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feat(pointcloud_preprocessor): add z filter in vector map inside (#7300)
* feat: add utils to handle z height filter Signed-off-by: yoshiri <[email protected]> * feat: add test to utilities and fix code Signed-off-by: yoshiri <[email protected]> * feat: add node param to filter by z Signed-off-by: yoshiri <[email protected]> * docs: update readme Signed-off-by: yoshiri <[email protected]> --------- Signed-off-by: yoshiri <[email protected]>
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sensing/pointcloud_preprocessor/test/test_utilities.cpp
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| // 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. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include "pointcloud_preprocessor/utility/utilities.hpp" | ||
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| #include <sensor_msgs/msg/point_cloud2.hpp> | ||
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| #include <CGAL/Polygon_2.h> | ||
| #include <CGAL/Simple_cartesian.h> | ||
| #include <gtest/gtest.h> | ||
| #include <pcl/point_cloud.h> | ||
| #include <pcl/point_types.h> | ||
| #include <pcl_conversions/pcl_conversions.h> | ||
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| #include <optional> | ||
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| constexpr double EPSILON = 1e-6; | ||
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| class RemovePolygonCgalFromCloudTest : public ::testing::Test | ||
| { | ||
| protected: | ||
| PolygonCgal polygon; | ||
| sensor_msgs::msg::PointCloud2 cloud_out; | ||
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| virtual void SetUp() | ||
| { | ||
| // Set up a simple square polygon | ||
| polygon.push_back(PointCgal(0.0, 0.0)); | ||
| polygon.push_back(PointCgal(0.0, 1.0)); | ||
| polygon.push_back(PointCgal(1.0, 1.0)); | ||
| polygon.push_back(PointCgal(1.0, 0.0)); | ||
| polygon.push_back(PointCgal(0.0, 0.0)); | ||
| } | ||
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| void CreatePointCloud2(sensor_msgs::msg::PointCloud2 & cloud, double x, double y, double z) | ||
| { | ||
| pcl::PointCloud<pcl::PointXYZ> pcl_cloud; | ||
| pcl_cloud.push_back(pcl::PointXYZ(x, y, z)); | ||
| pcl::toROSMsg(pcl_cloud, cloud); | ||
| cloud.header.frame_id = "map"; | ||
| } | ||
| }; | ||
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| // Test case 1: without max_z, points inside the polygon are removed | ||
| TEST_F(RemovePolygonCgalFromCloudTest, PointsInsidePolygonAreRemoved) | ||
| { | ||
| sensor_msgs::msg::PointCloud2 cloud_in; | ||
| CreatePointCloud2(cloud_in, 0.5, 0.5, 0.1); // point inside the polygon | ||
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| pointcloud_preprocessor::utils::remove_polygon_cgal_from_cloud(cloud_in, polygon, cloud_out); | ||
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| pcl::PointCloud<pcl::PointXYZ> pcl_output; | ||
| pcl::fromROSMsg(cloud_out, pcl_output); | ||
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| EXPECT_EQ(pcl_output.size(), 0); | ||
| } | ||
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| // Test case 2: without max_z, points outside the polygon remain | ||
| TEST_F(RemovePolygonCgalFromCloudTest, PointsOutsidePolygonRemain) | ||
| { | ||
| sensor_msgs::msg::PointCloud2 cloud_in; | ||
| CreatePointCloud2(cloud_in, 1.5, 1.5, 0.1); // point outside the polygon | ||
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| pointcloud_preprocessor::utils::remove_polygon_cgal_from_cloud(cloud_in, polygon, cloud_out); | ||
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| pcl::PointCloud<pcl::PointXYZ> pcl_output; | ||
| pcl::fromROSMsg(cloud_out, pcl_output); | ||
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| EXPECT_EQ(pcl_output.size(), 1); | ||
| EXPECT_NEAR(pcl_output.points[0].x, 1.5, EPSILON); | ||
| EXPECT_NEAR(pcl_output.points[0].y, 1.5, EPSILON); | ||
| EXPECT_NEAR(pcl_output.points[0].z, 0.1, EPSILON); | ||
| } | ||
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| // Test case 3: with max_z, points inside the polygon and below max_z are removed | ||
| TEST_F(RemovePolygonCgalFromCloudTest, PointsBelowMaxZAreRemoved) | ||
| { | ||
| sensor_msgs::msg::PointCloud2 cloud_in; | ||
| CreatePointCloud2(cloud_in, 0.5, 0.5, 0.1); // point inside the polygon, below max_z | ||
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| std::optional<float> max_z = 1.0f; | ||
| pointcloud_preprocessor::utils::remove_polygon_cgal_from_cloud( | ||
| cloud_in, polygon, cloud_out, max_z); | ||
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| pcl::PointCloud<pcl::PointXYZ> pcl_output; | ||
| pcl::fromROSMsg(cloud_out, pcl_output); | ||
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| EXPECT_EQ(pcl_output.size(), 0); | ||
| } | ||
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| // Test case 4: with max_z, points inside the polygon but above max_z remain | ||
| TEST_F(RemovePolygonCgalFromCloudTest, PointsAboveMaxZRemain) | ||
| { | ||
| sensor_msgs::msg::PointCloud2 cloud_in; | ||
| CreatePointCloud2(cloud_in, 0.5, 0.5, 1.5); // point inside the polygon, above max_z | ||
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| std::optional<float> max_z = 1.0f; | ||
| pointcloud_preprocessor::utils::remove_polygon_cgal_from_cloud( | ||
| cloud_in, polygon, cloud_out, max_z); | ||
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| pcl::PointCloud<pcl::PointXYZ> pcl_output; | ||
| pcl::fromROSMsg(cloud_out, pcl_output); | ||
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| EXPECT_EQ(pcl_output.size(), 1); | ||
| EXPECT_NEAR(pcl_output.points[0].x, 0.5, EPSILON); | ||
| EXPECT_NEAR(pcl_output.points[0].y, 0.5, EPSILON); | ||
| EXPECT_NEAR(pcl_output.points[0].z, 1.5, EPSILON); | ||
| } | ||
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| int main(int argc, char ** argv) | ||
| { | ||
| ::testing::InitGoogleTest(&argc, argv); | ||
| return RUN_ALL_TESTS(); | ||
| } |