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fix(detected_object_validation): change the points_num of the validator to be set class by class #5177

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Original file line number Diff line number Diff line change
Expand Up @@ -314,6 +314,7 @@
<arg name="input/detected_objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
<arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
<arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
<arg name="obstacle_pointcloud_based_validator_param_path" value="$(var object_recognition_detection_obstacle_pointcloud_based_validator_param_path)"/>
</include>
</group>

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Original file line number Diff line number Diff line change
Expand Up @@ -341,6 +341,7 @@
<arg name="input/detected_objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
<arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
<arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
<arg name="obstacle_pointcloud_based_validator_param_path" value="$(var object_recognition_detection_obstacle_pointcloud_based_validator_param_path)"/>
</include>
</group>

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Original file line number Diff line number Diff line change
Expand Up @@ -115,6 +115,7 @@
<arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
<arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
<arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
<arg name="obstacle_pointcloud_based_validator_param_path" value="$(var object_recognition_detection_obstacle_pointcloud_based_validator_param_path)"/>
</include>
</group>

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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
<arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path"/>
<arg name="obstacle_segmentation_ground_segmentation_param_path"/>
<arg name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"/>
<arg name="object_recognition_detection_obstacle_pointcloud_based_validator_param_path"/>
<arg name="occupancy_grid_map_method"/>
<arg name="occupancy_grid_map_param_path"/>
<arg name="occupancy_grid_map_updater"/>
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Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
/**:
ros__parameters:
min_points_num:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[10, 10, 10, 10, 10, 10, 10, 10]

max_points_num:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[10, 10, 10, 10, 10, 10, 10, 10]

min_points_and_distance_ratio:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[800.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0]
Original file line number Diff line number Diff line change
Expand Up @@ -30,16 +30,16 @@
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>

#include <map>
#include <memory>
#include <optional>

namespace obstacle_pointcloud_based_validator
{
struct PointsNumThresholdParam
{
size_t min_points_num;
size_t max_points_num;
float min_points_and_distance_ratio;
std::map<uint8_t, int64_t> min_points_num;
std::map<uint8_t, int64_t> max_points_num;
std::map<uint8_t, double> min_points_and_distance_ratio;
};
class ObstaclePointCloudBasedValidator : public rclcpp::Node
{
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Original file line number Diff line number Diff line change
Expand Up @@ -3,11 +3,13 @@
<arg name="input/detected_objects" default="/perception/object_recognition/detection/objects"/>
<arg name="input/obstacle_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
<arg name="output/objects" default="/perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects"/>
<arg name="obstacle_pointcloud_based_validator_param_path" default="$(find-pkg-share detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml"/>

<node pkg="detected_object_validation" exec="obstacle_pointcloud_based_validator_node" name="obstacle_pointcloud_based_validator_node" output="screen">
<remap from="~/input/detected_objects" to="$(var input/detected_objects)"/>
<remap from="~/input/obstacle_pointcloud" to="$(var input/obstacle_pointcloud)"/>
<remap from="~/output/objects" to="$(var output/objects)"/>
<param name="enable_debugger" value="false"/>
<param from="$(var obstacle_pointcloud_based_validator_param_path)"/>
</node>
</launch>
Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,17 @@

namespace
{
template <typename T>
inline std::map<uint8_t, T> convertListToMap(const std::vector<T> & input_vector)
{
std::map<uint8_t, T> output_map;
uint8_t label = 0;
for (const T & v : input_vector) {
output_map.insert(std::make_pair(label, v));
label++;
}
return output_map;
}
inline pcl::PointXY toPCL(const double x, const double y)
{
pcl::PointXY pcl_point;
Expand Down Expand Up @@ -92,10 +103,12 @@ ObstaclePointCloudBasedValidator::ObstaclePointCloudBasedValidator(
objects_pub_ = create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>(
"~/output/objects", rclcpp::QoS{1});

points_num_threshold_param_.min_points_num = declare_parameter<int>("min_points_num", 10);
points_num_threshold_param_.max_points_num = declare_parameter<int>("max_points_num", 10);
points_num_threshold_param_.min_points_num =
convertListToMap(declare_parameter<std::vector<int64_t>>("min_points_num"));
points_num_threshold_param_.max_points_num =
convertListToMap(declare_parameter<std::vector<int64_t>>("max_points_num"));
points_num_threshold_param_.min_points_and_distance_ratio =
declare_parameter<float>("min_points_and_distance_ratio", 800.0);
convertListToMap(declare_parameter<std::vector<double>>("min_points_and_distance_ratio"));

const bool enable_debugger = declare_parameter<bool>("enable_debugger", false);
if (enable_debugger) debugger_ = std::make_shared<Debugger>(this);
Expand Down Expand Up @@ -134,6 +147,7 @@ void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud(

for (size_t i = 0; i < transformed_objects.objects.size(); ++i) {
const auto & transformed_object = transformed_objects.objects.at(i);
const auto object_label_id = transformed_object.classification.front().label;
const auto & object = input_objects->objects.at(i);
const auto & transformed_object_position =
transformed_object.kinematics.pose_with_covariance.pose.position;
Expand All @@ -155,13 +169,17 @@ void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud(
if (debugger_) debugger_->addNeighborPointcloud(neighbor_pointcloud);

// Filter object that have few pointcloud in them.
// TODO(badai-nguyen) add 3d validator option
const auto num = getPointCloudNumWithinPolygon(transformed_object, neighbor_pointcloud);
const auto object_distance =
std::hypot(transformed_object_position.x, transformed_object_position.y);
size_t min_pointcloud_num = std::clamp(
static_cast<size_t>(
points_num_threshold_param_.min_points_and_distance_ratio / object_distance + 0.5f),
points_num_threshold_param_.min_points_num, points_num_threshold_param_.max_points_num);
points_num_threshold_param_.min_points_and_distance_ratio.at(object_label_id) /
object_distance +
0.5f),
static_cast<size_t>(points_num_threshold_param_.min_points_num.at(object_label_id)),
static_cast<size_t>(points_num_threshold_param_.max_points_num.at(object_label_id)));
if (num) {
(min_pointcloud_num <= num.value()) ? output.objects.push_back(object)
: removed_objects.objects.push_back(object);
Expand Down