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refactor(autoware_pointcloud_preprocessor): rework parameters #8297

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refactor(autoware_pointcloud_preprocessor): rework parameters #8297

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613e0f1
refactor(autoware_pointcloud_preprocessor)
Ariiees Jul 31, 2024
1490703
Merge branch 'main' into autoware_pointcloud_preprocessor
vividf Aug 2, 2024
2db7e33
Merge branch 'autowarefoundation:main' into autoware_pointcloud_prepr…
Ariiees Aug 2, 2024
37a7d37
update the src older
Ariiees Aug 2, 2024
2cf1d69
style(pre-commit): autofix
pre-commit-ci[bot] Aug 2, 2024
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5 changes: 5 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/approximate_downsample_filter.param.yaml
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/**:
ros__parameters:
voxel_size_x: 0.3
voxel_size_y: 0.3
voxel_size_z: 0.1
11 changes: 11 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/concatenate_and_time_sync.param.yaml
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/**:
ros__parameters:
input_twist_topic_type: "twist"
output_frame: ""
input_topics: [""]
max_queue_size: 5
timeout_sec: 0.1
input_offset: {}
publish_synchronized_pointcloud: true
keep_input_frame_in_synchronized_pointcloud: true
synchronized_pointcloud_postfix: "pointcloud"
7 changes: 7 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml
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/**:
ros__parameters:
output_frame: ""
input_topics: [""]
max_queue_size: 5
timeout_sec: 0.033
input_offset: {}
9 changes: 9 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/crop_box_filter.param.yaml
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/**:
ros__parameters:
min_x: -1.0
min_y: -1.0
min_z: -1.0
max_x: 1.0
max_y: 1.0
max_z: 1.0
negative: false
19 changes: 19 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/dual_return_outlier_filter.param.yaml
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/**:
ros__parameters:
x_max: 18.0
x_min: -12.0
y_max: 2.0
y_min: -2.0
z_max: 10.0
z_min: 0.0
min_azimuth_deg: 135.0
max_azimuth_deg: 225.0
max_distance: 12.0
vertical_bins: 128
max_azimuth_diff: 50.0
weak_first_distance_ratio: 1.004
general_distance_ratio: 1.03
weak_first_local_noise_threshold: 2
roi_mode: "Fixed_xyz_ROI"
visibility_error_threshold: 0.5
visibility_warn_threshold: 0.7
8 changes: 8 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/filter.param.yaml
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/**:
ros__parameters:
input_frame: ""
output_frame: ""
max_queue_size: 5
use_indices: false
latched_indices: false
approximate_sync: false
4 changes: 4 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/lanelet2_map_filter.param.yaml
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/**:
ros__parameters:
voxel_size_x: 0.04
voxel_size_y: 0.04
7 changes: 7 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/passthrough_filter_unit16.param.yaml
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/**:
ros__parameters:
filter_limit_min: 0
filter_limit_max: 127
filter_field_name: "ring"
keep_organized: false
filter_limit_negative: false
5 changes: 5 additions & 0 deletions ...oware_pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter.param.yaml
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/**:
ros__parameters:
voxel_size_x: 1.0
voxel_size_y: 1.0
voxel_size_z: 1.0
4 changes: 4 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/pointcloud_accumulator.param.yaml
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/**:
ros__parameters:
accumulation_time_sec: 2.0
pointcloud_buffer_size: 50
4 changes: 4 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/radius_search_2d_outlier_filter.param.yaml
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/**:
ros__parameters:
min_neighbors: 5
search_radius: 0.2
3 changes: 3 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/random_downsample_filter.param.yaml
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/**:
ros__parameters:
sample_num: 1500
14 changes: 14 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/ring_outlier_filter.param.yaml
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/**:
ros__parameters:
distance_ratio: 1.03
object_length_threshold: 0.1
num_points_threshold: 4
max_rings_num: 128
max_points_num_per_ring: 4000
publish_outlier_pointcloud: false
min_azimuth_deg: 0.0
max_azimuth_deg: 360.0
max_distance: 12.0
vertical_bins: 128
horizontal_bins: 36
noise_threshold: 2
10 changes: 10 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/time_synchronizer.param.yaml
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/**:
ros__parameters:
input_twist_topic_type: "twist"
output_frame: ""
keep_input_frame_in_synchronized_pointcloud: false
input_topics: [""]
synchronized_pointcloud_postfix: "pointcloud"
max_queue_size: 5
timeout_sec: 0.1
input_offset: {}
5 changes: 5 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/vector_map_inside_area_filter.param.yaml
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/**:
ros__parameters:
polygon_type: "no_obstacle_segmentation_area"
use_z_filter: false
z_threshold: 0.0
5 changes: 5 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/voxel_grid_downsample_filter.param.yaml
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/**:
ros__parameters:
voxel_size_x: 0.3
voxel_size_y: 0.3
voxel_size_z: 0.1
6 changes: 6 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/config/voxel_grid_outlier_filter.param.yaml
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/**:
ros__parameters:
voxel_size_x: 0.3
voxel_size_y: 0.3
voxel_size_z: 0.1
voxel_points_threshold: 2
19 changes: 1 addition & 18 deletions sensing/autoware_pointcloud_preprocessor/docs/blockage_diag.md
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Expand Up @@ -51,24 +51,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,

## Parameters

| Name | Type | Description |
| ----------------------------- | ------ | ----------------------------------------------------------------------------------------------------------------------------- |
| `blockage_ratio_threshold` | float | The threshold of blockage area ratio.If the blockage value exceeds this threshold, the diagnostic state will be set to ERROR. |
| `blockage_count_threshold` | float | The threshold of number continuous blockage frames |
| `horizontal_ring_id` | int | The id of horizontal ring of the LiDAR |
| `angle_range` | vector | The effective range of LiDAR |
| `vertical_bins` | int | The LiDAR channel number |
| `is_channel_order_top2down` | bool | If the lidar channels are indexed from top to down |
| `blockage_buffering_frames` | int | The number of buffering about blockage detection [range:1-200] |
| `blockage_buffering_interval` | int | The interval of buffering about blockage detection |
| `dust_ratio_threshold` | float | The threshold of dusty area ratio |
| `dust_count_threshold` | int | The threshold of number continuous frames include dusty area |
| `blockage_kernel` | int | The kernel size of morphology processing the detected blockage area |
| `dust_kernel_size` | int | The kernel size of morphology processing in dusty area detection |
| `dust_buffering_frames` | int | The number of buffering about dusty area detection [range:1-200] |
| `dust_buffering_interval` | int | The interval of buffering about dusty area detection |
| `max_distance_range` | double | Maximum view range for the LiDAR |
| `horizontal_resolution` | double | The horizontal resolution of depth map image [deg/pixel] |
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/blockage_diag.schema.json") }}

## Assumptions / Known limits

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9 changes: 1 addition & 8 deletions sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md
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Expand Up @@ -20,14 +20,7 @@ This implementation inherit `autoware::pointcloud_preprocessor::Filter` class, p

### Core Parameters

| Name | Type | Default Value | Description |
| ------- | ------ | ------------- | ----------------------------------------- |
| `min_x` | double | -1.0 | x-coordinate minimum value for crop range |
| `max_x` | double | 1.0 | x-coordinate maximum value for crop range |
| `min_y` | double | -1.0 | y-coordinate minimum value for crop range |
| `max_y` | double | 1.0 | y-coordinate maximum value for crop range |
| `min_z` | double | -1.0 | z-coordinate minimum value for crop range |
| `max_z` | double | 1.0 | z-coordinate maximum value for crop range |
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter.schema.json") }}

## Assumptions / Known limits

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22 changes: 4 additions & 18 deletions sensing/autoware_pointcloud_preprocessor/docs/downsample-filter.md
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Expand Up @@ -36,33 +36,19 @@ These implementations inherit `autoware::pointcloud_preprocessor::Filter` class,

#### Approximate Downsample Filter

| Name | Type | Default Value | Description |
| -------------- | ------ | ------------- | ---------------- |
| `voxel_size_x` | double | 0.3 | voxel size x [m] |
| `voxel_size_y` | double | 0.3 | voxel size y [m] |
| `voxel_size_z` | double | 0.1 | voxel size z [m] |
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json") }}

### Random Downsample Filter

| Name | Type | Default Value | Description |
| ------------ | ---- | ------------- | ------------------------------- |
| `sample_num` | int | 1500 | number of indices to be sampled |
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/random_downsample_filter.schema.json") }}

### Voxel Grid Downsample Filter

| Name | Type | Default Value | Description |
| -------------- | ------ | ------------- | ---------------- |
| `voxel_size_x` | double | 0.3 | voxel size x [m] |
| `voxel_size_y` | double | 0.3 | voxel size y [m] |
| `voxel_size_z` | double | 0.1 | voxel size z [m] |
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json") }}

### Pickup Based Voxel Grid Downsample Filter

| Name | Type | Default Value | Description |
| -------------- | ------ | ------------- | ---------------- |
| `voxel_size_x` | double | 1.0 | voxel size x [m] |
| `voxel_size_y` | double | 1.0 | voxel size y [m] |
| `voxel_size_z` | double | 1.0 | voxel size z [m] |
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json") }}

## Assumptions / Known limits

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20 changes: 1 addition & 19 deletions sensing/autoware_pointcloud_preprocessor/docs/dual-return-outlier-filter.md
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Expand Up @@ -50,25 +50,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,

### Core Parameters

| Name | Type | Description |
| ---------------------------------- | ------ | ------------------------------------------------------------------------------------------------------------------------- |
| `vertical_bins` | int | The number of vertical bin for visibility histogram |
| `max_azimuth_diff` | float | Threshold for ring_outlier_filter |
| `weak_first_distance_ratio` | double | Threshold for ring_outlier_filter |
| `general_distance_ratio` | double | Threshold for ring_outlier_filter |
| `weak_first_local_noise_threshold` | int | The parameter for determining whether it is noise |
| `visibility_error_threshold` | float | When the percentage of white pixels in the binary histogram falls below this parameter the diagnostic status becomes ERR |
| `visibility_warn_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 |
| `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 |
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json") }}

## Assumptions / Known limits

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8 changes: 1 addition & 7 deletions sensing/autoware_pointcloud_preprocessor/docs/passthrough-filter.md
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Expand Up @@ -25,13 +25,7 @@ The `passthrough_filter` is a node that removes points on the outside of a range

### Core Parameters

| Name | Type | Default Value | Description |
| ----------------------- | ------ | ------------- | ------------------------------------------------------ |
| `filter_limit_min` | int | 0 | minimum allowed field value |
| `filter_limit_max` | int | 127 | maximum allowed field value |
| `filter_field_name` | string | "ring" | filtering field name |
| `keep_organized` | bool | false | flag to keep indices structure |
| `filter_limit_negative` | bool | false | flag to return whether the data is inside limit or not |
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter.schema.json") }}

## Assumptions / Known limits

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5 changes: 1 addition & 4 deletions sensing/autoware_pointcloud_preprocessor/docs/pointcloud-accumulator.md
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Expand Up @@ -24,10 +24,7 @@ The `pointcloud_accumulator` is a node that accumulates pointclouds for a given

### Core Parameters

| Name | Type | Default Value | Description |
| ------------------------ | ------ | ------------- | ----------------------- |
| `accumulation_time_sec` | double | 2.0 | accumulation period [s] |
| `pointcloud_buffer_size` | int | 50 | buffer size |
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/pointcloud_accumulator.schema.json") }}

## Assumptions / Known limits

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5 changes: 1 addition & 4 deletions sensing/autoware_pointcloud_preprocessor/docs/radius-search-2d-outlier-filter.md
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Expand Up @@ -24,10 +24,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,

### Core Parameters

| Name | Type | Description |
| --------------- | ------ | ------------------------------------------------------------------------------------------------------------------------ |
| `min_neighbors` | int | If points in the circle centered on reference point is less than `min_neighbors`, a reference point is judged as outlier |
| `search_radius` | double | Searching number of points included in `search_radius` |
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/radius_search_2d_outlier_filter.schema.json") }}

## Assumptions / Known limits

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15 changes: 1 addition & 14 deletions sensing/autoware_pointcloud_preprocessor/docs/ring-outlier-filter.md
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Expand Up @@ -56,20 +56,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,

### Core Parameters

| Name | Type | Default Value | Description |
| ---------------------------- | ------- | ------------- | ----------------------------------------------------------------------------------------------------------------------------- |
| `distance_ratio` | double | 1.03 | |
| `object_length_threshold` | double | 0.1 | |
| `num_points_threshold` | int | 4 | |
| `max_rings_num` | uint_16 | 128 | |
| `max_points_num_per_ring` | size_t | 4000 | Set this value large enough such that `HFoV / resolution < max_points_num_per_ring` |
| `publish_outlier_pointcloud` | bool | false | Flag to publish outlier pointcloud and visibility score. Due to performance concerns, please set to false during experiments. |
| `min_azimuth_deg` | float | 0.0 | The left limit of azimuth for visibility score calculation |
| `max_azimuth_deg` | float | 360.0 | The right limit of azimuth for visibility score calculation |
| `max_distance` | float | 12.0 | The limit distance for visibility score calculation |
| `vertical_bins` | int | 128 | The number of vertical bin for visibility histogram |
| `horizontal_bins` | int | 36 | The number of horizontal bin for visibility histogram |
| `noise_threshold` | int | 2 | The threshold value for distinguishing noise from valid points in the frequency image |
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/ring_outlier_filter.schema.json") }}

## Assumptions / Known limits

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5 changes: 1 addition & 4 deletions sensing/autoware_pointcloud_preprocessor/docs/vector-map-filter.md
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Expand Up @@ -25,10 +25,7 @@ The `vector_map_filter` is a node that removes points on the outside of lane by

### Core Parameters

| Name | Type | Default Value | Description |
| -------------- | ------ | ------------- | ----------- |
| `voxel_size_x` | double | 0.04 | voxel size |
| `voxel_size_y` | double | 0.04 | voxel size |
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json") }}

## Assumptions / Known limits

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6 changes: 1 addition & 5 deletions sensing/autoware_pointcloud_preprocessor/docs/vector-map-inside-area-filter.md
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Expand Up @@ -33,10 +33,6 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,

### Core Parameters

| Name | Type | Description |
| -------------- | ------ | --------------------------- |
| `polygon_type` | string | polygon type to be filtered |
| `use_z` | bool | use z value for filtering |
| `z_threshold` | float | z threshold for filtering |
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/vector_map_inside_area_filter.schema.json") }}

## Assumptions / Known limits
7 changes: 1 addition & 6 deletions sensing/autoware_pointcloud_preprocessor/docs/voxel-grid-outlier-filter.md
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Expand Up @@ -23,12 +23,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,

### Core Parameters

| Name | Type | Default Value | Description |
| ------------------------ | ------ | ------------- | ------------------------------------------ |
| `voxel_size_x` | double | 0.3 | the voxel size along x-axis [m] |
| `voxel_size_y` | double | 0.3 | the voxel size along y-axis [m] |
| `voxel_size_z` | double | 0.1 | the voxel size along z-axis [m] |
| `voxel_points_threshold` | int | 2 | the minimum number of points in each voxel |
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json") }}

## Assumptions / Known limits

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