualReturnOutlierFilterComponent::filter( pcl_output->points.push_back(temp_segment.points[current_temp_segment_index]); } else { switch (roi_mode_map_[roi_mode_]) { - case 2: { + case 1: { if ( temp_segment.points[current_temp_segment_index].x < x_max_ && temp_segment.points[current_temp_segment_index].x > x_min_ && @@ -324,7 +244,7 @@ void DualReturnOutlierFilterComponent::filter( } break; } - case 3: { + case 2: { if ( temp_segment.points[current_temp_segment_index].azimuth < max_azimuth && temp_segment.points[current_temp_segment_index].azimuth > min_azimuth && @@ -353,12 +273,10 @@ void DualReturnOutlierFilterComponent::filter( if (input_ring.size() < 2) { continue; } - std::vector deleted_azimuths; pcl::PointCloud temp_segment; bool keep_next = false; - uint16_t ring_id = input_ring.points.front().ring; + // uint ring_id = input_ring.points.front().ring; for (auto iter = std::begin(input_ring) + 1; iter != std::end(input_ring) - 1; ++iter) { - // uint azimuth_id = static_cast(iter->azimuth); const float min_dist = std::min(iter->distance, (iter + 1)->distance); const float max_dist = std::max(iter->distance, (iter + 1)->distance); float azimuth_diff = (iter + 1)->azimuth - iter->azimuth; @@ -373,65 +291,16 @@ void DualReturnOutlierFilterComponent::filter( // Analyse segment points here } else { // Log the deleted azimuth and its distance for analysis - float non_neg_azimuth = iter->azimuth; - while (non_neg_azimuth < 0.0f) { - non_neg_azimuth += 36000.0f; - } - switch (roi_mode_map_[roi_mode_]) { - case 2: // base_link xyz-ROI - { - if ( - iter->x > x_min_ && iter->x < x_max_ && iter->y > y_min_ && iter->y < y_max_ && - iter->z > z_min_ && iter->z < z_max_) { - deleted_azimuths.push_back(non_neg_azimuth); - } - break; - } - case 3: { - if ( - non_neg_azimuth > min_azimuth && non_neg_azimuth < max_azimuth && - iter->distance < max_distance_) { - deleted_azimuths.push_back(non_neg_azimuth); - } - break; - } - default: { - if (iter->distance < 15.0f) { - deleted_azimuths.push_back(non_neg_azimuth); - } - break; - } - } - + // deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); // deleted_distances.push_back(iter->distance); noise_output->points.push_back(*iter); } } - std::vector noise_frequency(horizontal_bins, 0); - uint32_t current_deleted_index = 0; - // uint current_temp_segment_index = 0; - for (uint i = 0; i < noise_frequency.size() - 1; i++) { - if (deleted_azimuths.size() == 0) { - continue; - } - while ((uint)deleted_azimuths[current_deleted_index] < - ((i + static_cast(min_azimuth / horizontal_res) + 1) * horizontal_res) && - current_deleted_index < (deleted_azimuths.size() - 1)) { - noise_frequency[i] = noise_frequency[i] + 1; - current_deleted_index++; - } - if (noise_frequency[i] > 0) { - frequency_image.at(ring_id, i) = - frequency_image.at(ring_id, i) + noise_frequency[i]; - } - } for (const auto & tmp_p : temp_segment.points) { pcl_output->points.push_back(tmp_p); } } - delete[] strong_return_distance_array; - delete[] weak_first_return_distance_array; // Threshold for diagnostics (tunable) cv::Mat binary_image; cv::inRange(frequency_image, weak_first_local_noise_threshold_, 255, binary_image); From 7edd2cfc1cf7b82882aace4fa7a30389b4c30e46 Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Wed, 2 Mar 2022 15:27:33 +0900 Subject: [PATCH 27/27] fix: typo Signed-off-by: badai-nguyen --- .../src/outlier_filter/dual_return_outlier_filter_nodelet.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index 93c72619df28f..964f43c3616ee 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -262,9 +262,9 @@ void DualReturnOutlierFilterComponent::filter( } } current_temp_segment_index++; + frequency_image.at(ring_id, i) = noise_frequency[i]; } } - frequency_image.at(ring_id, i) = noise_frequency[i]; } }