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perf(ring_outlier_filter): a cache friendly impl (continuation of VRichardJP's work) #4185

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merged 13 commits into from
Aug 23, 2023
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perf(ring_outlier_filter): a cache friendly impl (continuation of VRichardJP's work) #4185

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97076c4
perf(ring_outlier_filter): a cache friendly impl
VRichardJP Apr 6, 2023
2fd8dc6
style(pre-commit): autofix
pre-commit-ci[bot] Jun 1, 2023
e5dd6db
resize vector to data size
VRichardJP Jun 1, 2023
ed5cf98
cleaning
VRichardJP Jun 1, 2023
1f9ac08
cleaner utilities impl
VRichardJP Jun 5, 2023
63e8d2d
Correct ring_outlier_filter algorithm
mojomex Jul 11, 2023
fce2697
Optimize memory usage of walks array
mojomex Jul 12, 2023
9a09505
Remove debug timers and outputs
mojomex Jul 12, 2023
11fee9e
style(pre-commit): autofix
pre-commit-ci[bot] Jul 12, 2023
05a5621
Reduce amount of helper functions and data structures
mojomex Jul 13, 2023
e323693
style(pre-commit): autofix
pre-commit-ci[bot] Jul 13, 2023
3eaf775
Check for invalid pointcloud format
mojomex Jul 14, 2023
f9054d9
style(pre-commit): autofix
pre-commit-ci[bot] Jul 14, 2023
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13 changes: 6 additions & 7 deletions sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md
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Expand Up @@ -22,13 +22,12 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref

### Core Parameters

| Name | Type | Default Value | Description |
| ------------------------- | ------- | ------------- | ----------------------------------------------------------------------------------- |
| `distance_ratio` | double | 1.03 | |
| `object_length_threshold` | double | 0.1 | |
| `num_points_threshold` | int | 4 | |
| `max_rings_num` | uint_16 | 128 | |
| `max_points_num_per_ring` | size_t | 4000 | Set this value large enough such that `HFoV / resolution < max_points_num_per_ring` |
| Name | Type | Default Value | Description |
| ------------------------- | ------- | ------------- | ----------- |
| `distance_ratio` | double | 1.03 | |
| `object_length_threshold` | double | 0.1 | |
| `num_points_threshold` | int | 4 | |
| `max_rings_num` | uint_16 | 128 | |

## Assumptions / Known limits

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16 changes: 0 additions & 16 deletions ...eprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp
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Expand Up @@ -46,29 +46,13 @@ class RingOutlierFilterComponent : public pointcloud_preprocessor::Filter
double object_length_threshold_;
int num_points_threshold_;
uint16_t max_rings_num_;
size_t max_points_num_per_ring_;

/** \brief Parameter service callback result : needed to be hold */
OnSetParametersCallbackHandle::SharedPtr set_param_res_;

/** \brief Parameter service callback */
rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);

bool isCluster(
const PointCloud2ConstPtr & input, std::pair<int, int> data_idx_both_ends, int walk_size)
{
if (walk_size > num_points_threshold_) return true;

auto first_point = reinterpret_cast<const PointXYZI *>(&input->data[data_idx_both_ends.first]);
auto last_point = reinterpret_cast<const PointXYZI *>(&input->data[data_idx_both_ends.second]);

const auto x = first_point->x - last_point->x;
const auto y = first_point->y - last_point->y;
const auto z = first_point->z - last_point->z;

return x * x + y * y + z * z >= object_length_threshold_ * object_length_threshold_;
}

public:
PCL_MAKE_ALIGNED_OPERATOR_NEW
explicit RingOutlierFilterComponent(const rclcpp::NodeOptions & options);
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1 change: 1 addition & 0 deletions sensing/pointcloud_preprocessor/package.xml
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Expand Up @@ -31,6 +31,7 @@
<depend>pcl_msgs</depend>
<depend>pcl_ros</depend>
<depend>point_cloud_msg_wrapper</depend>
<depend>range-v3</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
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