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refactor(elevation_map_loader): rework parameters #6678
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25f733d
Rework params
oguzkaganozt 5747b4b
style(pre-commit): autofix
pre-commit-ci[bot] ffebc38
fix
oguzkaganozt 78754aa
add gridmap and pointcloud preprocessing params
oguzkaganozt 8e69189
style(pre-commit): autofix
pre-commit-ci[bot] 17d0549
add node sub param
oguzkaganozt 5f1cfbd
style(pre-commit): autofix
pre-commit-ci[bot] 8ac1086
fix sub paths
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oguzkaganozt 4ef5f0a
fix review notes
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oguzkaganozt 71907ae
Update perception/autoware_elevation_map_loader/src/elevation_map_loa…
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43 changes: 43 additions & 0 deletions
43
perception/autoware_elevation_map_loader/config/elevation_map_loader.param.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,43 @@ | ||
| /**: | ||
| ros__parameters: | ||
| node: | ||
| map_layer_name: "elevation" | ||
| param_file_path: "path_default" | ||
| map_frame: "map" | ||
| use_sequential_load: true | ||
| sequential_map_load_num: 1 | ||
| use_inpaint: true | ||
| inpaint_radius: 0.3 | ||
| use_elevation_map_cloud_publisher: false | ||
| elevation_map_directory: "path_default" | ||
| use_lane_filter: false | ||
| lane_margin: 0.0 | ||
| cloud_transform: | ||
| translation: | ||
| x: 0.0 | ||
| y: 0.0 | ||
| z: 0.0 | ||
| rotation: # intrinsic rotation X-Y-Z (r-p-y)sequence | ||
| r: 0.0 | ||
| p: 0.0 | ||
| y: 0.0 | ||
| cluster_extraction: | ||
| cluster_tolerance: 0.2 | ||
| min_num_points: 3 | ||
| max_num_points: 1000000 | ||
| outlier_removal: | ||
| is_remove_outliers: false | ||
| mean_K: 10 | ||
| stddev_threshold: 1.0 | ||
| downsampling: | ||
| is_downsample_cloud: false | ||
| voxel_size: | ||
| x: 0.02 | ||
| y: 0.02 | ||
| z: 0.02 | ||
| grid_map: | ||
| num_processing_threads: 12 | ||
| min_num_points_per_cell: 3 | ||
| resolution: 0.3 | ||
| height_type: 1 | ||
| height_thresh: 1.0 |
30 changes: 0 additions & 30 deletions
30
perception/autoware_elevation_map_loader/config/elevation_map_parameters.yaml
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13 changes: 1 addition & 12 deletions
13
perception/autoware_elevation_map_loader/launch/elevation_map_loader.launch.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,23 +1,12 @@ | ||
| <launch> | ||
| <arg name="elevation_map_directory" default="$(find-pkg-share autoware_elevation_map_loader)/data/elevation_maps"/> | ||
| <arg name="param_file_path" default="$(find-pkg-share autoware_elevation_map_loader)/config/elevation_map_parameters.yaml"/> | ||
| <arg name="use_lane_filter" default="false"/> | ||
| <arg name="use_sequential_load" default="false"/> | ||
| <arg name="sequential_map_load_num" default="1"/> | ||
| <arg name="use_inpaint" default="true"/> | ||
| <arg name="inpaint_radius" default="1.0"/> | ||
|
|
||
| <node pkg="autoware_elevation_map_loader" exec="elevation_map_loader_node" name="elevation_map_loader" output="screen"> | ||
| <remap from="output/elevation_map" to="/map/elevation_map"/> | ||
| <remap from="input/pointcloud_map" to="/map/pointcloud_map"/> | ||
| <remap from="input/pointcloud_map_metadata" to="/map/pointcloud_map_metadata"/> | ||
| <remap from="input/vector_map" to="/map/vector_map"/> | ||
| <remap from="service/get_selected_pcd_map" to="/map/get_selected_pointcloud_map"/> | ||
|
|
||
| <param name="elevation_map_directory" value="$(var elevation_map_directory)"/> | ||
| <param name="param_file_path" value="$(var param_file_path)"/> | ||
| <param name="use_lane_filter" value="$(var use_lane_filter)"/> | ||
| <param name="use_sequential_load" value="$(var use_sequential_load)"/> | ||
| <param name="sequential_map_load_num" value="$(var sequential_map_load_num)"/> | ||
| <param from="$(var param_file_path)" allow_substs="true"/> | ||
| </node> | ||
| </launch> | ||
43 changes: 43 additions & 0 deletions
43
perception/autoware_elevation_map_loader/schema/elevation_map_loader.schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,43 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Elevation Map Loader Params", | ||
| "type": "object", | ||
| "definitions": { | ||
| "elevation_map_loader": { | ||
| "type": "object", | ||
| "properties": { | ||
| "node": { "$ref": "sub/node.json#/definitions/node" }, | ||
| "cloud_transform": { "$ref": "sub/cloud_transform.json#/definitions/cloud_transform" }, | ||
| "cluster_extraction": { | ||
| "$ref": "sub/cluster_extraction.json#/definitions/cluster_extraction" | ||
| }, | ||
| "outlier_removal": { "$ref": "sub/outlier_removal.json#/definitions/outlier_removal" }, | ||
| "downsampling": { "$ref": "sub/downsampling.json#/definitions/downsampling" }, | ||
| "grid_map": { "$ref": "sub/grid_map.json#/definitions/grid_map" } | ||
| }, | ||
| "required": [ | ||
| "node", | ||
| "cloud_transform", | ||
| "cluster_extraction", | ||
| "outlier_removal", | ||
| "downsampling", | ||
| "grid_map" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/elevation_map_loader" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
15 changes: 15 additions & 0 deletions
15
perception/autoware_elevation_map_loader/schema/sub/cloud_transform.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Elevation Map Loader Params", | ||
| "definitions": { | ||
| "cloud_transform": { | ||
| "type": "object", | ||
| "properties": { | ||
| "translation": { "$ref": "cloud_transform_translation.json#/definitions/translation" }, | ||
| "rotation": { "$ref": "cloud_transform_rotation.json#/definitions/rotation" } | ||
| }, | ||
| "required": ["translation", "rotation"], | ||
| "additionalProperties": false | ||
| } | ||
| } | ||
| } |
36 changes: 36 additions & 0 deletions
36
perception/autoware_elevation_map_loader/schema/sub/cloud_transform_rotation.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,36 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Elevation Map Loader Params", | ||
| "definitions": { | ||
| "rotation": { | ||
| "type": "object", | ||
| "properties": { | ||
| "r": { | ||
| "type": "number", | ||
| "description": "Rotation (intrinsic rotation, convention X-Y'-Z'') that is applied to the input point cloud before computing elevation.", | ||
| "default": 0.0, | ||
| "$comment": "This is the rotation around the X-axis", | ||
| "minimum": -360.0, | ||
| "maximum": 360.0 | ||
| }, | ||
| "p": { | ||
| "type": "number", | ||
| "description": "Rotation (intrinsic rotation, convention X-Y'-Z'') that is applied to the input point cloud before computing elevation.", | ||
| "default": 0.0, | ||
| "$comment": "This is the rotation around the Y-axis", | ||
| "minimum": -360.0, | ||
| "maximum": 360.0 | ||
| }, | ||
| "y": { | ||
| "type": "number", | ||
| "description": "Rotation (intrinsic rotation, convention X-Y'-Z'') that is applied to the input point cloud before computing elevation.", | ||
| "default": 0.0, | ||
| "minimum": -360.0, | ||
| "maximum": 360.0 | ||
| } | ||
| }, | ||
| "required": ["r", "p", "y"], | ||
| "additionalProperties": false | ||
| } | ||
| } | ||
| } |
28 changes: 28 additions & 0 deletions
28
perception/autoware_elevation_map_loader/schema/sub/cloud_transform_translation.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,28 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Elevation Map Loader Params", | ||
| "definitions": { | ||
| "translation": { | ||
| "type": "object", | ||
| "properties": { | ||
| "x": { | ||
| "type": "number", | ||
| "description": "Translation (x) that is applied to the input point cloud before computing elevation", | ||
| "default": 0.0 | ||
| }, | ||
| "y": { | ||
| "type": "number", | ||
| "description": "Translation (y) that is applied to the input point cloud before computing elevation", | ||
| "default": 0.0 | ||
| }, | ||
| "z": { | ||
| "type": "number", | ||
| "description": "Translation (z) that is applied to the input point cloud before computing elevation", | ||
| "default": 0.0 | ||
| } | ||
| }, | ||
| "required": ["x", "y", "z"], | ||
| "additionalProperties": false | ||
| } | ||
| } | ||
| } |
30 changes: 30 additions & 0 deletions
30
perception/autoware_elevation_map_loader/schema/sub/cluster_extraction.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,30 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Elevation Map Loader Params", | ||
| "definitions": { | ||
| "cluster_extraction": { | ||
| "type": "object", | ||
| "properties": { | ||
| "cluster_tolerance": { | ||
| "type": "number", | ||
| "description": "Distance between points below which they will still be considered part of one cluster", | ||
| "default": 0.2, | ||
| "minimum": 0.01 | ||
| }, | ||
| "min_num_points": { | ||
| "type": "integer", | ||
| "description": "Min number of points that a cluster needs to have (otherwise it will be discarded)", | ||
| "default": 3, | ||
| "minimum": 1 | ||
| }, | ||
| "max_num_points": { | ||
| "type": "integer", | ||
| "description": "Max number of points that a cluster can have (otherwise it will be discarded)", | ||
| "default": 1000000 | ||
| } | ||
| }, | ||
| "required": ["cluster_tolerance", "min_num_points", "max_num_points"], | ||
| "additionalProperties": false | ||
| } | ||
| } | ||
| } |
19 changes: 19 additions & 0 deletions
19
perception/autoware_elevation_map_loader/schema/sub/downsampling.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,19 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Elevation Map Loader Params", | ||
| "definitions": { | ||
| "downsampling": { | ||
| "type": "object", | ||
| "properties": { | ||
| "is_downsample_cloud": { | ||
| "type": "boolean", | ||
| "description": "Whether to perform downsampling or not", | ||
| "default": false | ||
| }, | ||
| "voxel_size": { "$ref": "downsampling_voxel_size.json#/definitions/voxel_size" } | ||
| }, | ||
| "required": ["is_downsample_cloud", "voxel_size"], | ||
| "additionalProperties": false | ||
| } | ||
| } | ||
| } |
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@oguzkaganozt
Why do you leave
elevation_map_directoryarg, although you removedelevation_map_directoryparam ?