refactor(ndt_scan_matcher): rename de-grounded

Signed-off-by: Yamato Ando <[email protected]>
autowarefoundation · Jan 26, 2024 · 8686013 · 8686013
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Showing 4 changed files with 12 additions and 17 deletions.
diff --git a/localization/ndt_scan_matcher/README.md b/localization/ndt_scan_matcher/README.md
@@ -31,13 +31,13 @@ One optional function is regularization. Please see the regularization chapter i
 | `ndt_pose_with_covariance`        | `geometry_msgs::msg::PoseWithCovarianceStamped` | estimated pose with covariance                                                                                                           |
 | `/diagnostics`                    | `diagnostic_msgs::msg::DiagnosticArray`         | diagnostics                                                                                                                              |
 | `points_aligned`                  | `sensor_msgs::msg::PointCloud2`                 | [debug topic] pointcloud aligned by scan matching                                                                                        |
-| `points_aligned_no_ground`        | `sensor_msgs::msg::PointCloud2`                 | [debug topic] de-grounded pointcloud aligned by scan matching                                                                            |
+| `points_aligned_no_ground`        | `sensor_msgs::msg::PointCloud2`                 | [debug topic] no ground pointcloud aligned by scan matching                                                                            |
 | `initial_pose_with_covariance`    | `geometry_msgs::msg::PoseWithCovarianceStamped` | [debug topic] initial pose used in scan matching                                                                                         |
 | `multi_ndt_pose`                  | `geometry_msgs::msg::PoseArray`                 | [debug topic] estimated poses from multiple initial poses in real-time covariance estimation                                             |
 | `multi_initial_pose`              | `geometry_msgs::msg::PoseArray`                 | [debug topic] initial poses for real-time covariance estimation                                                                          |
 | `exe_time_ms`                     | `tier4_debug_msgs::msg::Float32Stamped`         | [debug topic] execution time for scan matching [ms]                                                                                      |
 | `transform_probability`           | `tier4_debug_msgs::msg::Float32Stamped`         | [debug topic] score of scan matching                                                                                                     |
-| `no_ground_transform_probability` | `tier4_debug_msgs::msg::Float32Stamped`         | [debug topic] score of scan matching based on de-grounded LiDAR scan                                                                     |
+| `no_ground_transform_probability` | `tier4_debug_msgs::msg::Float32Stamped`         | [debug topic] score of scan matching based on no ground LiDAR scan                                                                     |
 | `iteration_num`                   | `tier4_debug_msgs::msg::Int32Stamped`           | [debug topic] number of scan matching iterations                                                                                         |
 | `initial_to_result_relative_pose` | `geometry_msgs::msg::PoseStamped`               | [debug topic] relative pose between the initial point and the convergence point                                                          |
 | `initial_to_result_distance`      | `tier4_debug_msgs::msg::Float32Stamped`         | [debug topic] distance difference between the initial point and the convergence point [m]                                                |
@@ -228,20 +228,18 @@ Here is a split PCD map for `sample-map-rosbag` from Autoware tutorial: [`sample
 |  single file   |  at once (standard)  |
 | multiple files |     dynamically      |
 
-## Scan matching score based on de-grounded LiDAR scan
+## Scan matching score based on no ground LiDAR scan
 
 ### Abstract
 
-This is a function that uses de-grounded LiDAR scan to estimate the scan matching score. This score can reflect the current localization performance more accurately.
+This is a function that uses no ground LiDAR scan to estimate the scan matching score. This score can reflect the current localization performance more accurately.
 [related issue](https://github.com/autowarefoundation/autoware.universe/issues/2044).
 
 ### Parameters
 
-<!-- cspell: ignore degrounded -->
-
 | Name                                  | Type   | Description                                                                           |
 | ------------------------------------- | ------ | ------------------------------------------------------------------------------------- |
-| `estimate_scores_for_degrounded_scan` | bool   | Flag for using scan matching score based on de-grounded LiDAR scan (FALSE by default) |
+| `estimate_scores_by_no_ground_points` | bool   | Flag for using scan matching score based on no ground LiDAR scan (FALSE by default) |
 | `z_margin_for_ground_removal`         | double | Z-value margin for removal ground points                                              |
 
 ## 2D real-time covariance estimation

diff --git a/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml b/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml
@@ -95,9 +95,8 @@
     # Radius of input LiDAR range (used for diagnostics of dynamic map loading)
     lidar_radius: 100.0
 
-    # cspell: ignore degrounded
-    # A flag for using scan matching score based on de-grounded LiDAR scan
-    estimate_scores_for_degrounded_scan: false
+    # A flag for using scan matching score based on no ground LiDAR scan
+    estimate_scores_by_no_ground_points: false
 
     # If lidar_point.z - base_link.z <= this threshold , the point will be removed
     z_margin_for_ground_removal: 0.8
diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp
@@ -220,8 +220,7 @@ class NDTScanMatcher : public rclcpp::Node
   std::unique_ptr<MapUpdateModule> map_update_module_;
   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
 
-  // cspell: ignore degrounded
-  bool estimate_scores_for_degrounded_scan_;
+  bool estimate_scores_by_no_ground_points_;
   double z_margin_for_ground_removal_;
 
   // The execution time which means probably NDT cannot matches scans properly

diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
@@ -64,7 +64,6 @@ Eigen::Matrix2d find_rotation_matrix_aligning_covariance_to_principal_axes(
   throw std::runtime_error("Eigen solver failed. Return output_pose_covariance value.");
 }
 
-// cspell: ignore degrounded
 NDTScanMatcher::NDTScanMatcher()
 : Node("ndt_scan_matcher"),
   tf2_broadcaster_(*this),
@@ -160,8 +159,8 @@ NDTScanMatcher::NDTScanMatcher()
     this->declare_parameter<int64_t>("initial_estimate_particles_num");
   n_startup_trials_ = this->declare_parameter<int64_t>("n_startup_trials");
 
-  estimate_scores_for_degrounded_scan_ =
-    this->declare_parameter<bool>("estimate_scores_for_degrounded_scan");
+  estimate_scores_by_no_ground_points_ =
+    this->declare_parameter<bool>("estimate_scores_by_no_ground_points");
 
   z_margin_for_ground_removal_ = this->declare_parameter<double>("z_margin_for_ground_removal");
 
@@ -526,8 +525,8 @@ void NDTScanMatcher::callback_sensor_points(
     *sensor_points_in_baselink_frame, *sensor_points_in_map_ptr, ndt_result.pose);
   publish_point_cloud(sensor_ros_time, map_frame_, sensor_points_in_map_ptr);
 
-  // whether use de-grounded points calculate score
-  if (estimate_scores_for_degrounded_scan_) {
+  // whether use no ground points to calculate score
+  if (estimate_scores_by_no_ground_points_) {
     // remove ground
     pcl::shared_ptr<pcl::PointCloud<PointSource>> no_ground_points_in_map_ptr(
       new pcl::PointCloud<PointSource>);