feat(autoware_pointcloud_preprocessor): distortion corrector node upd…

…ate azimuth and distance (#8380)

* feat: add option for updating distance and azimuth value

Signed-off-by: vividf <[email protected]>

* chore: clean code

Signed-off-by: vividf <[email protected]>

* chore: remove space

Signed-off-by: vividf <[email protected]>

* chore: add documentation

Signed-off-by: vividf <[email protected]>

* chore: fix docs

Signed-off-by: vividf <[email protected]>

* feat: conversion formula implementation for degree, still need to change to rad

Signed-off-by: vividf <[email protected]>

* chore: fix tests for AzimuthConversionExists function

Signed-off-by: vividf <[email protected]>

* feat: add fastatan to utils

Signed-off-by: vividf <[email protected]>

* feat: remove seperate sin, cos and use sin_and_cos function

Signed-off-by: vividf <[email protected]>

* chore: fix readme

Signed-off-by: vividf <[email protected]>

* chore: fix some grammar errors

Signed-off-by: vividf <[email protected]>

* chore: fix spell error

Signed-off-by: vividf <[email protected]>

* chore: set debug mode to false

Signed-off-by: vividf <[email protected]>

* chore: set update_azimuth_and_distance default value to false

Signed-off-by: vividf <[email protected]>

* chore: update readme

Signed-off-by: vividf <[email protected]>

* chore: remove cout

Signed-off-by: vividf <[email protected]>

* chore: add opencv license

Signed-off-by: vividf <[email protected]>

* chore: fix grammar error

Signed-off-by: vividf <[email protected]>

* style(pre-commit): autofix

* chore: add runtime error when azimuth conversion failed

Signed-off-by: vividf <[email protected]>

* chore: change default pointcloud

Signed-off-by: vividf <[email protected]>

* chore: change function name

Signed-off-by: vividf <[email protected]>

* chore: move variables to structure

Signed-off-by: vividf <[email protected]>

* chore: add random seed

Signed-off-by: vividf <[email protected]>

* chore: rewrite get conversion function

Signed-off-by: vividf <[email protected]>

* chore: fix opencv fast atan2 function

Signed-off-by: vividf <[email protected]>

* chore: fix schema description

Signed-off-by: vividf <[email protected]>

* Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp

Co-authored-by: Max Schmeller <[email protected]>

* Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp

Co-authored-by: Max Schmeller <[email protected]>

* chore: move code to function for readability

Signed-off-by: vividf <[email protected]>

* chore: simplify code

Signed-off-by: vividf <[email protected]>

* chore: fix sentence, angle conversion

Signed-off-by: vividf <[email protected]>

* chore: add more invalid condition

Signed-off-by: vividf <[email protected]>

* chore: fix the string name to enum

Signed-off-by: vividf <[email protected]>

* chore: remove runtime error

Signed-off-by: vividf <[email protected]>

* chore: use optional for AngleConversion structure

Signed-off-by: vividf <[email protected]>

* chore: fix bug and clean code

Signed-off-by: vividf <[email protected]>

* chore: refactor the logic of calculating conversion

Signed-off-by: vividf <[email protected]>

* chore: refactor function in unit test

Signed-off-by: vividf <[email protected]>

* chore: RCLCPP_WARN_STREAM logging when failed to get angle conversion

Signed-off-by: vividf <[email protected]>

* chore: improve normalize angle algorithm

Signed-off-by: vividf <[email protected]>

* chore: improve multiple_of_90_degrees logic

Signed-off-by: vividf <[email protected]>

* chore: add opencv license

Signed-off-by: vividf <[email protected]>

* style(pre-commit): autofix

* chore: clean code

Signed-off-by: vividf <[email protected]>

* chore: fix sentence

Signed-off-by: vividf <[email protected]>

* style(pre-commit): autofix

* chore: add 0 0 0 points in test case

Signed-off-by: vividf <[email protected]>

* chore: fix spell error

Signed-off-by: vividf <[email protected]>

* Update common/autoware_universe_utils/NOTICE

Co-authored-by: Max Schmeller <[email protected]>

* Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp

Co-authored-by: Max Schmeller <[email protected]>

* Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp

Co-authored-by: Max Schmeller <[email protected]>

* chore: use constexpr for threshold

Signed-off-by: vividf <[email protected]>

* chore: fix the path of license

Signed-off-by: vividf <[email protected]>

* chore: explanation for failures

Signed-off-by: vividf <[email protected]>

* chore: use throttle

Signed-off-by: vividf <[email protected]>

* chore: fix empty pointcloud function

Signed-off-by: vividf <[email protected]>

* refactor: change camel to snake case

Signed-off-by: vividf <[email protected]>

* Update sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp

Co-authored-by: Max Schmeller <[email protected]>

* Update sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp

Co-authored-by: Max Schmeller <[email protected]>

* style(pre-commit): autofix

* Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp

Co-authored-by: Max Schmeller <[email protected]>

* refactor: refactor virtual function in base class

Signed-off-by: vividf <[email protected]>

* chore: fix test naming error

Signed-off-by: vividf <[email protected]>

* chore: fix clang error

Signed-off-by: vividf <[email protected]>

* chore: fix error

Signed-off-by: vividf <[email protected]>

* chore: fix clangd

Signed-off-by: vividf <[email protected]>

* chore: add runtime error if the setting is wrong

Signed-off-by: vividf <[email protected]>

* chore: clean code

Signed-off-by: vividf <[email protected]>

* Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp

Co-authored-by: Max Schmeller <[email protected]>

* style(pre-commit): autofix

* chore: fix unit test for runtime error

Signed-off-by: vividf <[email protected]>

* Update sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md

Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>

* chore: fix offset_rad_threshold

Signed-off-by: vividf <[email protected]>

* chore: change pointer to reference

Signed-off-by: vividf <[email protected]>

* chore: snake_case for unit test

Signed-off-by: vividf <[email protected]>

* chore: fix refactor process twist and imu

Signed-off-by: vividf <[email protected]>

* chore: fix abs and return type of matrix to tf2

Signed-off-by: vividf <[email protected]>

* chore: fix grammar error

Signed-off-by: vividf <[email protected]>

* chore: fix readme description

Signed-off-by: vividf <[email protected]>

* chore: remove runtime error

Signed-off-by: vividf <[email protected]>

---------

Signed-off-by: vividf <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Max Schmeller <[email protected]>
Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>

common/autoware_universe_utils/NOTICE

@@ -0,0 +1,2 @@
+The function 'opencv_fast_atan2' in /autoware/src/universe/autoware.universe/common/autoware_universe_utils/src/math/trigonometry.cpp
+is a modified version of 'fastAtan2' in the OpenCV project. (https://github.com/opencv/opencv/blob/4.x/modules/core/src/mathfuncs_core.simd.hpp)

common/autoware_universe_utils/include/autoware/universe_utils/math/trigonometry.hpp

@@ -26,6 +26,8 @@ float cos(float radian);
 
 std::pair<float, float> sin_and_cos(float radian);
 
+float opencv_fast_atan2(float dy, float dx);
+
 }  // namespace autoware::universe_utils
 
 #endif  // AUTOWARE__UNIVERSE_UTILS__MATH__TRIGONOMETRY_HPP_

common/autoware_universe_utils/src/math/trigonometry.cpp

@@ -72,4 +72,57 @@ std::pair<float, float> sin_and_cos(float radian)
   }
 }
 
+// This code is modified from a part of the OpenCV project
+// (https://github.com/opencv/opencv/blob/4.x/modules/core/src/mathfuncs_core.simd.hpp). It is
+// subject to the license terms in the LICENSE file found in the top-level directory of this
+// distribution and at http://opencv.org/license.html.
+// The license can be found in
+// common/autoware_universe_utils/third_party_licenses/opencv-license.md
+// and https://github.com/opencv/opencv/blob/master/LICENSE
+
+// Modification:
+// 1. use autoware defined PI
+// 2. output of the function is changed from degrees to radians.
+namespace detail_fast_atan2
+{
+static const float atan2_p1 =
+  0.9997878412794807f * static_cast<float>(180) / autoware::universe_utils::pi;
+static const float atan2_p3 =
+  -0.3258083974640975f * static_cast<float>(180) / autoware::universe_utils::pi;
+static const float atan2_p5 =
+  0.1555786518463281f * static_cast<float>(180) / autoware::universe_utils::pi;
+static const float atan2_p7 =
+  -0.04432655554792128f * static_cast<float>(180) / autoware::universe_utils::pi;
+static const float atan2_DBL_EPSILON = 2.2204460492503131e-016f;
+}  // namespace detail_fast_atan2
+
+float opencv_fast_atan2(float dy, float dx)
+{
+  float ax = std::abs(dx);
+  float ay = std::abs(dy);
+  float a, c, c2;
+  if (ax >= ay) {
+    c = ay / (ax + detail_fast_atan2::atan2_DBL_EPSILON);
+    c2 = c * c;
+    a = (((detail_fast_atan2::atan2_p7 * c2 + detail_fast_atan2::atan2_p5) * c2 +
+          detail_fast_atan2::atan2_p3) *
+           c2 +
+         detail_fast_atan2::atan2_p1) *
+        c;
+  } else {
+    c = ax / (ay + detail_fast_atan2::atan2_DBL_EPSILON);
+    c2 = c * c;
+    a = 90.f - (((detail_fast_atan2::atan2_p7 * c2 + detail_fast_atan2::atan2_p5) * c2 +
+                 detail_fast_atan2::atan2_p3) *
+                  c2 +
+                detail_fast_atan2::atan2_p1) *
+                 c;
+  }
+  if (dx < 0) a = 180.f - a;
+  if (dy < 0) a = 360.f - a;
+
+  a = a * autoware::universe_utils::pi / 180.f;
+  return a;
+}
+
 }  // namespace autoware::universe_utils

common/autoware_universe_utils/test/src/math/test_trigonometry.cpp

@@ -50,3 +50,28 @@ TEST(trigonometry, sin_and_cos)
     EXPECT_TRUE(std::abs(std::cos(x * static_cast<float>(i)) - sin_and_cos.second) < 10e-7);
   }
 }
+
+float normalize_angle(double angle)
+{
+  const double tau = 2 * autoware::universe_utils::pi;
+  double factor = std::floor(angle / tau);
+  return static_cast<float>(angle - (factor * tau));
+}
+
+TEST(trigonometry, opencv_fast_atan2)
+{
+  for (int i = 0; i < 100; ++i) {
+    // Generate random x and y between -10 and 10
+    std::srand(0);
+    float x = static_cast<float>(std::rand()) / RAND_MAX * 20.0 - 10.0;
+    float y = static_cast<float>(std::rand()) / RAND_MAX * 20.0 - 10.0;
+
+    float fast_atan = autoware::universe_utils::opencv_fast_atan2(y, x);
+    float std_atan = normalize_angle(std::atan2(y, x));
+
+    // 0.3 degree accuracy
+    ASSERT_NEAR(fast_atan, std_atan, 6e-3)
+      << "Test failed for input (" << y << ", " << x << "): "
+      << "fast atan2 = " << fast_atan << ", std::atan2 = " << std_atan;
+  }
+}

common/autoware_universe_utils/third_party_licenses/opencv-license.md

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+1. Definitions.
+
+   "License" shall mean the terms and conditions for use, reproduction,
+   and distribution as defined by Sections 1 through 9 of this document.
+
+   "Licensor" shall mean the copyright owner or entity authorized by
+   the copyright owner that is granting the License.
+
+   "Legal Entity" shall mean the union of the acting entity and all
+   other entities that control, are controlled by, or are under common
+   control with that entity. For the purposes of this definition,
+   "control" means (i) the power, direct or indirect, to cause the
+   direction or management of such entity, whether by contract or
+   otherwise, or (ii) ownership of fifty percent (50%) or more of the
+   outstanding shares, or (iii) beneficial ownership of such entity.
+
+   "You" (or "Your") shall mean an individual or Legal Entity
+   exercising permissions granted by this License.
+
+   "Source" form shall mean the preferred form for making modifications,
+   including but not limited to software source code, documentation
+   source, and configuration files.
+
+   "Object" form shall mean any form resulting from mechanical
+   transformation or translation of a Source form, including but
+   not limited to compiled object code, generated documentation,
+   and conversions to other media types.
+
+   "Work" shall mean the work of authorship, whether in Source or
+   Object form, made available under the License, as indicated by a
+   copyright notice that is included in or attached to the work
+   (an example is provided in the Appendix below).
+
+   "Derivative Works" shall mean any work, whether in Source or Object
+   form, that is based on (or derived from) the Work and for which the
+   editorial revisions, annotations, elaborations, or other modifications
+   represent, as a whole, an original work of authorship. For the purposes
+   of this License, Derivative Works shall not include works that remain
+   separable from, or merely link (or bind by name) to the interfaces of,
+   the Work and Derivative Works thereof.
+
+   "Contribution" shall mean any work of authorship, including
+   the original version of the Work and any modifications or additions
+   to that Work or Derivative Works thereof, that is intentionally
+   submitted to Licensor for inclusion in the Work by the copyright owner
+   or by an individual or Legal Entity authorized to submit on behalf of
+   the copyright owner. For the purposes of this definition, "submitted"
+   means any form of electronic, verbal, or written communication sent
+   to the Licensor or its representatives, including but not limited to
+   communication on electronic mailing lists, source code control systems,
+   and issue tracking systems that are managed by, or on behalf of, the
+   Licensor for the purpose of discussing and improving the Work, but
+   excluding communication that is conspicuously marked or otherwise
+   designated in writing by the copyright owner as "Not a Contribution."
+
+   "Contributor" shall mean Licensor and any individual or Legal Entity
+   on behalf of whom a Contribution has been received by Licensor and
+   subsequently incorporated within the Work.
+
+2. Grant of Copyright License. Subject to the terms and conditions of
+   this License, each Contributor hereby grants to You a perpetual,
+   worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+   copyright license to reproduce, prepare Derivative Works of,
+   publicly display, publicly perform, sublicense, and distribute the
+   Work and such Derivative Works in Source or Object form.
+
+3. Grant of Patent License. Subject to the terms and conditions of
+   this License, each Contributor hereby grants to You a perpetual,
+   worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+   (except as stated in this section) patent license to make, have made,
+   use, offer to sell, sell, import, and otherwise transfer the Work,
+   where such license applies only to those patent claims licensable
+   by such Contributor that are necessarily infringed by their
+   Contribution(s) alone or by combination of their Contribution(s)
+   with the Work to which such Contribution(s) was submitted. If You
+   institute patent litigation against any entity (including a
+   cross-claim or counterclaim in a lawsuit) alleging that the Work
+   or a Contribution incorporated within the Work constitutes direct
+   or contributory patent infringement, then any patent licenses
+   granted to You under this License for that Work shall terminate
+   as of the date such litigation is filed.
+
+4. Redistribution. You may reproduce and distribute copies of the
+   Work or Derivative Works thereof in any medium, with or without
+   modifications, and in Source or Object form, provided that You
+   meet the following conditions:
+
+   (a) You must give any other recipients of the Work or
+   Derivative Works a copy of this License; and
+
+   (b) You must cause any modified files to carry prominent notices
+   stating that You changed the files; and
+
+   (c) You must retain, in the Source form of any Derivative Works
+   that You distribute, all copyright, patent, trademark, and
+   attribution notices from the Source form of the Work,
+   excluding those notices that do not pertain to any part of
+   the Derivative Works; and
+
+   (d) If the Work includes a "NOTICE" text file as part of its
+   distribution, then any Derivative Works that You distribute must
+   include a readable copy of the attribution notices contained
+   within such NOTICE file, excluding those notices that do not
+   pertain to any part of the Derivative Works, in at least one
+   of the following places: within a NOTICE text file distributed
+   as part of the Derivative Works; within the Source form or
+   documentation, if provided along with the Derivative Works; or,
+   within a display generated by the Derivative Works, if and
+   wherever such third-party notices normally appear. The contents
+   of the NOTICE file are for informational purposes only and
+   do not modify the License. You may add Your own attribution
+   notices within Derivative Works that You distribute, alongside
+   or as an addendum to the NOTICE text from the Work, provided
+   that such additional attribution notices cannot be construed
+   as modifying the License.
+
+   You may add Your own copyright statement to Your modifications and
+   may provide additional or different license terms and conditions
+   for use, reproduction, or distribution of Your modifications, or
+   for any such Derivative Works as a whole, provided Your use,
+   reproduction, and distribution of the Work otherwise complies with
+   the conditions stated in this License.
+
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+
+6. Trademarks. This License does not grant permission to use the trade
+   names, trademarks, service marks, or product names of the Licensor,
+   except as required for reasonable and customary use in describing the
+   origin of the Work and reproducing the content of the NOTICE file.
+
+7. Disclaimer of Warranty. Unless required by applicable law or
+   agreed to in writing, Licensor provides the Work (and each
+   Contributor provides its Contributions) on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+   implied, including, without limitation, any warranties or conditions
+   of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+   PARTICULAR PURPOSE. You are solely responsible for determining the
+   appropriateness of using or redistributing the Work and assume any
+   risks associated with Your exercise of permissions under this License.
+
+8. Limitation of Liability. In no event and under no legal theory,
+   whether in tort (including negligence), contract, or otherwise,
+   unless required by applicable law (such as deliberate and grossly
+   negligent acts) or agreed to in writing, shall any Contributor be
+   liable to You for damages, including any direct, indirect, special,
+   incidental, or consequential damages of any character arising as a
+   result of this License or out of the use or inability to use the
+   Work (including but not limited to damages for loss of goodwill,
+   work stoppage, computer failure or malfunction, or any and all
+   other commercial damages or losses), even if such Contributor
+   has been advised of the possibility of such damages.
+
+9. Accepting Warranty or Additional Liability. While redistributing
+   the Work or Derivative Works thereof, You may choose to offer,
+   and charge a fee for, acceptance of support, warranty, indemnity,
+   or other liability obligations and/or rights consistent with this
+   License. However, in accepting such obligations, You may act only
+   on Your own behalf and on Your sole responsibility, not on behalf
+   of any other Contributor, and only if You agree to indemnify,
+   defend, and hold each Contributor harmless for any liability
+   incurred by, or claims asserted against, such Contributor by reason
+   of your accepting any such warranty or additional liability.
+
+END OF TERMS AND CONDITIONS
+
+APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+Copyright [yyyy] [name of copyright owner]
+
+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.

sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml

@@ -3,4 +3,5 @@
     base_frame: base_link
     use_imu: true
     use_3d_distortion_correction: false
+    update_azimuth_and_distance: false
     has_static_tf_only: true

sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md

@@ -48,3 +48,24 @@ ros2 launch autoware_pointcloud_preprocessor distortion_corrector.launch.xml
 
 - The node requires time synchronization between the topics from lidars, twist, and IMU.
 - If you want to use a 3D distortion corrector without IMU, please check that the linear and angular velocity fields of your twist message are not empty.
+- The node updates the per-point azimuth and distance values based on the undistorted XYZ coordinates when the input point cloud is in the sensor frame (not in the `base_link`) and the `update_azimuth_and_distance` parameter is set to `true`. The azimuth values are calculated using a modified version of OpenCV's `cv::fastAtan2` function.
+- Please note that updating the azimuth and distance fields increases the execution time by approximately 20%. Additionally, due to the `cv::fastAtan2` algorithm's has a maximum error of 0.3 degrees, there is a **possibility of changing the beam order for high azimuth resolution LiDAR**.
+- LiDARs from different vendors have different azimuth coordinates, as shown in the images below. Currently, the coordinate systems listed below have been tested, and the node will update the azimuth based on the input coordinate system.
+  - `velodyne`: (x: 0 degrees, y: 270 degrees)
+  - `hesai`: (x: 90 degrees, y: 0 degrees)
+  - `others`: (x: 0 degrees, y: 90 degrees) and (x: 270 degrees, y: 0 degrees)
+
+<table>
+  <tr>
+    <td><img src="./image/velodyne.drawio.png" alt="velodyne azimuth coordinate"></td>
+    <td><img src="./image/hesai.drawio.png" alt="hesai azimuth coordinate"></td>
+   </tr>
+   <tr>
+    <td><p style="text-align: center;">Velodyne azimuth coordinate</p></td>
+    <td><p style="text-align: center;">Hesai azimuth coordinate</p></td>
+  </tr>
+</table>
+
+## References/External links
+
+<https://docs.opencv.org/3.4/db/de0/group__core__utils.html#ga7b356498dd314380a0c386b059852270>