fix(ground_segmentation): add intensity field #6791

badai-nguyen · 2024-04-11T12:04:27Z

Description

To add intensity field for ground_segmentation to solve the issue Add intensity for poincloud processing in perception and an intensity_based_unknown_validator #6785

Releated Link

TIER IV INTERNAL LINK

Tests performed

Confirmed by logging_simulator that the scan_ground_segmentation output pointcloud with intensity using the padding field without increasing point_steps number (=16)

Add below config to test ransac_ground_filter and confirm that ground_segmentation outputs intensity field the same input topic as desired

/**:
  ros__parameters:
    additional_lidars: []
    ransac_input_topics: [
      "/sensing/lidar/left/min_range_cropped/pointcloud",]
    use_single_frame_filter: False
    use_time_series_filter: True

    common_crop_box_filter:
       .
       .
       .
    short_height_obstacle_detection_area_filter:
      parameters:
        min_x: 0.0
        max_x: 19.6  # max_x: 18.0m + base_link2livox_front_center distance 1.6m
        min_y: -4.0
        max_y: 4.0
        min_z: -0.5
        max_z: 0.5
        negative: False


ransac_ground_filter:
      parameters:
        base_frame: "base_link"
        unit_axis: "z"
        min_trial: 5000
        min_points: 1000
        outlier_threshold: 0.1
        min_points: 400
        min_inliers: 200
        max_iterations: 50
        height_threshold: 0.15
        plane_slope_threshold: 10.0
        voxel_size_x: 0.2
        voxel_size_y: 0.2
        voxel_size_z: 0.2
        debug: False

Replace common_ground_filter with ray_ground_filter:

      plugin: "ground_segmentation::RayGroundFilterComponent"
      parameters:
        min_x: -0.01
        max_x: 0.01
        min_y: -0.01
        max_y: 0.01
        use_vehicle_footprint: false
        general_max_slope: 8.0
        local_max_slope: 6.0
        initial_max_slope: 3.0
        radial_divider_angle: 1.0
        min_height_threshold: 0.15
        concentric_divider_distance: 0.0
        reclass_distance_threshold: 0.1

Confirmed that ray_ground_filter also ray_ground_filter copy input fields into output topic.

Not applicable.

Effects on system behavior

Not applicable.

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Signed-off-by: badai-nguyen <[email protected]>

perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp

This reverts commit 36fc554.

Signed-off-by: badai-nguyen <[email protected]>

YoshiRi

Just a minor comment in ray_ground_filter. Because I am not sure how this filter is used now, my comment is not necessary for autoware update. You may ignore my comment.

perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp

Signed-off-by: badai-nguyen <[email protected]>

YoshiRi

LGTM

badai-nguyen · 2024-05-07T02:31:44Z

@yukkysaito @miursh Could you approve this PR as codeowner?

Signed-off-by: badai-nguyen <[email protected]>

* fix(grond_segmentation): add intensity Signed-off-by: badai-nguyen <[email protected]> * fix(ray_ground_filter): change to pointXYZI Signed-off-by: badai-nguyen <[email protected]> * fix(ransac_ground_filter): change to pointXYZI Signed-off-by: badai-nguyen <[email protected]> * fix(scan_ground_filter): intensity bug fix Signed-off-by: badai-nguyen <[email protected]> * fix(ground_segmentation): add field select option Signed-off-by: badai-nguyen <[email protected]> * Revert "fix(ground_segmentation): add field select option" This reverts commit 36fc554. * fix: copy input field to output Signed-off-by: badai-nguyen <[email protected]> * fix(ray_ground_filter): copy input fields Signed-off-by: badai-nguyen <[email protected]> * fix(ransac_ground_filter): copy input fields Signed-off-by: badai-nguyen <[email protected]> * fix(ray_ground_filter): indices extract bug fix Signed-off-by: badai-nguyen <[email protected]> * refactor: ray_ground_filter Signed-off-by: badai-nguyen <[email protected]> * fix: indices max Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: badai-nguyen <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: vividf <[email protected]>

* fix(grond_segmentation): add intensity Signed-off-by: badai-nguyen <[email protected]> * fix(ray_ground_filter): change to pointXYZI Signed-off-by: badai-nguyen <[email protected]> * fix(ransac_ground_filter): change to pointXYZI Signed-off-by: badai-nguyen <[email protected]> * fix(scan_ground_filter): intensity bug fix Signed-off-by: badai-nguyen <[email protected]> * fix(ground_segmentation): add field select option Signed-off-by: badai-nguyen <[email protected]> * Revert "fix(ground_segmentation): add field select option" This reverts commit 36fc554. * fix: copy input field to output Signed-off-by: badai-nguyen <[email protected]> * fix(ray_ground_filter): copy input fields Signed-off-by: badai-nguyen <[email protected]> * fix(ransac_ground_filter): copy input fields Signed-off-by: badai-nguyen <[email protected]> * fix(ray_ground_filter): indices extract bug fix Signed-off-by: badai-nguyen <[email protected]> * refactor: ray_ground_filter Signed-off-by: badai-nguyen <[email protected]> * fix: indices max Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: badai-nguyen <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…tion#6791)" This reverts commit 729eec0.

* fix(grond_segmentation): add intensity Signed-off-by: badai-nguyen <[email protected]> * fix(ray_ground_filter): change to pointXYZI Signed-off-by: badai-nguyen <[email protected]> * fix(ransac_ground_filter): change to pointXYZI Signed-off-by: badai-nguyen <[email protected]> * fix(scan_ground_filter): intensity bug fix Signed-off-by: badai-nguyen <[email protected]> * fix(ground_segmentation): add field select option Signed-off-by: badai-nguyen <[email protected]> * Revert "fix(ground_segmentation): add field select option" This reverts commit 36fc554. * fix: copy input field to output Signed-off-by: badai-nguyen <[email protected]> * fix(ray_ground_filter): copy input fields Signed-off-by: badai-nguyen <[email protected]> * fix(ransac_ground_filter): copy input fields Signed-off-by: badai-nguyen <[email protected]> * fix(ray_ground_filter): indices extract bug fix Signed-off-by: badai-nguyen <[email protected]> * refactor: ray_ground_filter Signed-off-by: badai-nguyen <[email protected]> * fix: indices max Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: badai-nguyen <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

miursh · 2024-07-01T09:57:18Z

perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp

+    float x = *reinterpret_cast<float *>(input->data[global_size + x_offset]);
+    float y = *reinterpret_cast<float *>(input->data[global_size + y_offset]);
+    float z = *reinterpret_cast<float *>(input->data[global_size + z_offset]);
+    const Eigen::Vector3d transformed_point = plane_affine.inverse() * Eigen::Vector3d(x, y, z);
    if (std::abs(transformed_point.z()) > height_threshold_) {
-      no_ground_cloud_ptr->points.push_back(p);
+      std::memcpy(
+        &no_ground_cloud_msg_ptr->data[output_size], &input->data[global_size], point_step);
+      output_size += point_step;


The node crashes here, so please fix it.

fix(grond_segmentation): add intensity

a381af8

Signed-off-by: badai-nguyen <[email protected]>

github-actions bot added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Apr 11, 2024

badai-nguyen mentioned this pull request Apr 12, 2024

fix(occupancy_grid_map_outlier_filter): add intensity field #6797

Merged

7 tasks

badai-nguyen added 2 commits April 13, 2024 01:37

fix(ray_ground_filter): change to pointXYZI

9f35fce

Signed-off-by: badai-nguyen <[email protected]>

fix(ransac_ground_filter): change to pointXYZI

34da1b3

Signed-off-by: badai-nguyen <[email protected]>

badai-nguyen marked this pull request as ready for review April 12, 2024 16:46

badai-nguyen requested review from amc-nu, miursh and yukkysaito as code owners April 12, 2024 16:46

badai-nguyen added 2 commits April 15, 2024 00:16

fix(scan_ground_filter): intensity bug fix

ebc1283

Signed-off-by: badai-nguyen <[email protected]>

fix(ground_segmentation): add field select option

36fc554

Signed-off-by: badai-nguyen <[email protected]>

badai-nguyen requested a review from YoshiRi as a code owner April 16, 2024 13:21

github-actions bot added the component:launch Launch files, scripts and initialization tools. (auto-assigned) label Apr 16, 2024

xmfcx changed the title ~~fix(grond_segmentation): add intensity field~~ fix(ground_segmentation): add intensity field Apr 17, 2024

miursh reviewed Apr 17, 2024

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perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp Outdated Show resolved Hide resolved

Revert "fix(ground_segmentation): add field select option"

13c76f1

This reverts commit 36fc554.

github-actions bot removed the component:launch Launch files, scripts and initialization tools. (auto-assigned) label Apr 18, 2024

badai-nguyen added 3 commits April 18, 2024 11:08

fix: copy input field to output

0ee9612

Signed-off-by: badai-nguyen <[email protected]>

fix(ray_ground_filter): copy input fields

0fd66e6

Signed-off-by: badai-nguyen <[email protected]>

fix(ransac_ground_filter): copy input fields

3414c05

Signed-off-by: badai-nguyen <[email protected]>

badai-nguyen marked this pull request as draft April 26, 2024 07:51

fix(ray_ground_filter): indices extract bug fix

e77389b

Signed-off-by: badai-nguyen <[email protected]>

badai-nguyen marked this pull request as ready for review April 30, 2024 16:16

YoshiRi reviewed May 2, 2024

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perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp Outdated Show resolved Hide resolved

perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp Show resolved Hide resolved

refactor: ray_ground_filter

5cf469e

Signed-off-by: badai-nguyen <[email protected]>

YoshiRi approved these changes May 4, 2024

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yukkysaito approved these changes May 7, 2024

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badai-nguyen added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label May 7, 2024

fix: indices max

8b5419e

Signed-off-by: badai-nguyen <[email protected]>

style(pre-commit): autofix

743ef48

badai-nguyen merged commit 729eec0 into autowarefoundation:main May 9, 2024
20 of 22 checks passed

1222-takeshi added a commit to 1222-takeshi/autoware.universe that referenced this pull request Jun 13, 2024

Revert "fix(ground_segmentation): add intensity field (autowarefounda…

9d43c49

…tion#6791)" This reverts commit 729eec0.

miursh reviewed Jul 1, 2024

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miursh mentioned this pull request Jul 1, 2024

fix(ground_segmentation): fix bug #7771

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fix(ground_segmentation): add intensity field #6791

fix(ground_segmentation): add intensity field #6791

badai-nguyen commented Apr 11, 2024 •

edited

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badai-nguyen commented May 7, 2024

miursh Jul 1, 2024

fix(ground_segmentation): add intensity field #6791

fix(ground_segmentation): add intensity field #6791

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badai-nguyen commented Apr 11, 2024 • edited Loading

Description

Releated Link

Tests performed

Effects on system behavior

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In-review checklist for the PR reviewers

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badai-nguyen commented May 7, 2024

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badai-nguyen commented Apr 11, 2024 •

edited

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