refactor(autoware_pointcloud_preprocessor): rework pickup based voxel…

… grid downsample filter parameters (autowarefoundation#8481) * feat: rework pickup based voxel grid downsample filter parameter Signed-off-by: vividf <[email protected]> * chore: update date Signed-off-by: vividf <[email protected]> * chore: fix spell error Signed-off-by: vividf <[email protected]> * chore: add boundary Signed-off-by: vividf <[email protected]> * chore: fix grammatical error Signed-off-by: vividf <[email protected]> --------- Signed-off-by: vividf <[email protected]> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>
ismetatabay · Sep 17, 2024 · e8e9e89 · e8e9e89
1 parent 90347e3
commit e8e9e89
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Showing 7 changed files with 77 additions and 14 deletions.
diff --git a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt
@@ -69,7 +69,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
   src/downsample_filter/voxel_grid_downsample_filter_node.cpp
   src/downsample_filter/random_downsample_filter_node.cpp
   src/downsample_filter/approximate_downsample_filter_nodelet.cpp
-  src/downsample_filter/pickup_based_voxel_grid_downsample_filter.cpp
+  src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp
   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

diff --git a/..._pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter_node.param.yaml b/..._pointcloud_preprocessor/config/pickup_based_voxel_grid_downsample_filter_node.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    voxel_size_x: 1.0
+    voxel_size_y: 1.0
+    voxel_size_z: 1.0
diff --git a/sensing/autoware_pointcloud_preprocessor/docs/downsample-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/downsample-filter.md
@@ -52,11 +52,7 @@ These implementations inherit `autoware::pointcloud_preprocessor::Filter` class,
 
 ### Pickup Based Voxel Grid Downsample Filter
 
-| 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
 

diff --git a/...up_based_voxel_grid_downsample_filter.hpp → ...sed_voxel_grid_downsample_filter_node.hpp b/...up_based_voxel_grid_downsample_filter.hpp → ...sed_voxel_grid_downsample_filter_node.hpp
@@ -1,4 +1,4 @@
-// Copyright 2023 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__DOWNSAMPLE_FILTER__PICKUP_BASED_VOXEL_GRID_DOWNSAMPLE_FILTER_HPP_  // NOLINT
-#define AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__PICKUP_BASED_VOXEL_GRID_DOWNSAMPLE_FILTER_HPP_  // NOLINT
+#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__PICKUP_BASED_VOXEL_GRID_DOWNSAMPLE_FILTER_NODE_HPP_  // NOLINT
+#define AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__PICKUP_BASED_VOXEL_GRID_DOWNSAMPLE_FILTER_NODE_HPP_  // NOLINT
 
 #include "autoware/pointcloud_preprocessor/filter.hpp"
 
@@ -61,5 +61,5 @@ class PickupBasedVoxelGridDownsampleFilterComponent
 }  // namespace autoware::pointcloud_preprocessor
 
 // clang-format off
-#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__PICKUP_BASED_VOXEL_GRID_DOWNSAMPLE_FILTER_HPP_  // NOLINT
+#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__PICKUP_BASED_VOXEL_GRID_DOWNSAMPLE_FILTER_NODE_HPP_  // NOLINT
 // clang-format on
diff --git a/..._pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml b/..._pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml
@@ -0,0 +1,16 @@
+<launch>
+  <arg name="input_topic_name" default="/sensing/lidar/top/pointcloud_raw"/>
+  <arg name="output_topic_name" default="/sensing/lidar/top/pickup_based_voxel_grid_downsample_filter/pointcloud"/>
+  <arg name="input_frame" default=""/>
+  <arg name="output_frame" default=""/>
+  <arg name="pickup_based_voxel_grid_downsample_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/pickup_based_voxel_grid_downsample_filter_node.param.yaml"/>
+  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
+  <node pkg="autoware_pointcloud_preprocessor" exec="pickup_based_voxel_grid_downsample_filter_node" name="pickup_based_voxel_grid_downsample_filter_node">
+    <param from="$(var pickup_based_voxel_grid_downsample_filter_param_file)"/>
+    <param from="$(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>
diff --git a/...pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json b/...pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json
@@ -0,0 +1,46 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Pickup Based Voxel Grid Downsample Filter Node",
+  "type": "object",
+  "definitions": {
+    "pickup_based_voxel_grid_downsample_filter": {
+      "type": "object",
+      "properties": {
+        "voxel_size_x": {
+          "type": "number",
+          "description": "voxel size along the x-axis [m]",
+          "default": "1.0",
+          "minimum": 0
+        },
+        "voxel_size_y": {
+          "type": "number",
+          "description": "voxel size along the y-axis [m]",
+          "default": "1.0",
+          "minimum": 0
+        },
+        "voxel_size_z": {
+          "type": "number",
+          "description": "voxel size along the z-axis [m]",
+          "default": "1.0",
+          "minimum": 0
+        }
+      },
+      "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/pickup_based_voxel_grid_downsample_filter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/...up_based_voxel_grid_downsample_filter.cpp → ...sed_voxel_grid_downsample_filter_node.cpp b/...up_based_voxel_grid_downsample_filter.cpp → ...sed_voxel_grid_downsample_filter_node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/pointcloud_preprocessor/downsample_filter/pickup_based_voxel_grid_downsample_filter.hpp"
+#include "autoware/pointcloud_preprocessor/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.hpp"
 
 #include "robin_hood.h"
 
@@ -66,9 +66,9 @@ PickupBasedVoxelGridDownsampleFilterComponent::PickupBasedVoxelGridDownsampleFil
   }
 
   // Initialization of voxel sizes from parameters
-  voxel_size_x_ = static_cast<float>(declare_parameter("voxel_size_x", 1.0));
-  voxel_size_y_ = static_cast<float>(declare_parameter("voxel_size_y", 1.0));
-  voxel_size_z_ = static_cast<float>(declare_parameter("voxel_size_z", 1.0));
+  voxel_size_x_ = declare_parameter<float>("voxel_size_x");
+  voxel_size_y_ = declare_parameter<float>("voxel_size_y");
+  voxel_size_z_ = declare_parameter<float>("voxel_size_z");
 
   using std::placeholders::_1;
   set_param_res_ = this->add_on_set_parameters_callback(