refactor(autoware_pointcloud_preprocessor): rework blockage diag parameters

sensing/autoware_pointcloud_preprocessor/CMakeLists.txt

@@ -81,7 +81,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
   src/vector_map_filter/lanelet2_map_filter_nodelet.cpp
   src/distortion_corrector/distortion_corrector.cpp
   src/distortion_corrector/distortion_corrector_node.cpp
-  src/blockage_diag/blockage_diag_nodelet.cpp
+  src/blockage_diag/blockage_diag_node.cpp
   src/polygon_remover/polygon_remover.cpp
   src/vector_map_filter/vector_map_inside_area_filter.cpp
   src/utility/geometry.cpp

sensing/autoware_pointcloud_preprocessor/config/blockage_diagnostics_param_file.yaml → sensing/autoware_pointcloud_preprocessor/config/blockage_diag_node.param.yaml

@@ -14,3 +14,7 @@
     max_distance_range: 200.0
     horizontal_resolution: 0.4
     blockage_kernel: 10
+    angle_range: [0.0, 360.0]
+    vertical_bins: 40
+    is_channel_order_top2down: true
+    horizontal_ring_id: 18

sensing/autoware_pointcloud_preprocessor/docs/blockage_diag.md

@@ -51,24 +51,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,
 
 ## Parameters
 
-| 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_node.schema.json") }}
 
 ## Assumptions / Known limits
 

sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/blockage_diag/blockage_diag_nodelet.hpp → sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/blockage_diag/blockage_diag_node.hpp

@@ -1,4 +1,4 @@
-// Copyright 2022 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__BLOCKAGE_DIAG__BLOCKAGE_DIAG_NODELET_HPP_
-#define AUTOWARE__POINTCLOUD_PREPROCESSOR__BLOCKAGE_DIAG__BLOCKAGE_DIAG_NODELET_HPP_
+#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__BLOCKAGE_DIAG__BLOCKAGE_DIAG_NODE_HPP_
+#define AUTOWARE__POINTCLOUD_PREPROCESSOR__BLOCKAGE_DIAG__BLOCKAGE_DIAG_NODE_HPP_
 
 #include "autoware/pointcloud_preprocessor/filter.hpp"
 
@@ -105,4 +105,4 @@ class BlockageDiagComponent : public autoware::pointcloud_preprocessor::Filter
 
 }  // namespace autoware::pointcloud_preprocessor
 
-#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__BLOCKAGE_DIAG__BLOCKAGE_DIAG_NODELET_HPP_
+#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__BLOCKAGE_DIAG__BLOCKAGE_DIAG_NODE_HPP_

sensing/autoware_pointcloud_preprocessor/launch/blockage_diag_node.launch.xml

@@ -0,0 +1,10 @@
+<launch>
+  <arg name="input_topic_name" default="pointcloud_raw_ex"/>
+  <arg name="output_topic_name" default="blockage_diag/pointcloud"/>
+  <arg name="blockage_diagnostics_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/blockage_diag_node.param.yaml"/>
+  <node pkg="autoware_pointcloud_preprocessor" exec="blockage_diag_node" name="blockage_diag_node">
+    <remap from="input" to="$(var input_topic_name)"/>
+    <remap from="output" to="$(var output_topic_name)"/>
+    <param from="$(var blockage_diagnostics_param_file)"/>
+  </node>
+</launch>

sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json

@@ -0,0 +1,143 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Blockage Diag Node",
+  "type": "object",
+  "definitions": {
+    "blockage_diag": {
+      "type": "object",
+      "properties": {
+        "blockage_ratio_threshold": {
+          "type": "number",
+          "description": "The threshold of blockage area ratio.If the blockage value exceeds this threshold, the diagnostic state will be set to ERROR.",
+          "default": "0.1"
+        },
+        "blockage_count_threshold": {
+          "type": "number",
+          "description": "The threshold of number continuous blockage frames",
+          "default": "50"
+        },
+        "blockage_buffering_frames": {
+          "type": "integer",
+          "description": "The number of buffering about blockage detection [range:1-200]",
+          "default": "2"
+        },
+        "blockage_buffering_interval": {
+          "type": "integer",
+          "description": "The interval of buffering about blockage detection",
+          "default": "1"
+        },
+        "enable_dust_diag": {
+          "type": "boolean",
+          "description": "enable dust diagnostic",
+          "default": "false"
+        },
+        "publish_debug_image": {
+          "type": "boolean",
+          "description": "publish debug image",
+          "default": "false"
+        },
+        "dust_ratio_threshold": {
+          "type": "number",
+          "description": "The threshold of dusty area ratio",
+          "default": "0.2"
+        },
+        "dust_count_threshold": {
+          "type": "integer",
+          "description": "The threshold of number continuous frames include dusty area",
+          "default": "10"
+        },
+        "dust_kernel_size": {
+          "type": "integer",
+          "description": "The kernel size of morphology processing in dusty area detection",
+          "default": "2"
+        },
+        "dust_buffering_frames": {
+          "type": "integer",
+          "description": "The number of buffering about dusty area detection [range:1-200]",
+          "default": "10"
+        },
+        "dust_buffering_interval": {
+          "type": "integer",
+          "description": "The interval of buffering about dusty area detection",
+          "default": "1"
+        },
+        "max_distance_range": {
+          "type": "number",
+          "description": "Maximum view range for the LiDAR",
+          "default": "200.0"
+        },
+        "horizontal_resolution": {
+          "type": "number",
+          "description": "The horizontal resolution of depth map image [deg/pixel]",
+          "default": "0.4"
+        },
+        "blockage_kernel": {
+          "type": "integer",
+          "description": "The kernel size of morphology processing the detected blockage area",
+          "default": "10"
+        },
+        "angle_range": {
+          "type": "array",
+          "description": "The effective range of LiDAR",
+          "minItems": 2,
+          "maxItems": 2,
+          "items": {
+            "type": "number",
+            "minimum": 0.0,
+            "maximum": 360.0
+          }
+        },
+        "vertical_bins": {
+          "type": "integer",
+          "description": "The LiDAR channel",
+          "default": "40"
+        },
+        "is_channel_order_top2down": {
+          "type": "boolean",
+          "description": "If the lidar channels are indexed from top to down",
+          "default": "true"
+        },
+        "horizontal_ring_id": {
+          "type": "integer",
+          "description": "The id of horizontal ring of the LiDAR",
+          "default": "18"
+        }
+      },
+      "required": [
+        "blockage_ratio_threshold",
+        "blockage_count_threshold",
+        "blockage_buffering_frames",
+        "blockage_buffering_interval",
+        "enable_dust_diag",
+        "publish_debug_image",
+        "dust_ratio_threshold",
+        "dust_count_threshold",
+        "dust_kernel_size",
+        "dust_buffering_frames",
+        "dust_buffering_interval",
+        "max_distance_range",
+        "horizontal_resolution",
+        "blockage_kernel",
+        "angle_range",
+        "vertical_bins",
+        "is_channel_order_top2down",
+        "horizontal_ring_id"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/blockage_diag"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp → sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp

@@ -1,4 +1,4 @@
-// Copyright 2022 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/blockage_diag/blockage_diag_nodelet.hpp"
+#include "autoware/pointcloud_preprocessor/blockage_diag/blockage_diag_node.hpp"
 
 #include "autoware_point_types/types.hpp"