refactor(autoware_pointcloud_preprocessor): rework voxel grid outlier…

… filter parameters (#8476) * feat: rework voxel grid outlier filter parameters Signed-off-by: vividf <[email protected]> * chore: add boundary Signed-off-by: vividf <[email protected]> --------- Signed-off-by: vividf <[email protected]>
autowarefoundation · Aug 23, 2024 · 490cd18 · 490cd18
1 parent f58bac6
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Showing 7 changed files with 86 additions and 17 deletions.
diff --git a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt
@@ -71,7 +71,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
   src/downsample_filter/approximate_downsample_filter_nodelet.cpp
   src/downsample_filter/pickup_based_voxel_grid_downsample_filter.cpp
   src/outlier_filter/ring_outlier_filter_nodelet.cpp
-  src/outlier_filter/voxel_grid_outlier_filter_nodelet.cpp
+  src/outlier_filter/voxel_grid_outlier_filter_node.cpp
   src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp
   src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
   src/passthrough_filter/passthrough_filter_nodelet.cpp

diff --git a/sensing/autoware_pointcloud_preprocessor/config/voxel_grid_outlier_filter_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/voxel_grid_outlier_filter_node.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    voxel_size_x: 0.3
+    voxel_size_y: 0.3
+    voxel_size_z: 0.1
+    voxel_points_threshold: 2
diff --git a/sensing/autoware_pointcloud_preprocessor/docs/voxel-grid-outlier-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/voxel-grid-outlier-filter.md
@@ -23,12 +23,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,
 
 ### Core Parameters
 
-| 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_node.schema.json") }}
 
 ## Assumptions / Known limits
 

diff --git a/...ter/voxel_grid_outlier_filter_nodelet.hpp → ...filter/voxel_grid_outlier_filter_node.hpp b/...ter/voxel_grid_outlier_filter_nodelet.hpp → ...filter/voxel_grid_outlier_filter_node.hpp
@@ -1,4 +1,4 @@
-// Copyright 2020 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__VOXEL_GRID_OUTLIER_FILTER_NODELET_HPP_
-#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__VOXEL_GRID_OUTLIER_FILTER_NODELET_HPP_
+#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__VOXEL_GRID_OUTLIER_FILTER_NODE_HPP_
+#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__VOXEL_GRID_OUTLIER_FILTER_NODE_HPP_
 
 #include "autoware/pointcloud_preprocessor/filter.hpp"
 
@@ -50,4 +50,4 @@ class VoxelGridOutlierFilterComponent : public autoware::pointcloud_preprocessor
 };
 }  // namespace autoware::pointcloud_preprocessor
 
-#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__VOXEL_GRID_OUTLIER_FILTER_NODELET_HPP_
+#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__VOXEL_GRID_OUTLIER_FILTER_NODE_HPP_
diff --git a/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml
@@ -0,0 +1,16 @@
+<launch>
+  <arg name="input_topic_name" default="/pointcloud_raw"/>
+  <arg name="output_topic_name" default="/pointcloud_filtered"/>
+  <arg name="input_frame" default=""/>
+  <arg name="output_frame" default=""/>
+  <arg name="voxel_grid_outlier_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/voxel_grid_outlier_filter_node.param.yaml"/>
+  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
+  <node pkg="autoware_pointcloud_preprocessor" exec="voxel_grid_outlier_filter_node" name="voxel_grid_outlier_filter_node">
+    <param from="$(var voxel_grid_outlier_filter_param_file)"/>
+    <param from="$(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>
diff --git a/sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_outlier_filter_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_outlier_filter_node.schema.json
@@ -0,0 +1,52 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Voxel Grid Outlier Filter Node",
+  "type": "object",
+  "definitions": {
+    "voxel_grid_outlier_filter": {
+      "type": "object",
+      "properties": {
+        "voxel_size_x": {
+          "type": "number",
+          "description": "the voxel size along x-axis [m]",
+          "default": "0.3",
+          "minimum": 0
+        },
+        "voxel_size_y": {
+          "type": "number",
+          "description": "the voxel size along y-axis [m]",
+          "default": "0.3",
+          "minimum": 0
+        },
+        "voxel_size_z": {
+          "type": "number",
+          "description": "the voxel size along z-axis [m]",
+          "default": "0.1",
+          "minimum": 0
+        },
+        "voxel_points_threshold": {
+          "type": "integer",
+          "description": "the minimum number of points in each voxel",
+          "default": "2",
+          "minimum": 1
+        }
+      },
+      "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z", "voxel_points_threshold"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/voxel_grid_outlier_filter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/...ter/voxel_grid_outlier_filter_nodelet.cpp → ...filter/voxel_grid_outlier_filter_node.cpp b/...ter/voxel_grid_outlier_filter_nodelet.cpp → ...filter/voxel_grid_outlier_filter_node.cpp
@@ -1,4 +1,4 @@
-// Copyright 2020 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/voxel_grid_outlier_filter_nodelet.hpp"
+#include "autoware/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_node.hpp"
 
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/search/kdtree.h>
@@ -28,10 +28,10 @@ VoxelGridOutlierFilterComponent::VoxelGridOutlierFilterComponent(
 {
   // set initial parameters
   {
-    voxel_size_x_ = static_cast<double>(declare_parameter("voxel_size_x", 0.3));
-    voxel_size_y_ = static_cast<double>(declare_parameter("voxel_size_y", 0.3));
-    voxel_size_z_ = static_cast<double>(declare_parameter("voxel_size_z", 0.1));
-    voxel_points_threshold_ = static_cast<int>(declare_parameter("voxel_points_threshold", 2));
+    voxel_size_x_ = declare_parameter<double>("voxel_size_x");
+    voxel_size_y_ = declare_parameter<double>("voxel_size_y");
+    voxel_size_z_ = declare_parameter<double>("voxel_size_z");
+    voxel_points_threshold_ = declare_parameter<int>("voxel_points_threshold");
   }
 
   using std::placeholders::_1;