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refactor(autoware_pointcloud_preprocessor): rework ring passthrough filter parameters (#8472)
* feat: rework ring passthrough parameters Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix cmake Signed-off-by: vividf <yihsiang.fang@tier4.jp> * feat: add schema Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix readme Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix parameter file name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: add boundary Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix default parameter Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix default parameter in schema Signed-off-by: vividf <yihsiang.fang@tier4.jp> --------- Signed-off-by: vividf <yihsiang.fang@tier4.jp>
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‎sensing/autoware_pointcloud_preprocessor/CMakeLists.txt

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@@ -74,8 +74,8 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
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src/outlier_filter/voxel_grid_outlier_filter_node.cpp
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src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp
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src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
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src/passthrough_filter/passthrough_filter_nodelet.cpp
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src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp
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src/passthrough_filter/passthrough_filter_node.cpp
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src/passthrough_filter/passthrough_filter_uint16_node.cpp
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src/passthrough_filter/passthrough_uint16.cpp
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src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp
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src/vector_map_filter/lanelet2_map_filter_node.cpp

‎sensing/autoware_pointcloud_preprocessor/config/passthrough_filter_uint16_node.param.yaml

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@@ -0,0 +1,7 @@
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/**:
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ros__parameters:
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filter_limit_min: 0
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filter_limit_max: 127
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filter_field_name: "channel"
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keep_organized: false
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filter_limit_negative: false

‎sensing/autoware_pointcloud_preprocessor/docs/passthrough-filter.md

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@@ -25,13 +25,8 @@ The `passthrough_filter` is a node that removes points on the outside of a range
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### Core Parameters
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| Name | Type | Default Value | Description |
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| ----------------------- | ------ | ------------- | ------------------------------------------------------ |
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| `filter_limit_min` | int | 0 | minimum allowed field value |
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| `filter_limit_max` | int | 127 | maximum allowed field value |
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| `filter_field_name` | string | "ring" | filtering field name |
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| `keep_organized` | bool | false | flag to keep indices structure |
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| `filter_limit_negative` | bool | false | flag to return whether the data is inside limit or not |
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{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json
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") }}
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## Assumptions / Known limits
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‎sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/passthrough_filter/passthrough_filter_nodelet.hpp ‎sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/passthrough_filter/passthrough_filter_node.hpp

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@@ -1,4 +1,4 @@
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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.
@@ -48,8 +48,8 @@
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*
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*/
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#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_NODELET_HPP_
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#define AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_NODELET_HPP_
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#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_NODE_HPP_
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#define AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_NODE_HPP_
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#include "autoware/pointcloud_preprocessor/filter.hpp"
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@@ -77,4 +77,4 @@ class PassThroughFilterComponent : 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__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_NODELET_HPP_
80+
#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_NODE_HPP_

‎sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_nodelet.hpp ‎sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_node.hpp

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@@ -1,4 +1,4 @@
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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.
@@ -12,8 +12,8 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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15-
#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_UINT16_NODELET_HPP_ // NOLINT
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#define AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_UINT16_NODELET_HPP_ // NOLINT
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#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_UINT16_NODE_HPP_ // NOLINT
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#define AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_UINT16_NODE_HPP_ // NOLINT
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#include "autoware/pointcloud_preprocessor/filter.hpp"
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#include "autoware/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp"
@@ -46,5 +46,5 @@ class PassThroughFilterUInt16Component : public autoware::pointcloud_preprocesso
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} // namespace autoware::pointcloud_preprocessor
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// clang-format off
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#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_UINT16_NODELET_HPP_ // NOLINT
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#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_UINT16_NODE_HPP_ // NOLINT
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// clang-format on

‎sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml

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@@ -1,24 +1,16 @@
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<launch>
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<arg name="input_topic_name" default="/sensing/lidar/top/pointcloud_raw"/>
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<arg name="output_topic_name" default="/sensing/lidar/top/ring_passthrough_filtered/pointcloud"/>
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5-
<arg name="filter_field_name" default="ring"/>
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<arg name="filter_limit_min" default="0"/>
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<arg name="filter_limit_max" default="127"/>
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<arg name="filter_limit_negative" default="False"/>
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<arg name="keep_organized" default="False"/>
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<arg name="input_frame" default=""/>
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<arg name="output_frame" default="base_link"/>
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<arg name="passthrough_filter_uint16_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/passthrough_filter_uint16_node.param.yaml"/>
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<arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
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<node pkg="autoware_pointcloud_preprocessor" exec="passthrough_filter_uint16_node" name="passthrough_filter">
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<node pkg="autoware_pointcloud_preprocessor" exec="passthrough_filter_uint16_node" name="ring_passthrough_filter">
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<param from="$(var passthrough_filter_uint16_param_file)"/>
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<param from="$(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="filter_field_name" value="$(var filter_field_name)"/>
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<param name="filter_limit_min" value="$(var filter_limit_min)"/>
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<param name="filter_limit_max" value="$(var filter_limit_max)"/>
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<param name="filter_limit_negative" value="$(var filter_limit_negative)"/>
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<param name="keep_organized" value="$(var keep_organized)"/>
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<param name="input_frame" value="$(var input_frame)"/>
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<param name="output_frame" value="$(var output_frame)"/>
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</node>

‎sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_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 Passthrough Filter UInt16 Node",
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"type": "object",
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"definitions": {
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"passthrough_filter_uint16": {
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"type": "object",
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"properties": {
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"filter_limit_min": {
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"type": "integer",
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"description": "minimum allowed field value",
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"default": "0",
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"minimum": 0
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},
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"filter_limit_max": {
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"type": "integer",
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"description": "maximum allowed field value",
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"default": "127",
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"minimum": 0
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},
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"filter_field_name": {
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"type": "string",
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"description": "filtering field name",
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"default": "channel"
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},
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"keep_organized": {
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"type": "boolean",
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"description": "flag to keep indices structure",
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"default": "false"
30+
},
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"filter_limit_negative": {
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"type": "boolean",
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"description": "flag to return whether the data is inside limit or not",
34+
"default": "false"
35+
}
36+
},
37+
"required": [
38+
"filter_limit_min",
39+
"filter_limit_max",
40+
"filter_field_name",
41+
"keep_organized",
42+
"filter_limit_negative"
43+
],
44+
"additionalProperties": false
45+
}
46+
},
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"properties": {
48+
"/**": {
49+
"type": "object",
50+
"properties": {
51+
"ros__parameters": {
52+
"$ref": "#/definitions/passthrough_filter_uint16"
53+
}
54+
},
55+
"required": ["ros__parameters"],
56+
"additionalProperties": false
57+
}
58+
},
59+
"required": ["/**"],
60+
"additionalProperties": false
61+
}

‎sensing/autoware_pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_nodelet.cpp ‎sensing/autoware_pointcloud_preprocessor/src/passthrough_filter/passthrough_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.
@@ -48,7 +48,7 @@
4848
*
4949
*/
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51-
#include "autoware/pointcloud_preprocessor/passthrough_filter/passthrough_filter_nodelet.hpp"
51+
#include "autoware/pointcloud_preprocessor/passthrough_filter/passthrough_filter_node.hpp"
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5353
#include <pcl/kdtree/kdtree_flann.h>
5454
#include <pcl/search/kdtree.h>

‎sensing/autoware_pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp ‎sensing/autoware_pointcloud_preprocessor/src/passthrough_filter/passthrough_filter_uint16_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.
@@ -12,7 +12,7 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "autoware/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_nodelet.hpp"
15+
#include "autoware/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_node.hpp"
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#include <pcl/kdtree/kdtree_flann.h>
1818
#include <pcl/search/kdtree.h>
@@ -29,15 +29,13 @@ PassThroughFilterUInt16Component::PassThroughFilterUInt16Component(
2929
{
3030
// set initial parameters
3131
{
32-
int filter_min = static_cast<int>(declare_parameter("filter_limit_min", 0));
33-
int filter_max = static_cast<int>(declare_parameter("filter_limit_max", 127));
32+
int filter_min = declare_parameter<int>("filter_limit_min");
33+
int filter_max = declare_parameter<int>("filter_limit_max");
3434
impl_.setFilterLimits(filter_min, filter_max);
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36-
impl_.setFilterFieldName(
37-
static_cast<std::string>(declare_parameter("filter_field_name", "ring")));
38-
impl_.setKeepOrganized(static_cast<bool>(declare_parameter("keep_organized", false)));
39-
impl_.setFilterLimitsNegative(
40-
static_cast<bool>(declare_parameter("filter_limit_negative", false)));
36+
impl_.setFilterFieldName(declare_parameter<std::string>("filter_field_name"));
37+
impl_.setKeepOrganized(declare_parameter<bool>("keep_organized"));
38+
impl_.setFilterLimitsNegative(declare_parameter<bool>("filter_limit_negative"));
4139
}
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using std::placeholders::_1;

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