refactor(autoware_pointcloud_preprocessor): rework dual return outlier filter parameters

sensing/autoware_pointcloud_preprocessor/CMakeLists.txt

@@ -73,7 +73,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
   src/outlier_filter/ring_outlier_filter_nodelet.cpp
   src/outlier_filter/radius_search_2d_outlier_filter_node.cpp
   src/outlier_filter/voxel_grid_outlier_filter_node.cpp
-  src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
+  src/outlier_filter/dual_return_outlier_filter_node.cpp
   src/passthrough_filter/passthrough_filter_node.cpp
   src/passthrough_filter/passthrough_filter_uint16_node.cpp
   src/passthrough_filter/passthrough_uint16.cpp

sensing/autoware_pointcloud_preprocessor/config/dual_return_outlier_filter_node.param.yaml

@@ -0,0 +1,19 @@
+/**:
+  ros__parameters:
+    x_max: 18.0
+    x_min: -12.0
+    y_max: 2.0
+    y_min: -2.0
+    z_max: 10.0
+    z_min: 0.0
+    min_azimuth_deg: 135.0
+    max_azimuth_deg: 225.0
+    max_distance: 12.0
+    vertical_bins: 128
+    max_azimuth_diff: 50.0
+    weak_first_distance_ratio: 1.004
+    general_distance_ratio: 1.03
+    weak_first_local_noise_threshold: 2
+    roi_mode: "Fixed_xyz_ROI"
+    visibility_error_threshold: 0.5
+    visibility_warn_threshold: 0.7

sensing/autoware_pointcloud_preprocessor/docs/dual-return-outlier-filter.md

@@ -50,25 +50,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,
 
 ### 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_node.schema.json") }}
 
 ## Assumptions / Known limits
 

sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp → sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_node.hpp

@@ -1,4 +1,4 @@
-// Copyright 2021 Tier IV, Inc.
+// Copyright 2024 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__DUAL_RETURN_OUTLIER_FILTER_NODELET_HPP_
-#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__DUAL_RETURN_OUTLIER_FILTER_NODELET_HPP_
+#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__DUAL_RETURN_OUTLIER_FILTER_NODE_HPP_
+#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__DUAL_RETURN_OUTLIER_FILTER_NODE_HPP_
 
 #include "autoware/pointcloud_preprocessor/filter.hpp"
 
@@ -94,5 +94,5 @@ class DualReturnOutlierFilterComponent : public autoware::pointcloud_preprocesso
 }  // namespace autoware::pointcloud_preprocessor
 
 // clang-format off
-#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__DUAL_RETURN_OUTLIER_FILTER_NODELET_HPP_  // NOLINT
+#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__DUAL_RETURN_OUTLIER_FILTER_NODE_HPP_  // NOLINT
 // clang-format on

sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml

@@ -0,0 +1,17 @@
+<launch>
+  <arg name="input_topic_name" default="/pointcloud"/>
+  <arg name="output_topic_name" default="/pointcloud_filtered"/>
+  <arg name="input_frame" default=""/>
+  <arg name="output_frame" default=""/>
+  <arg name="dual_return_outlier_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/dual_return_outlier_filter_node.param.yaml"/>
+  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
+
+  <node pkg="autoware_pointcloud_preprocessor" exec="dual_return_outlier_filter_node" name="dual_return_outlier_filter_node">
+    <param from="$(var dual_return_outlier_filter_param_file)"/>
+    <param from="$(var filter_param_file)"/>
+    <remap from="input" to="$(var input_topic_name)"/>
+    <remap from="output" to="$(var output_topic_name)"/>
+    <param name="input_frame" value="$(var input_frame)"/>
+    <param name="output_frame" value="$(var output_frame)"/>
+  </node>
+</launch>

sensing/autoware_pointcloud_preprocessor/schema/dual_return_outlier_filter_node.schema.json

@@ -0,0 +1,146 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Dual Return Outlier Filter Node",
+  "type": "object",
+  "definitions": {
+    "dual_return_outlier_filter": {
+      "type": "object",
+      "properties": {
+        "x_max": {
+          "type": "number",
+          "description": "Maximum of x in meters for `Fixed_xyz_ROI` mode",
+          "default": "18.0"
+        },
+        "x_min": {
+          "type": "number",
+          "description": "Minimum of x in meters for `Fixed_xyz_ROI` mode",
+          "default": "-12.0"
+        },
+        "y_max": {
+          "type": "number",
+          "description": "Maximum of y in meters for `Fixed_xyz_ROI` mode",
+          "default": "2.0"
+        },
+        "y_min": {
+          "type": "number",
+          "description": "Minimum of y in meters for `Fixed_xyz_ROI` mode",
+          "default": "-2.0"
+        },
+        "z_max": {
+          "type": "number",
+          "description": "Maximum of z in meters for `Fixed_xyz_ROI` mode",
+          "default": "10.0"
+        },
+        "z_min": {
+          "type": "number",
+          "description": "Minimum of z in meters for `Fixed_xyz_ROI` mode",
+          "default": "0.0"
+        },
+        "min_azimuth_deg": {
+          "type": "number",
+          "description": "The left limit of azimuth in degrees for `Fixed_azimuth_ROI` mode",
+          "default": "135.0",
+          "minimum": 0,
+          "maximum": 360
+        },
+        "max_azimuth_deg": {
+          "type": "number",
+          "description": "The right limit of azimuth in degrees for `Fixed_azimuth_ROI` mode",
+          "default": "225.0",
+          "minimum": 0,
+          "maximum": 360
+        },
+        "max_distance": {
+          "type": "number",
+          "description": "The limit distance for in meters `Fixed_azimuth_ROI` mode",
+          "default": "12.0",
+          "minimum": 0
+        },
+        "vertical_bins": {
+          "type": "integer",
+          "description": "The number of vertical bin for visibility histogram",
+          "default": "128",
+          "minimum": 1
+        },
+        "max_azimuth_diff": {
+          "type": "number",
+          "description": "The azimuth difference threshold in degrees for ring_outlier_filter",
+          "default": "50",
+          "minimum": 0
+        },
+        "weak_first_distance_ratio": {
+          "type": "number",
+          "description": "The maximum allowed ratio between consecutive weak point distances",
+          "default": "1.004",
+          "minimum": 0
+        },
+        "general_distance_ratio": {
+          "type": "number",
+          "description": "The maximum allowed ratio between consecutive normal point distances",
+          "default": "1.03",
+          "minimum": 0
+        },
+        "weak_first_local_noise_threshold": {
+          "type": "integer",
+          "description": "The parameter for determining whether it is noise",
+          "default": "2",
+          "minimum": 0
+        },
+        "roi_mode": {
+          "type": "string",
+          "description": "roi mode",
+          "default": "Fixed_xyz_ROI",
+          "enum": ["Fixed_xyz_ROI", "No_ROI", "Fixed_azimuth_ROI"]
+        },
+        "visibility_error_threshold": {
+          "type": "number",
+          "description": "When the proportion of white pixels in the binary histogram falls below this parameter the diagnostic status becomes ERR",
+          "default": "0.5",
+          "minimum": 0,
+          "maximum": 1
+        },
+        "visibility_warn_threshold": {
+          "type": "number",
+          "description": "When the proportion of white pixels in the binary histogram falls below this parameter the diagnostic status becomes WARN",
+          "default": "0.7",
+          "minimum": 0,
+          "maximum": 1
+        }
+      },
+      "required": [
+        "x_max",
+        "x_min",
+        "y_max",
+        "y_min",
+        "z_max",
+        "z_min",
+        "min_azimuth_deg",
+        "max_azimuth_deg",
+        "max_distance",
+        "vertical_bins",
+        "max_azimuth_diff",
+        "weak_first_distance_ratio",
+        "general_distance_ratio",
+        "weak_first_local_noise_threshold",
+        "roi_mode",
+        "visibility_error_threshold",
+        "visibility_warn_threshold"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/dual_return_outlier_filter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp → sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp

@@ -1,4 +1,4 @@
-// Copyright 2021 Tier IV, Inc.
+// Copyright 2024 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp"
+#include "autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_node.hpp"
 
 #include "autoware_point_types/types.hpp"
 
@@ -38,29 +38,24 @@ DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent(
 {
   // set initial parameters
   {
-    x_max_ = static_cast<float>(declare_parameter("x_max", 18.0));
-    x_min_ = static_cast<float>(declare_parameter("x_min", -12.0));
-    y_max_ = static_cast<float>(declare_parameter("y_max", 2.0));
-    y_min_ = static_cast<float>(declare_parameter("y_min", -2.0));
-    z_max_ = static_cast<float>(declare_parameter("z_max", 10.0));
-    z_min_ = static_cast<float>(declare_parameter("z_min", 0.0));
-    min_azimuth_deg_ = static_cast<float>(declare_parameter("min_azimuth_deg", 135.0));
-    max_azimuth_deg_ = static_cast<float>(declare_parameter("max_azimuth_deg", 225.0));
-    max_distance_ = static_cast<float>(declare_parameter("max_distance", 12.0));
-    vertical_bins_ = static_cast<int>(declare_parameter("vertical_bins", 128));
-    max_azimuth_diff_ = static_cast<float>(declare_parameter("max_azimuth_diff", 50.0));
-    weak_first_distance_ratio_ =
-      static_cast<double>(declare_parameter("weak_first_distance_ratio", 1.004));
-    general_distance_ratio_ =
-      static_cast<double>(declare_parameter("general_distance_ratio", 1.03));
-
-    weak_first_local_noise_threshold_ =
-      static_cast<int>(declare_parameter("weak_first_local_noise_threshold", 2));
-    roi_mode_ = static_cast<std::string>(declare_parameter("roi_mode", "Fixed_xyz_ROI"));
-    visibility_error_threshold_ =
-      static_cast<float>(declare_parameter("visibility_error_threshold", 0.5));
-    visibility_warn_threshold_ =
-      static_cast<float>(declare_parameter("visibility_warn_threshold", 0.7));
+    x_max_ = declare_parameter<float>("x_max");
+    x_min_ = declare_parameter<float>("x_min");
+    y_max_ = declare_parameter<float>("y_max");
+    y_min_ = declare_parameter<float>("y_min");
+    z_max_ = declare_parameter<float>("z_max");
+    z_min_ = declare_parameter<float>("z_min");
+    min_azimuth_deg_ = declare_parameter<float>("min_azimuth_deg");
+    max_azimuth_deg_ = declare_parameter<float>("max_azimuth_deg");
+    max_distance_ = declare_parameter<float>("max_distance");
+    vertical_bins_ = declare_parameter<int>("vertical_bins");
+    max_azimuth_diff_ = declare_parameter<float>("max_azimuth_diff");
+    weak_first_distance_ratio_ = declare_parameter<double>("weak_first_distance_ratio");
+    general_distance_ratio_ = declare_parameter<double>("general_distance_ratio");
+
+    weak_first_local_noise_threshold_ = declare_parameter<int>("weak_first_local_noise_threshold");
+    roi_mode_ = declare_parameter<std::string>("roi_mode");
+    visibility_error_threshold_ = declare_parameter<double>("visibility_error_threshold");
+    visibility_warn_threshold_ = declare_parameter<double>("visibility_warn_threshold");
   }
   updater_.setHardwareID("dual_return_outlier_filter");
   updater_.add(