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Revert "perf(ring_outlier_filter): a cache friendly impl (continuation of VRichardJP's work)" #6145

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Revert "perf(ring_outlier_filter): a cache friendly impl (continuation of VRichardJP's work)" #6145

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13 changes: 7 additions & 6 deletions sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md
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Expand Up @@ -22,12 +22,13 @@ 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 | |
| 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` |

## Assumptions / Known limits

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16 changes: 16 additions & 0 deletions ...eprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp
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Expand Up @@ -46,13 +46,29 @@ 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: 0 additions & 1 deletion sensing/pointcloud_preprocessor/package.xml
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Expand Up @@ -31,7 +31,6 @@
<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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