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rework the comments after merge the main
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Signed-off-by: Ariiees <[email protected]>
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Ariiees committed Jul 24, 2024
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20 changes: 0 additions & 20 deletions sensing/autoware_pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml
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5 changes: 0 additions & 5 deletions sensing/autoware_pointcloud_preprocessor/config/distortion_corrector.param.yaml
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21 changes: 1 addition & 20 deletions sensing/autoware_pointcloud_preprocessor/docs/blockage_diag.md
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Expand Up @@ -51,26 +51,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,

## Parameters

{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/blockage_diag.schema.json") }}

| 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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11 changes: 1 addition & 10 deletions sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md
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Expand Up @@ -20,16 +20,7 @@ This implementation inherit `autoware::pointcloud_preprocessor::Filter` class, p

### Core Parameters

{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/crop_box_filter.schema.json") }}

| 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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8 changes: 0 additions & 8 deletions sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md
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Expand Up @@ -36,20 +36,12 @@ Please note that the processing time difference between the two distortion metho

### Core Parameters

<<<<<<< HEAD
{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/distortion_corrector_node.schema.json") }}
=======
{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json") }}
>>>>>>> original/main

## Launch

```bash
<<<<<<< HEAD
ros2 launch pointcloud_preprocessor distortion_corrector.launch.xml
=======
ros2 launch autoware_pointcloud_preprocessor distortion_corrector.launch.xml
>>>>>>> original/main
```

## Assumptions / Known limits
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30 changes: 4 additions & 26 deletions sensing/autoware_pointcloud_preprocessor/docs/downsample-filter.md
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Expand Up @@ -36,41 +36,19 @@ These implementations inherit `autoware::pointcloud_preprocessor::Filter` class,

#### Approximate Downsample Filter

{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json") }}

| 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

{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/random_downsample_filter.schema.json") }}

| 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

{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/voxel_grid_downsample_filter.schema.json") }}

| 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

{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json") }}

| 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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26 changes: 1 addition & 25 deletions sensing/autoware_pointcloud_preprocessor/docs/dual-return-outlier-filter.md
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Expand Up @@ -46,35 +46,11 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,

### Node Parameters

<<<<<<< HEAD
{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/dual_return_outlier_filter.schema.json") }}

This implementation inherits `pointcloud_preprocessor::Filter` class, please refer [README](../README.md).
=======
This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, please refer [README](../README.md).
>>>>>>> original/main

### 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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10 changes: 1 addition & 9 deletions sensing/autoware_pointcloud_preprocessor/docs/passthrough-filter.md
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Expand Up @@ -25,15 +25,7 @@ The `passthrough_filter` is a node that removes points on the outside of a range

### Core Parameters

{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/passthrough_filter.schema.json") }}

| 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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7 changes: 1 addition & 6 deletions sensing/autoware_pointcloud_preprocessor/docs/pointcloud-accumulator.md
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Expand Up @@ -24,12 +24,7 @@ The `pointcloud_accumulator` is a node that accumulates pointclouds for a given

### Core Parameters

{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/pointcloud_accumulator.schema.json") }}

| 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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7 changes: 1 addition & 6 deletions sensing/autoware_pointcloud_preprocessor/docs/radius-search-2d-outlier-filter.md
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Expand Up @@ -24,12 +24,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,

### Core Parameters

{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/radius_search_2d_outlier_filter.schema.json") }}

| 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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17 changes: 1 addition & 16 deletions sensing/autoware_pointcloud_preprocessor/docs/ring-outlier-filter.md
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Expand Up @@ -56,22 +56,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,

### Core Parameters

{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/ring_outlier_filter.schema.json") }}

| 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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7 changes: 1 addition & 6 deletions sensing/autoware_pointcloud_preprocessor/docs/vector-map-filter.md
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Expand Up @@ -23,14 +23,9 @@ The `vector_map_filter` is a node that removes points on the outside of lane by

## Parameters

{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json") }}

### 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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8 changes: 1 addition & 7 deletions sensing/autoware_pointcloud_preprocessor/docs/vector-map-inside-area-filter.md
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Expand Up @@ -33,12 +33,6 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,

### Core Parameters

{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/vector_map_inside_area_filter.schema.json") }}

| 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
9 changes: 1 addition & 8 deletions sensing/autoware_pointcloud_preprocessor/docs/voxel-grid-outlier-filter.md
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Expand Up @@ -23,14 +23,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,

### Core Parameters

{{ json_to_markdown("sensing/pointcloud_preprocessor/schema/voxel_grid_outlier_filter.schema.json") }}

| 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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