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refactor(autoware_pointcloud_preprocessor): rework ring outlier filter parameters (#8468)
* feat: rework ring outlier parameters Signed-off-by: vividf <[email protected]> * chore: add explicit cast Signed-off-by: vividf <[email protected]> * chore: add boundary Signed-off-by: vividf <[email protected]> * chore: remove filter.param Signed-off-by: vividf <[email protected]> * chore: set default frame Signed-off-by: vividf <[email protected]> * chore: add maximum boundary Signed-off-by: vividf <[email protected]> * chore: boundary to float type Signed-off-by: vividf <[email protected]> --------- Signed-off-by: vividf <[email protected]>
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‎sensing/autoware_pointcloud_preprocessor/CMakeLists.txt

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@@ -70,7 +70,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
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src/downsample_filter/random_downsample_filter_node.cpp
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src/downsample_filter/approximate_downsample_filter_nodelet.cpp
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src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp
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src/outlier_filter/ring_outlier_filter_nodelet.cpp
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src/outlier_filter/ring_outlier_filter_node.cpp
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src/outlier_filter/radius_search_2d_outlier_filter_node.cpp
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src/outlier_filter/voxel_grid_outlier_filter_node.cpp
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src/outlier_filter/dual_return_outlier_filter_nodelet.cpp

‎sensing/autoware_pointcloud_preprocessor/config/ring_outlier_filter_node.param.yaml

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/**:
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ros__parameters:
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distance_ratio: 1.03
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object_length_threshold: 0.1
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num_points_threshold: 4
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max_rings_num: 128
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max_points_num_per_ring: 4000
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publish_outlier_pointcloud: false
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min_azimuth_deg: 0.0
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max_azimuth_deg: 360.0
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max_distance: 12.0
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vertical_bins: 128
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horizontal_bins: 36
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noise_threshold: 2

‎sensing/autoware_pointcloud_preprocessor/docs/ring-outlier-filter.md

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@@ -56,20 +56,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,
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### Core Parameters
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| Name | Type | Default Value | Description |
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| ---------------------------- | ------- | ------------- | ----------------------------------------------------------------------------------------------------------------------------- |
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| `distance_ratio` | double | 1.03 | |
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| `object_length_threshold` | double | 0.1 | |
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| `num_points_threshold` | int | 4 | |
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| `max_rings_num` | uint_16 | 128 | |
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| `max_points_num_per_ring` | size_t | 4000 | Set this value large enough such that `HFoV / resolution < max_points_num_per_ring` |
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| `publish_outlier_pointcloud` | bool | false | Flag to publish outlier pointcloud and visibility score. Due to performance concerns, please set to false during experiments. |
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| `min_azimuth_deg` | float | 0.0 | The left limit of azimuth for visibility score calculation |
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| `max_azimuth_deg` | float | 360.0 | The right limit of azimuth for visibility score calculation |
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| `max_distance` | float | 12.0 | The limit distance for visibility score calculation |
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| `vertical_bins` | int | 128 | The number of vertical bin for visibility histogram |
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| `horizontal_bins` | int | 36 | The number of horizontal bin for visibility histogram |
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| `noise_threshold` | int | 2 | The threshold value for distinguishing noise from valid points in the frequency image |
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{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/ring_outlier_filter_node.schema.json") }} |
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## Assumptions / Known limits
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‎sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp renamed to ‎sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp

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// Copyright 2020 Tier IV, Inc.
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// Copyright 2024 TIER IV, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODELET_HPP_
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#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODELET_HPP_
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#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODE_HPP_
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#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODE_HPP_
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#include "autoware/pointcloud_preprocessor/filter.hpp"
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#include "autoware/pointcloud_preprocessor/transform_info.hpp"
@@ -108,4 +108,4 @@ class RingOutlierFilterComponent : public autoware::pointcloud_preprocessor::Fil
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};
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} // namespace autoware::pointcloud_preprocessor
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#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODELET_HPP_
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#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODE_HPP_

‎sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml

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<launch>
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<arg name="input_topic_name" default="/sensing/lidar/top/pointcloud_raw_ex"/>
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<arg name="output_topic_name" default="/sensing/lidar/top/pointcloud_ring_filtered"/>
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<arg name="input_frame" default=""/>
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<arg name="output_frame" default=""/>
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<arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
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<arg name="ring_outlier_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/ring_outlier_filter_node.param.yaml"/>
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<node pkg="autoware_pointcloud_preprocessor" exec="ring_outlier_filter_node" name="ring_outlier_filter_node">
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<param from="$(var ring_outlier_filter_param_file)"/>
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<param from="$(var filter_param_file)"/>
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<remap from="input" to="$(var input_topic_name)"/>
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<remap from="output" to="$(var output_topic_name)"/>
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<param name="input_frame" value="$(var input_frame)"/>
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<param name="output_frame" value="$(var output_frame)"/>
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</node>
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</launch>

‎sensing/autoware_pointcloud_preprocessor/schema/ring_outlier_filter_node.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Ring Outlier Filter Node",
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"type": "object",
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"definitions": {
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"ring_outlier_filter": {
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"type": "object",
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"properties": {
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"distance_ratio": {
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"type": "number",
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"description": "distance_ratio",
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"default": "1.03",
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"minimum": 0.0
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},
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"object_length_threshold": {
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"type": "number",
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"description": "object_length_threshold",
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"default": "0.1",
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"minimum": 0.0
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},
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"num_points_threshold": {
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"type": "integer",
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"description": "num_points_threshold",
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"default": "4",
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"minimum": 0
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},
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"max_rings_num": {
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"type": "integer",
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"description": "max_rings_num",
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"default": "128",
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"minimum": 1
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},
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"max_points_num_per_ring": {
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"type": "integer",
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"description": "Set this value large enough such that HFoV / resolution < max_points_num_per_ring",
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"default": "4000",
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"minimum": 0
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},
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"publish_outlier_pointcloud": {
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"type": "boolean",
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"description": "Flag to publish outlier pointcloud and visibility score. Due to performance concerns, please set to false during experiments.",
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"default": "false"
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},
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"min_azimuth_deg": {
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"type": "number",
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"description": "The left limit of azimuth for visibility score calculation",
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"default": "0.0",
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"minimum": 0.0
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},
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"max_azimuth_deg": {
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"type": "number",
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"description": "The right limit of azimuth for visibility score calculation",
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"default": "360.0",
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"minimum": 0.0,
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"maximum": 360.0
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},
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"max_distance": {
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"type": "number",
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"description": "The limit distance for visibility score calculation",
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"default": "12.0",
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"minimum": 0.0
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},
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"vertical_bins": {
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"type": "integer",
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"description": "The number of vertical bin for visibility histogram",
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"default": "128",
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"minimum": 1
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},
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"horizontal_bins": {
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"type": "integer",
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"description": "The number of horizontal bin for visibility histogram",
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"default": "36",
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"minimum": 1
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},
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"noise_threshold": {
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"type": "integer",
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"description": "The threshold value for distinguishing noise from valid points in the frequency image",
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"default": "2",
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"minimum": 0
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}
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},
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"required": [
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"distance_ratio",
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"object_length_threshold",
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"num_points_threshold",
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"max_rings_num",
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"max_points_num_per_ring",
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"publish_outlier_pointcloud",
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"min_azimuth_deg",
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"max_azimuth_deg",
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"max_distance",
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"vertical_bins",
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"horizontal_bins",
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"noise_threshold"
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],
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"additionalProperties": false
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/ring_outlier_filter"
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}
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},
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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},
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"required": ["/**"],
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"additionalProperties": false
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}

‎sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp renamed to ‎sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp

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// Copyright 2020 Tier IV, Inc.
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// Copyright 2024 TIER IV, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp"
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#include "autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp"
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#include "autoware_point_types/types.hpp"
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// set initial parameters
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{
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distance_ratio_ = static_cast<double>(declare_parameter("distance_ratio", 1.03));
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object_length_threshold_ =
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static_cast<double>(declare_parameter("object_length_threshold", 0.1));
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num_points_threshold_ = static_cast<int>(declare_parameter("num_points_threshold", 4));
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max_rings_num_ = static_cast<uint16_t>(declare_parameter("max_rings_num", 128));
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distance_ratio_ = declare_parameter<double>("distance_ratio");
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object_length_threshold_ = declare_parameter<double>("object_length_threshold");
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num_points_threshold_ = declare_parameter<int>("num_points_threshold");
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max_rings_num_ = static_cast<uint16_t>(declare_parameter<int64_t>("max_rings_num"));
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max_points_num_per_ring_ =
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static_cast<size_t>(declare_parameter("max_points_num_per_ring", 4000));
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publish_outlier_pointcloud_ =
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static_cast<bool>(declare_parameter("publish_outlier_pointcloud", false));
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min_azimuth_deg_ = static_cast<float>(declare_parameter("min_azimuth_deg", 0.0));
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max_azimuth_deg_ = static_cast<float>(declare_parameter("max_azimuth_deg", 360.0));
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max_distance_ = static_cast<float>(declare_parameter("max_distance", 12.0));
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vertical_bins_ = static_cast<int>(declare_parameter("vertical_bins", 128));
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horizontal_bins_ = static_cast<int>(declare_parameter("horizontal_bins", 36));
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noise_threshold_ = static_cast<int>(declare_parameter("noise_threshold", 2));
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static_cast<size_t>(declare_parameter<int64_t>("max_points_num_per_ring"));
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publish_outlier_pointcloud_ = declare_parameter<bool>("publish_outlier_pointcloud");
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min_azimuth_deg_ = declare_parameter<float>("min_azimuth_deg");
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max_azimuth_deg_ = declare_parameter<float>("max_azimuth_deg");
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max_distance_ = declare_parameter<float>("max_distance");
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vertical_bins_ = declare_parameter<int>("vertical_bins");
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horizontal_bins_ = declare_parameter<int>("horizontal_bins");
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noise_threshold_ = declare_parameter<int>("noise_threshold");
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}
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using std::placeholders::_1;

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