feat: detected object validation (tier4#507)

perception/detected_object_validation/CMakeLists.txt

@@ -22,9 +22,6 @@ find_package(ament_cmake_auto REQUIRED)
 ### Find OpenCV Dependencies
 find_package(OpenCV REQUIRED)
 
-### Find PCL Dependencies
-find_package(PCL REQUIRED QUIET COMPONENTS common search filters segmentation)
-
 ### Find Eigen Dependencies
 find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
@@ -36,11 +33,9 @@ include_directories(
   include
   SYSTEM
   ${OpenCV_INCLUDE_DIRS}
-  ${PCL_COMMON_INCLUDE_DIRS}
-  ${PCL_INCLUDE_DIRS}
 )
 
-# Generate occupancy grid based validator exe file
+# Generate exe file
 set(OCCUPANCY_GRID_BASED_VALIDATOR_SRC
   src/occupancy_grid_based_validator.cpp
 )
@@ -54,25 +49,9 @@ target_link_libraries(occupancy_grid_based_validator
   Eigen3::Eigen
 )
 
-
-# Generate obstacle pointcloud based validator exe file
-set(OBSTACLE_POINTCLOUD_BASED_VALIDATOR_SRC
-  src/obstacle_pointcloud_based_validator.cpp
-)
-
-ament_auto_add_library(obstacle_pointcloud_based_validator SHARED
-  ${OBSTACLE_POINTCLOUD_BASED_VALIDATOR_SRC}
-)
-
-target_link_libraries(obstacle_pointcloud_based_validator
-  ${PCL_LIBRARIES}
-  Eigen3::Eigen
-)
-
-
-rclcpp_components_register_node(obstacle_pointcloud_based_validator
-  PLUGIN "obstacle_pointcloud_based_validator::ObstaclePointCloudBasedValidator"
-  EXECUTABLE obstacle_pointcloud_based_validator_node
+rclcpp_components_register_node(occupancy_grid_based_validator
+  PLUGIN "occupancy_grid_based_validator::OccupancyGridBasedValidator"
+  EXECUTABLE occupancy_grid_based_validator_node
 )
 
 if(BUILD_TESTING)

perception/detected_object_validation/README.md

@@ -1,10 +1,50 @@
-# detected_object_validation
+# detected_object_validation (occupancy grid based validator)
 
 ## Purpose
 
 The purpose of this package is to eliminate obvious false positives of DetectedObjects.
 
-## References/External links
+## Inner-workings / Algorithms
 
-- [Obstacle pointcloud based validator](obstacle-pointcloud-based-validator.md)
-- [Occupancy grid based validator](occupancy-grid-based-validator.md)
+Compare the occupancy grid map with the DetectedObject, and if a larger percentage of obstacles are in freespace, delete them.
+
+![debug sample image](image/debug_image.png)
+
+Basically, it takes an occupancy grid map as input and generates a binary image of freespace or other.
+
+A mask image is generated for each DetectedObject and the average value (percentage) in the mask image is calculated.
+If the percentage is low, it is deleted.
+
+## Inputs / Outputs
+
+### Input
+
+| Name                         | Type                                                  | Description                                                 |
+| ---------------------------- | ----------------------------------------------------- | ----------------------------------------------------------- |
+| `~/input/detected_objects`   | `autoware_auto_perception_msgs::msg::DetectedObjects` | DetectedObjects                                             |
+| `~/input/occupancy_grid_map` | `nav_msgs::msg::OccupancyGrid`                        | OccupancyGrid with no time series calculation is preferred. |
+
+### Output
+
+| Name               | Type                                                  | Description               |
+| ------------------ | ----------------------------------------------------- | ------------------------- |
+| `~/output/objects` | `autoware_auto_perception_msgs::msg::DetectedObjects` | validated DetectedObjects |
+
+## Parameters
+
+| Name             | Type  | Description                                        |
+| ---------------- | ----- | -------------------------------------------------- |
+| `mean_threshold` | float | The percentage threshold of allowed non-freespace. |
+| `enable_debug`   | bool  | Whether to display debug images or not?            |
+
+## Assumptions / Known limits
+
+Currently, only vehicle represented as BoundingBox are supported.
+
+## (Optional) Error detection and handling
+
+## (Optional) Performance characterization
+
+## (Optional) References/External links
+
+## (Optional) Future extensions / Unimplemented parts

perception/detected_object_validation/launch/occupancy_grid_based_validator.launch.xml

@@ -2,14 +2,14 @@
 
 <launch>
   <arg name="input/detected_objects" default="/perception/object_recognition/detection/objects" />
-  <arg name="output/objects" default="/perception/object_recognition/detection/validation/occupancy_grid_based/objects" />
+  <arg name="output/objects" default="/perception/object_recognition/detection/validattion/occupancy_grid_based/objects" />
 
-  <arg name="input/laserscan" default="/perception/occupancy_grid_map/virtual_scan/laserscan" />
+  <arg name="input/lasescan" default="/perception/occupancy_grid_map/virtual_scan/laserscan" />
   <arg name="input/occupancy_grid_map" default="/perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map" />
 
 
   <node pkg="laserscan_to_occupancy_grid_map" exec="laserscan_to_occupancy_grid_map_node" name="single_frame_laserscan_occupancy_grid_map" output="screen">
-    <remap from="~/input/laserscan" to="$(var input/laserscan)" />
+    <remap from="~/input/laserscan" to="/perception/occupancy_grid_map/virtual_scan/laserscan" />
     <remap from="~/output/occupancy_grid_map" to="$(var input/occupancy_grid_map)" />
     <param name="input_obstacle_pointcloud" value="false" />
     <param name="input_obstacle_and_raw_pointcloud" value="false" />

perception/detected_object_validation/package.xml

@@ -12,7 +12,6 @@
   <depend>autoware_auto_perception_msgs</depend>
   <depend>message_filters</depend>
   <depend>nav_msgs</depend>
-  <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>

perception/detected_object_validation/src/occupancy_grid_based_validator.cpp

@@ -213,10 +213,10 @@ void OccupancyGridBasedValidator::toPolygon2d(
     vertices.push_back(cv::Point2f(pose.position.x + offset3.x(), pose.position.y + offset3.y()));
   } else if (object.shape.type == Shape::CYLINDER) {
     RCLCPP_WARN_THROTTLE(
-      this->get_logger(), *this->get_clock(), 5000, "CYLINDER type is not supported");
+      this->get_logger(), *this->get_clock(), 5, "CYLINDER type is not supported");
   } else if (object.shape.type == Shape::POLYGON) {
     RCLCPP_WARN_THROTTLE(
-      this->get_logger(), *this->get_clock(), 5000, "POLYGON type is not supported");
+      this->get_logger(), *this->get_clock(), 5, "POLYGON type is not supported");
   }
 }