feat: rework radius search 2d outlier filter parameters

Signed-off-by: vividf <[email protected]>
autowarefoundation · Aug 14, 2024 · a3b9cb1 · a3b9cb1
1 parent 142795a
commit a3b9cb1
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Showing 7 changed files with 66 additions and 11 deletions.
diff --git a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt
@@ -72,7 +72,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
   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/radius_search_2d_outlier_filter_nodelet.cpp
+  src/outlier_filter/radius_search_2d_outlier_filter_node.cpp
   src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
   src/passthrough_filter/passthrough_filter_nodelet.cpp
   src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp

diff --git a/...g/autoware_pointcloud_preprocessor/config/radius_search_2d_outlier_filter_node.param.yaml b/...g/autoware_pointcloud_preprocessor/config/radius_search_2d_outlier_filter_node.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    min_neighbors: 5
+    search_radius: 0.2
diff --git a/sensing/autoware_pointcloud_preprocessor/docs/radius-search-2d-outlier-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/radius-search-2d-outlier-filter.md
@@ -24,10 +24,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,
 
 ### Core Parameters
 
-| Name            | Type   | Description                                                                                                              |
-| --------------- | ------ | ------------------------------------------------------------------------------------------------------------------------ |
-| `min_neighbors` | int    | If points in the circle centered on reference point is less than `min_neighbors`, a reference point is judged as outlier |
-| `search_radius` | double | Searching number of points included in `search_radius`                                                                   |
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/radius_search_2d_outlier_filter_node.schema.json") }}
 
 ## Assumptions / Known limits
 

diff --git a/...dius_search_2d_outlier_filter_nodelet.hpp → .../radius_search_2d_outlier_filter_node.hpp b/...dius_search_2d_outlier_filter_nodelet.hpp → .../radius_search_2d_outlier_filter_node.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RADIUS_SEARCH_2D_OUTLIER_FILTER_NODELET_HPP_  // NOLINT
-#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RADIUS_SEARCH_2D_OUTLIER_FILTER_NODELET_HPP_  // NOLINT
+#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RADIUS_SEARCH_2D_OUTLIER_FILTER_NODE_HPP_  // NOLINT
+#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RADIUS_SEARCH_2D_OUTLIER_FILTER_NODE_HPP_  // NOLINT
 
 #include "autoware/pointcloud_preprocessor/filter.hpp"
 
@@ -55,5 +55,5 @@ class RadiusSearch2DOutlierFilterComponent : public autoware::pointcloud_preproc
 }  // namespace autoware::pointcloud_preprocessor
 
 // clang-format off
-#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RADIUS_SEARCH_2D_OUTLIER_FILTER_NODELET_HPP_  // NOLINT
+#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RADIUS_SEARCH_2D_OUTLIER_FILTER_NODE_HPP_  // NOLINT
 // clang-format on
diff --git a/...g/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml b/...g/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml
@@ -0,0 +1,16 @@
+<launch>
+  <arg name="input_topic_name" default="/sensing/lidar/top/pointcloud_raw_ex"/>
+  <arg name="output_topic_name" default="/sensing/lidar/top/pointcloud_filtered"/>
+  <arg name="input_frame" default="base_link"/>
+  <arg name="output_frame" default="base_link"/>
+  <arg name="radius_search_2d_outlier_filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/radius_search_2d_outlier_filter_node.param.yaml"/>
+  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
+  <node pkg="autoware_pointcloud_preprocessor" exec="radius_search_2d_outlier_filter_node" name="radius_search_2d_outlier_filter_node">
+    <param from="$(var radius_search_2d_outlier_filter_param_file)"/>
+    <param from="$(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/.../autoware_pointcloud_preprocessor/schema/radius_search_2d_outlier_filter_node.schema.json b/.../autoware_pointcloud_preprocessor/schema/radius_search_2d_outlier_filter_node.schema.json
@@ -0,0 +1,38 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Radius Search 2D Outlier Filter Node",
+  "type": "object",
+  "definitions": {
+    "crop_box_filter": {
+      "type": "object",
+      "properties": {
+        "min_neighbors": {
+          "type": "integer",
+          "description": "If points in the circle centered on reference point is less than min_neighbors, a reference point is judged as outlier",
+          "default": "5"
+        },
+        "search_radius": {
+          "type": "number",
+          "description": "Searching number of points included in search_radius",
+          "default": "0.2"
+        }
+      },
+      "required": ["min_neighbors", "search_radius"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/radius_search_2d_outlier_filter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/...dius_search_2d_outlier_filter_nodelet.cpp → .../radius_search_2d_outlier_filter_node.cpp b/...dius_search_2d_outlier_filter_nodelet.cpp → .../radius_search_2d_outlier_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/outlier_filter/radius_search_2d_outlier_filter_nodelet.hpp"
+#include "autoware/pointcloud_preprocessor/outlier_filter/radius_search_2d_outlier_filter_node.hpp"
 
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/search/kdtree.h>
@@ -28,8 +28,8 @@ RadiusSearch2DOutlierFilterComponent::RadiusSearch2DOutlierFilterComponent(
 {
   // set initial parameters
   {
-    min_neighbors_ = static_cast<size_t>(declare_parameter("min_neighbors", 5));
-    search_radius_ = static_cast<double>(declare_parameter("search_radius", 0.2));
+    min_neighbors_ = declare_parameter<int64_t>("min_neighbors");
+    search_radius_ = declare_parameter<double>("search_radius");
   }
 
   kd_tree_ = pcl::make_shared<pcl::search::KdTree<pcl::PointXY>>(false);