refactor(autoware_pointcloud_preprocessor): rework random downsample …

…filter parameters (autowarefoundation#8485) * feat: rework random downsample filter parameter Signed-off-by: vividf <[email protected]> * chore: change name Signed-off-by: vividf <[email protected]> * chore: add explicit cast Signed-off-by: vividf <[email protected]> --------- Signed-off-by: vividf <[email protected]> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]> Signed-off-by: Batuhan Beytekin <[email protected]>
batuhanbeytekin · Sep 12, 2024 · f7d66c9 · f7d66c9
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Showing 7 changed files with 52 additions and 17 deletions.
diff --git a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt
@@ -67,7 +67,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
   src/time_synchronizer/time_synchronizer_node.cpp
   src/crop_box_filter/crop_box_filter_nodelet.cpp
   src/downsample_filter/voxel_grid_downsample_filter_node.cpp
-  src/downsample_filter/random_downsample_filter_nodelet.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/outlier_filter/ring_outlier_filter_nodelet.cpp

diff --git a/sensing/autoware_pointcloud_preprocessor/config/random_downsample_filter_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/random_downsample_filter_node.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    sample_num: 1500
diff --git a/sensing/autoware_pointcloud_preprocessor/docs/downsample-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/downsample-filter.md
@@ -44,9 +44,7 @@ These implementations inherit `autoware::pointcloud_preprocessor::Filter` class,
 
 ### Random Downsample Filter
 
-| Name         | Type | Default Value | Description                     |
-| ------------ | ---- | ------------- | ------------------------------- |
-| `sample_num` | int  | 1500          | number of indices to be sampled |
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/random_downsample_filter_node.schema.json") }}
 
 ### Voxel Grid Downsample Filter
 

diff --git a/...lter/random_downsample_filter_nodelet.hpp → ..._filter/random_downsample_filter_node.hpp b/...lter/random_downsample_filter_nodelet.hpp → ..._filter/random_downsample_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.
@@ -48,8 +48,8 @@
  *
  */
 
-#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__RANDOM_DOWNSAMPLE_FILTER_NODELET_HPP_
-#define AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__RANDOM_DOWNSAMPLE_FILTER_NODELET_HPP_
+#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__RANDOM_DOWNSAMPLE_FILTER_NODE_HPP_
+#define AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__RANDOM_DOWNSAMPLE_FILTER_NODE_HPP_
 
 #include "autoware/pointcloud_preprocessor/filter.hpp"
 
@@ -81,5 +81,5 @@ class RandomDownsampleFilterComponent : public autoware::pointcloud_preprocessor
 }  // namespace autoware::pointcloud_preprocessor
 
 // clang-format off
-#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__RANDOM_DOWNSAMPLE_FILTER_NODELET_HPP_  // NOLINT
+#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__RANDOM_DOWNSAMPLE_FILTER_NODE_HPP_  // NOLINT
 // clang-format on
diff --git a/...aunch/random_downsample_filter.launch.xml → .../random_downsample_filter_node.launch.xml b/...aunch/random_downsample_filter.launch.xml → .../random_downsample_filter_node.launch.xml
@@ -1,16 +1,16 @@
 <launch>
   <arg name="input_topic_name" default="/sensing/lidar/top/pointcloud_raw"/>
   <arg name="output_topic_name" default="/sensing/lidar/top/random_downsample_filter/pointcloud"/>
-
-  <arg name="sample_num" default="1500"/>
   <arg name="input_frame" default=""/>
-  <arg name="output_frame" default="base_link"/>
+  <arg name="output_frame" default=""/>
+  <arg name="random_downsample_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/random_downsample_filter_node.param.yaml"/>
+  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
 
-  <node pkg="autoware_pointcloud_preprocessor" exec="random_downsample_filter_node" name="random_downsample_filter">
+  <node pkg="autoware_pointcloud_preprocessor" exec="random_downsample_filter_node" name="random_downsample_filter_node">
+    <param from="$(var random_downsample_filter_param_file)"/>
+    <param from="$(var filter_param_file)"/>
     <remap from="input" to="$(var input_topic_name)"/>
     <remap from="output" to="$(var output_topic_name)"/>
-
-    <param name="sample_num" value="$(var sample_num)"/>
     <param name="input_frame" value="$(var input_frame)"/>
     <param name="output_frame" value="$(var output_frame)"/>
   </node>

diff --git a/sensing/autoware_pointcloud_preprocessor/schema/random_downsample_filter_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/random_downsample_filter_node.schema.json
@@ -0,0 +1,34 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Random Downsample Filter Node",
+  "type": "object",
+  "definitions": {
+    "random_downsample_filter": {
+      "type": "object",
+      "properties": {
+        "sample_num": {
+          "type": "integer",
+          "minimum": 0,
+          "description": "number of indices to be sampled",
+          "default": "1500"
+        }
+      },
+      "required": ["sample_num"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/random_downsample_filter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/...lter/random_downsample_filter_nodelet.cpp → ..._filter/random_downsample_filter_node.cpp b/...lter/random_downsample_filter_nodelet.cpp → ..._filter/random_downsample_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.
@@ -46,7 +46,7 @@
  *
  */
 
-#include "autoware/pointcloud_preprocessor/downsample_filter/random_downsample_filter_nodelet.hpp"
+#include "autoware/pointcloud_preprocessor/downsample_filter/random_downsample_filter_node.hpp"
 
 #include <vector>
 
@@ -58,7 +58,7 @@ RandomDownsampleFilterComponent::RandomDownsampleFilterComponent(
 {
   // set initial parameters
   {
-    sample_num_ = static_cast<size_t>(declare_parameter("sample_num", 1500));
+    sample_num_ = static_cast<size_t>(declare_parameter<int64_t>("sample_num"));
   }
 
   using std::placeholders::_1;