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refactor(autoware_map_msgs): modify pcd metadata msg (#7852) #8182

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refactor(autoware_map_msgs): modify pcd metadata msg (#7852) #8182

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4 changes: 2 additions & 2 deletions localization/ndt_scan_matcher/src/map_update_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -265,7 +265,7 @@ bool MapUpdateModule::update_ndt(
}
diagnostics_ptr->add_key_value("is_succeed_call_pcd_loader", true);

auto & maps_to_add = result.get()->new_pointcloud_with_ids;
auto & maps_to_add = result.get()->new_pointcloud_cells;
auto & map_ids_to_remove = result.get()->ids_to_remove;

diagnostics_ptr->add_key_value("maps_to_add_size", maps_to_add.size());
Expand All @@ -283,7 +283,7 @@ bool MapUpdateModule::update_ndt(
auto cloud = pcl::make_shared<pcl::PointCloud<PointTarget>>();

pcl::fromROSMsg(map.pointcloud, *cloud);
ndt.addTarget(cloud, map.cell_id);
ndt.addTarget(cloud, map.metadata.cell_id);
}

// Remove pcd
Expand Down
24 changes: 12 additions & 12 deletions localization/ndt_scan_matcher/test/stub_pcd_loader.hpp
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Expand Up @@ -60,26 +60,26 @@ class StubPcdLoader : public rclcpp::Node
return true;
}

autoware_map_msgs::msg::PointCloudMapCellWithID pcd_map_cell_with_id;
pcd_map_cell_with_id.cell_id = "0";
autoware_map_msgs::msg::PointCloudMapCellWithMetaData pcd_map_cell;
pcd_map_cell.metadata.cell_id = "0";
pcl::PointCloud<pcl::PointXYZ> cloud = make_sample_half_cubic_pcd();
for (auto & point : cloud.points) {
point.x += offset_x;
point.y += offset_y;
}
pcd_map_cell_with_id.metadata.min_x = std::numeric_limits<float>::max();
pcd_map_cell_with_id.metadata.min_y = std::numeric_limits<float>::max();
pcd_map_cell_with_id.metadata.max_x = std::numeric_limits<float>::lowest();
pcd_map_cell_with_id.metadata.max_y = std::numeric_limits<float>::lowest();
pcd_map_cell.metadata.min_x = std::numeric_limits<float>::max();
pcd_map_cell.metadata.min_y = std::numeric_limits<float>::max();
pcd_map_cell.metadata.max_x = std::numeric_limits<float>::lowest();
pcd_map_cell.metadata.max_y = std::numeric_limits<float>::lowest();
for (const auto & point : cloud.points) {
pcd_map_cell_with_id.metadata.min_x = std::min(pcd_map_cell_with_id.metadata.min_x, point.x);
pcd_map_cell_with_id.metadata.min_y = std::min(pcd_map_cell_with_id.metadata.min_y, point.y);
pcd_map_cell_with_id.metadata.max_x = std::max(pcd_map_cell_with_id.metadata.max_x, point.x);
pcd_map_cell_with_id.metadata.max_y = std::max(pcd_map_cell_with_id.metadata.max_y, point.y);
pcd_map_cell.metadata.min_x = std::min(pcd_map_cell.metadata.min_x, point.x);
pcd_map_cell.metadata.min_y = std::min(pcd_map_cell.metadata.min_y, point.y);
pcd_map_cell.metadata.max_x = std::max(pcd_map_cell.metadata.max_x, point.x);
pcd_map_cell.metadata.max_y = std::max(pcd_map_cell.metadata.max_y, point.y);
}
RCLCPP_INFO_STREAM(get_logger(), "cloud size: " << cloud.size());
pcl::toROSMsg(cloud, pcd_map_cell_with_id.pointcloud);
res->new_pointcloud_with_ids.push_back(pcd_map_cell_with_id);
pcl::toROSMsg(cloud, pcd_map_cell.pointcloud);
res->new_pointcloud_cells.push_back(pcd_map_cell);
res->header.frame_id = "map";
return true;
}
Expand Down
12 changes: 6 additions & 6 deletions map/map_height_fitter/src/map_height_fitter.cpp
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Expand Up @@ -145,17 +145,17 @@ bool MapHeightFitter::Impl::get_partial_point_cloud_map(const Point & point)
const auto res = future.get();
RCLCPP_DEBUG(
logger, "Loaded partial pcd map from map_loader (grid size: %lu)",
res->new_pointcloud_with_ids.size());
res->new_pointcloud_cells.size());

sensor_msgs::msg::PointCloud2 pcd_msg;
for (const auto & pcd_with_id : res->new_pointcloud_with_ids) {
for (const auto & pcd_cell : res->new_pointcloud_cells) {
if (pcd_msg.width == 0) {
pcd_msg = pcd_with_id.pointcloud;
pcd_msg = pcd_cell.pointcloud;
} else {
pcd_msg.width += pcd_with_id.pointcloud.width;
pcd_msg.row_step += pcd_with_id.pointcloud.row_step;
pcd_msg.width += pcd_cell.pointcloud.width;
pcd_msg.row_step += pcd_cell.pointcloud.row_step;
pcd_msg.data.insert(
pcd_msg.data.end(), pcd_with_id.pointcloud.data.begin(), pcd_with_id.pointcloud.data.end());
pcd_msg.data.end(), pcd_cell.pointcloud.data.begin(), pcd_cell.pointcloud.data.end());
}
}
map_frame_ = res->header.frame_id;
Expand Down
26 changes: 13 additions & 13 deletions map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp
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Expand Up @@ -48,13 +48,13 @@ void DifferentialMapLoaderModule::differential_area_load(
int index = static_cast<int>(id_in_cached_list - cached_ids.begin());
should_remove[index] = false;
} else {
autoware_map_msgs::msg::PointCloudMapCellWithID pointcloud_map_cell_with_id =
load_point_cloud_map_cell_with_id(path, map_id);
pointcloud_map_cell_with_id.metadata.min_x = metadata.min.x;
pointcloud_map_cell_with_id.metadata.min_y = metadata.min.y;
pointcloud_map_cell_with_id.metadata.max_x = metadata.max.x;
pointcloud_map_cell_with_id.metadata.max_y = metadata.max.y;
response->new_pointcloud_with_ids.push_back(pointcloud_map_cell_with_id);
autoware_map_msgs::msg::PointCloudMapCellWithMetaData pointcloud_map_cell =
load_point_cloud_map_cell_with_metadata(path, map_id);
pointcloud_map_cell.metadata.min_x = metadata.min.x;
pointcloud_map_cell.metadata.min_y = metadata.min.y;
pointcloud_map_cell.metadata.max_x = metadata.max.x;
pointcloud_map_cell.metadata.max_y = metadata.max.y;
response->new_pointcloud_cells.push_back(pointcloud_map_cell);
}
}

Expand All @@ -76,16 +76,16 @@ bool DifferentialMapLoaderModule::on_service_get_differential_point_cloud_map(
return true;
}

autoware_map_msgs::msg::PointCloudMapCellWithID
DifferentialMapLoaderModule::load_point_cloud_map_cell_with_id(
autoware_map_msgs::msg::PointCloudMapCellWithMetaData
DifferentialMapLoaderModule::load_point_cloud_map_cell_with_metadata(
const std::string & path, const std::string & map_id) const
{
sensor_msgs::msg::PointCloud2 pcd;
if (pcl::io::loadPCDFile(path, pcd) == -1) {
RCLCPP_ERROR_STREAM(logger_, "PCD load failed: " << path);
}
autoware_map_msgs::msg::PointCloudMapCellWithID pointcloud_map_cell_with_id;
pointcloud_map_cell_with_id.pointcloud = pcd;
pointcloud_map_cell_with_id.cell_id = map_id;
return pointcloud_map_cell_with_id;
autoware_map_msgs::msg::PointCloudMapCellWithMetaData pointcloud_map_cell;
pointcloud_map_cell.pointcloud = pcd;
pointcloud_map_cell.metadata.cell_id = map_id;
return pointcloud_map_cell;
}
3 changes: 2 additions & 1 deletion map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp
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Expand Up @@ -52,7 +52,8 @@ class DifferentialMapLoaderModule
void differential_area_load(
const autoware_map_msgs::msg::AreaInfo & area_info, const std::vector<std::string> & cached_ids,
const GetDifferentialPointCloudMap::Response::SharedPtr & response) const;
[[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithID load_point_cloud_map_cell_with_id(
[[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithMetaData
load_point_cloud_map_cell_with_metadata(
const std::string & path, const std::string & map_id) const;
};

Expand Down
26 changes: 13 additions & 13 deletions map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp
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Expand Up @@ -42,14 +42,14 @@ void PartialMapLoaderModule::partial_area_load(
// skip if the pcd file is not within the queried area
if (!is_grid_within_queried_area(area, metadata)) continue;

autoware_map_msgs::msg::PointCloudMapCellWithID pointcloud_map_cell_with_id =
load_point_cloud_map_cell_with_id(path, map_id);
pointcloud_map_cell_with_id.metadata.min_x = metadata.min.x;
pointcloud_map_cell_with_id.metadata.min_y = metadata.min.y;
pointcloud_map_cell_with_id.metadata.max_x = metadata.max.x;
pointcloud_map_cell_with_id.metadata.max_y = metadata.max.y;
autoware_map_msgs::msg::PointCloudMapCellWithMetaData pointcloud_map_cell =
load_point_cloud_map_cell_with_metadata(path, map_id);
pointcloud_map_cell.metadata.min_x = metadata.min.x;
pointcloud_map_cell.metadata.min_y = metadata.min.y;
pointcloud_map_cell.metadata.max_x = metadata.max.x;
pointcloud_map_cell.metadata.max_y = metadata.max.y;

response->new_pointcloud_with_ids.push_back(pointcloud_map_cell_with_id);
response->new_pointcloud_cells.push_back(pointcloud_map_cell);
}
}

Expand All @@ -63,16 +63,16 @@ bool PartialMapLoaderModule::on_service_get_partial_point_cloud_map(
return true;
}

autoware_map_msgs::msg::PointCloudMapCellWithID
PartialMapLoaderModule::load_point_cloud_map_cell_with_id(
autoware_map_msgs::msg::PointCloudMapCellWithMetaData
PartialMapLoaderModule::load_point_cloud_map_cell_with_metadata(
const std::string & path, const std::string & map_id) const
{
sensor_msgs::msg::PointCloud2 pcd;
if (pcl::io::loadPCDFile(path, pcd) == -1) {
RCLCPP_ERROR_STREAM(logger_, "PCD load failed: " << path);
}
autoware_map_msgs::msg::PointCloudMapCellWithID pointcloud_map_cell_with_id;
pointcloud_map_cell_with_id.pointcloud = pcd;
pointcloud_map_cell_with_id.cell_id = map_id;
return pointcloud_map_cell_with_id;
autoware_map_msgs::msg::PointCloudMapCellWithMetaData pointcloud_map_cell;
pointcloud_map_cell.pointcloud = pcd;
pointcloud_map_cell.metadata.cell_id = map_id;
return pointcloud_map_cell;
}
3 changes: 2 additions & 1 deletion map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp
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Expand Up @@ -52,7 +52,8 @@ class PartialMapLoaderModule
void partial_area_load(
const autoware_map_msgs::msg::AreaInfo & area,
const GetPartialPointCloudMap::Response::SharedPtr & response) const;
[[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithID load_point_cloud_map_cell_with_id(
[[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithMetaData
load_point_cloud_map_cell_with_metadata(
const std::string & path, const std::string & map_id) const;
};

Expand Down
40 changes: 20 additions & 20 deletions map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp
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Expand Up @@ -30,14 +30,14 @@ autoware_map_msgs::msg::PointCloudMapMetaData create_metadata(
// assume that the map ID = map path (for now)
const std::string & map_id = ele.first;

autoware_map_msgs::msg::PointCloudMapCellMetaDataWithID cell_metadata_with_id;
cell_metadata_with_id.cell_id = map_id;
cell_metadata_with_id.metadata.min_x = metadata.min.x;
cell_metadata_with_id.metadata.min_y = metadata.min.y;
cell_metadata_with_id.metadata.max_x = metadata.max.x;
cell_metadata_with_id.metadata.max_y = metadata.max.y;
autoware_map_msgs::msg::PointCloudMapCellMetaData cell_metadata;
cell_metadata.cell_id = map_id;
cell_metadata.min_x = metadata.min.x;
cell_metadata.min_y = metadata.min.y;
cell_metadata.max_x = metadata.max.x;
cell_metadata.max_y = metadata.max.y;

metadata_msg.metadata_list.push_back(cell_metadata_with_id);
metadata_msg.metadata_list.push_back(cell_metadata);
}

return metadata_msg;
Expand Down Expand Up @@ -81,29 +81,29 @@ bool SelectedMapLoaderModule::on_service_get_selected_point_cloud_map(
const std::string & map_id = path;
PCDFileMetadata metadata = requested_selected_map_iterator->second;

autoware_map_msgs::msg::PointCloudMapCellWithID pointcloud_map_cell_with_id =
load_point_cloud_map_cell_with_id(path, map_id);
pointcloud_map_cell_with_id.metadata.min_x = metadata.min.x;
pointcloud_map_cell_with_id.metadata.min_y = metadata.min.y;
pointcloud_map_cell_with_id.metadata.max_x = metadata.max.x;
pointcloud_map_cell_with_id.metadata.max_y = metadata.max.y;
autoware_map_msgs::msg::PointCloudMapCellWithMetaData pointcloud_map_cell =
load_point_cloud_map_cell_with_metadata(path, map_id);
pointcloud_map_cell.metadata.min_x = metadata.min.x;
pointcloud_map_cell.metadata.min_y = metadata.min.y;
pointcloud_map_cell.metadata.max_x = metadata.max.x;
pointcloud_map_cell.metadata.max_y = metadata.max.y;

res->new_pointcloud_with_ids.push_back(pointcloud_map_cell_with_id);
res->new_pointcloud_cells.push_back(pointcloud_map_cell);
}
res->header.frame_id = "map";
return true;
}

autoware_map_msgs::msg::PointCloudMapCellWithID
SelectedMapLoaderModule::load_point_cloud_map_cell_with_id(
autoware_map_msgs::msg::PointCloudMapCellWithMetaData
SelectedMapLoaderModule::load_point_cloud_map_cell_with_metadata(
const std::string & path, const std::string & map_id) const
{
sensor_msgs::msg::PointCloud2 pcd;
if (pcl::io::loadPCDFile(path, pcd) == -1) {
RCLCPP_ERROR_STREAM(logger_, "PCD load failed: " << path);
}
autoware_map_msgs::msg::PointCloudMapCellWithID pointcloud_map_cell_with_id;
pointcloud_map_cell_with_id.pointcloud = pcd;
pointcloud_map_cell_with_id.cell_id = map_id;
return pointcloud_map_cell_with_id;
autoware_map_msgs::msg::PointCloudMapCellWithMetaData pointcloud_map_cell;
pointcloud_map_cell.pointcloud = pcd;
pointcloud_map_cell.metadata.cell_id = map_id;
return pointcloud_map_cell;
}
3 changes: 2 additions & 1 deletion map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp
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Expand Up @@ -52,7 +52,8 @@ class SelectedMapLoaderModule
[[nodiscard]] bool on_service_get_selected_point_cloud_map(
GetSelectedPointCloudMap::Request::SharedPtr req,
GetSelectedPointCloudMap::Response::SharedPtr res) const;
[[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithID load_point_cloud_map_cell_with_id(
[[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithMetaData
load_point_cloud_map_cell_with_metadata(
const std::string & path, const std::string & map_id) const;
};

Expand Down
4 changes: 2 additions & 2 deletions map/map_loader/test/test_differential_map_loader_module.cpp
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Expand Up @@ -85,8 +85,8 @@ TEST_F(TestDifferentialMapLoaderModule, LoadDifferentialPCDFiles)

// Check the result
auto result = result_future.get();
ASSERT_EQ(static_cast<int>(result->new_pointcloud_with_ids.size()), 1);
EXPECT_EQ(result->new_pointcloud_with_ids[0].cell_id, "/tmp/dummy.pcd");
ASSERT_EQ(static_cast<int>(result->new_pointcloud_cells.size()), 1);
EXPECT_EQ(result->new_pointcloud_cells[0].metadata.cell_id, "/tmp/dummy.pcd");
EXPECT_EQ(static_cast<int>(result->ids_to_remove.size()), 0);
}

Expand Down
4 changes: 2 additions & 2 deletions map/map_loader/test/test_partial_map_loader_module.cpp
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Expand Up @@ -82,8 +82,8 @@ TEST_F(TestPartialMapLoaderModule, LoadPartialPCDFiles)

// Check the result
auto result = result_future.get();
ASSERT_EQ(static_cast<int>(result->new_pointcloud_with_ids.size()), 1);
EXPECT_EQ(result->new_pointcloud_with_ids[0].cell_id, "/tmp/dummy.pcd");
ASSERT_EQ(static_cast<int>(result->new_pointcloud_cells.size()), 1);
EXPECT_EQ(result->new_pointcloud_cells[0].metadata.cell_id, "/tmp/dummy.pcd");
}

int main(int argc, char ** argv)
Expand Down
5 changes: 3 additions & 2 deletions perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp
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Expand Up @@ -64,7 +64,7 @@ class DistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader
bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override;

inline void addMapCellAndFilter(
const autoware_map_msgs::msg::PointCloudMapCellWithID & map_cell_to_add) override
const autoware_map_msgs::msg::PointCloudMapCellWithMetaData & map_cell_to_add) override
{
map_grid_size_x_ = map_cell_to_add.metadata.max_x - map_cell_to_add.metadata.min_x;
map_grid_size_y_ = map_cell_to_add.metadata.max_y - map_cell_to_add.metadata.min_y;
Expand Down Expand Up @@ -95,7 +95,8 @@ class DistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader

// add
(*mutex_ptr_).lock();
current_voxel_grid_dict_.insert({map_cell_to_add.cell_id, current_voxel_grid_list_item});
current_voxel_grid_dict_.insert(
{map_cell_to_add.metadata.cell_id, current_voxel_grid_list_item});
(*mutex_ptr_).unlock();
}
};
Expand Down
5 changes: 3 additions & 2 deletions ...on/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp
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Expand Up @@ -71,7 +71,7 @@ class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader
bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override;

inline void addMapCellAndFilter(
const autoware_map_msgs::msg::PointCloudMapCellWithID & map_cell_to_add) override
const autoware_map_msgs::msg::PointCloudMapCellWithMetaData & map_cell_to_add) override
{
map_grid_size_x_ = map_cell_to_add.metadata.max_x - map_cell_to_add.metadata.min_x;
map_grid_size_y_ = map_cell_to_add.metadata.max_y - map_cell_to_add.metadata.min_y;
Expand Down Expand Up @@ -118,7 +118,8 @@ class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader

// add
(*mutex_ptr_).lock();
current_voxel_grid_dict_.insert({map_cell_to_add.cell_id, current_voxel_grid_list_item});
current_voxel_grid_dict_.insert(
{map_cell_to_add.metadata.cell_id, current_voxel_grid_list_item});
(*mutex_ptr_).unlock();
}
};
Expand Down
6 changes: 2 additions & 4 deletions ...ion/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp
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Expand Up @@ -453,12 +453,10 @@ void VoxelGridDynamicMapLoader::request_update_map(const geometry_msgs::msg::Poi
}
//
if (status == std::future_status::ready) {
if (
result.get()->new_pointcloud_with_ids.size() == 0 &&
result.get()->ids_to_remove.size() == 0) {
if (result.get()->new_pointcloud_cells.size() == 0 && result.get()->ids_to_remove.size() == 0) {
return;
}
updateDifferentialMapCells(result.get()->new_pointcloud_with_ids, result.get()->ids_to_remove);
updateDifferentialMapCells(result.get()->new_pointcloud_cells, result.get()->ids_to_remove);
if (debug_) {
publish_downsampled_map(getCurrentDownsampledMapPc());
}
Expand Down
7 changes: 4 additions & 3 deletions ...ion/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp
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Expand Up @@ -223,7 +223,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader
return current_map_ids;
}
inline void updateDifferentialMapCells(
const std::vector<autoware_map_msgs::msg::PointCloudMapCellWithID> & map_cells_to_add,
const std::vector<autoware_map_msgs::msg::PointCloudMapCellWithMetaData> & map_cells_to_add,
std::vector<std::string> map_cell_ids_to_remove)
{
for (const auto & map_cell_to_add : map_cells_to_add) {
Expand Down Expand Up @@ -279,7 +279,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader
}

virtual inline void addMapCellAndFilter(
const autoware_map_msgs::msg::PointCloudMapCellWithID & map_cell_to_add)
const autoware_map_msgs::msg::PointCloudMapCellWithMetaData & map_cell_to_add)
{
map_grid_size_x_ = map_cell_to_add.metadata.max_x - map_cell_to_add.metadata.min_x;
map_grid_size_y_ = map_cell_to_add.metadata.max_y - map_cell_to_add.metadata.min_y;
Expand Down Expand Up @@ -316,7 +316,8 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader
current_voxel_grid_list_item.map_cell_pc_ptr = std::move(map_cell_downsampled_pc_ptr_tmp);
// add
(*mutex_ptr_).lock();
current_voxel_grid_dict_.insert({map_cell_to_add.cell_id, current_voxel_grid_list_item});
current_voxel_grid_dict_.insert(
{map_cell_to_add.metadata.cell_id, current_voxel_grid_list_item});
(*mutex_ptr_).unlock();
}
};
Expand Down
2 changes: 1 addition & 1 deletion perception/elevation_map_loader/include/elevation_map_loader/elevation_map_loader_node.hpp
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Expand Up @@ -82,7 +82,7 @@ class ElevationMapLoaderNode : public rclcpp::Node
void receiveMap();
void concatenatePointCloudMaps(
sensor_msgs::msg::PointCloud2 & pointcloud_map,
const std::vector<autoware_map_msgs::msg::PointCloudMapCellWithID> & new_pointcloud_with_ids)
const std::vector<autoware_map_msgs::msg::PointCloudMapCellWithMetaData> & new_pointcloud_cells)
const;
std::vector<std::string> getRequestIDs(const unsigned int map_id_counter) const;
void publish();
Expand Down
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