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feat(autoware_pointcloud_preprocessor): distortion corrector node update azimuth and distance #8380

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b7ea57d
feat: add option for updating distance and azimuth value
vividf Aug 6, 2024
1bd37c4
chore: clean code
vividf Aug 6, 2024
336f709
chore: remove space
vividf Aug 6, 2024
c8378ac
chore: add documentation
vividf Aug 6, 2024
3081d66
chore: fix docs
vividf Aug 6, 2024
f6394b2
Merge branch 'main' into feature/distortion_corrector_node_update_azi…
vividf Aug 6, 2024
94551b6
feat: conversion formula implementation for degree, still need to cha…
vividf Aug 9, 2024
9ac2689
chore: fix tests for AzimuthConversionExists function
vividf Aug 13, 2024
0990c02
feat: add fastatan to utils
vividf Aug 14, 2024
6796341
feat: remove seperate sin, cos and use sin_and_cos function
vividf Aug 14, 2024
afd0fda
chore: fix readme
vividf Aug 14, 2024
9809a4b
chore: fix some grammar errors
vividf Aug 14, 2024
64bfbc5
Merge branch 'main' into feature/distortion_corrector_node_update_azi…
vividf Aug 14, 2024
9aeac77
chore: fix spell error
vividf Aug 14, 2024
8a37932
Merge branch 'feature/distortion_corrector_node_update_azimuth_and_di…
vividf Aug 14, 2024
b5dfa85
chore: set debug mode to false
vividf Aug 14, 2024
d55db4b
Merge branch 'main' into feature/distortion_corrector_node_update_azi…
vividf Aug 19, 2024
d57f751
chore: set update_azimuth_and_distance default value to false
vividf Aug 19, 2024
8703a23
chore: update readme
vividf Aug 19, 2024
5390055
Merge branch 'main' into feature/distortion_corrector_node_update_azi…
vividf Sep 4, 2024
f509d7d
chore: remove cout
vividf Sep 4, 2024
62434fa
chore: add opencv license
vividf Sep 4, 2024
a3c977b
chore: fix grammar error
vividf Sep 4, 2024
ee1b169
Merge branch 'main' into feature/distortion_corrector_node_update_azi…
vividf Sep 9, 2024
7288042
style(pre-commit): autofix
pre-commit-ci[bot] Sep 9, 2024
7e1f510
chore: add runtime error when azimuth conversion failed
vividf Sep 9, 2024
b156fb5
chore: change default pointcloud
vividf Sep 9, 2024
0a1f4c9
chore: change function name
vividf Sep 9, 2024
f11e529
chore: move variables to structure
vividf Sep 9, 2024
f0609f5
chore: add random seed
vividf Sep 9, 2024
ec4172e
chore: rewrite get conversion function
vividf Sep 9, 2024
e797752
Merge branch 'main' into feature/distortion_corrector_node_update_azi…
vividf Sep 10, 2024
be9d8c9
Merge branch 'feature/distortion_corrector_node_update_azimuth_and_di…
vividf Sep 10, 2024
427a0ce
chore: fix opencv fast atan2 function
vividf Sep 10, 2024
25253c3
chore: fix schema description
vividf Sep 10, 2024
ed3efee
Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_…
vividf Sep 10, 2024
031bc2c
Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_…
vividf Sep 10, 2024
a1f076c
chore: move code to function for readability
vividf Sep 10, 2024
71b1917
chore: simplify code
vividf Sep 10, 2024
80ad8e2
chore: fix sentence, angle conversion
vividf Sep 10, 2024
11b88bd
chore: add more invalid condition
vividf Sep 11, 2024
53f4162
chore: fix the string name to enum
vividf Sep 11, 2024
a65a2bf
chore: remove runtime error
vividf Sep 11, 2024
8a24a79
chore: use optional for AngleConversion structure
vividf Sep 11, 2024
f6c5dab
chore: fix bug and clean code
vividf Sep 11, 2024
4342dca
chore: refactor the logic of calculating conversion
vividf Sep 11, 2024
242ab45
chore: refactor function in unit test
vividf Sep 12, 2024
1d5ccdb
chore: RCLCPP_WARN_STREAM logging when failed to get angle conversion
vividf Sep 12, 2024
5e55d01
chore: improve normalize angle algorithm
vividf Sep 12, 2024
02beb86
chore: improve multiple_of_90_degrees logic
vividf Sep 12, 2024
29f4b96
chore: add opencv license
vividf Sep 12, 2024
b9a5c56
style(pre-commit): autofix
pre-commit-ci[bot] Sep 12, 2024
13d981f
chore: clean code
vividf Sep 12, 2024
96bafef
Merge branch 'feature/distortion_corrector_node_update_azimuth_and_di…
vividf Sep 12, 2024
02b1217
chore: fix sentence
vividf Sep 12, 2024
cdb88ae
style(pre-commit): autofix
pre-commit-ci[bot] Sep 12, 2024
4e3d70a
Merge branch 'feature/distortion_corrector_node_update_azimuth_and_di…
vividf Sep 12, 2024
a853293
chore: add 0 0 0 points in test case
vividf Sep 12, 2024
cd066c4
chore: fix spell error
vividf Sep 12, 2024
5560c1d
Update common/autoware_universe_utils/NOTICE
vividf Sep 13, 2024
4c521c0
Update sensing/autoware_pointcloud_preprocessor/src/distortion_correc…
vividf Sep 13, 2024
8e26988
Update sensing/autoware_pointcloud_preprocessor/src/distortion_correc…
vividf Sep 13, 2024
41f086a
chore: use constexpr for threshold
vividf Sep 13, 2024
8428321
Merge branch 'feature/distortion_corrector_node_update_azimuth_and_di…
vividf Sep 13, 2024
a3e5cd8
chore: fix the path of license
vividf Sep 13, 2024
550a646
chore: explanation for failures
vividf Sep 13, 2024
03354c8
chore: use throttle
vividf Sep 13, 2024
320e961
chore: fix empty pointcloud function
vividf Sep 13, 2024
f6be637
refactor: change camel to snake case
vividf Sep 17, 2024
8d4bcd7
Update sensing/autoware_pointcloud_preprocessor/include/autoware/poin…
vividf Sep 19, 2024
4d58839
Update sensing/autoware_pointcloud_preprocessor/include/autoware/poin…
vividf Sep 19, 2024
1f144d3
style(pre-commit): autofix
pre-commit-ci[bot] Sep 19, 2024
f58307d
Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_…
vividf Sep 19, 2024
896d843
refactor: refactor virtual function in base class
vividf Sep 19, 2024
3027ec1
chore: fix test naming error
vividf Sep 19, 2024
3c74303
chore: fix clang error
vividf Sep 19, 2024
2439956
chore: fix error
vividf Sep 20, 2024
f40d081
Merge branch 'autowarefoundation:main' into feature/distortion_correc…
vividf Sep 25, 2024
4e0b8bf
Merge branch 'main' into feature/distortion_corrector_node_update_azi…
vividf Sep 30, 2024
cf27e42
Merge branch 'main' into feature/distortion_corrector_node_update_azi…
vividf Sep 30, 2024
783219f
chore: fix clangd
vividf Sep 30, 2024
caafd52
Merge branch 'feature/distortion_corrector_node_update_azimuth_and_di…
vividf Sep 30, 2024
72f5bb2
chore: add runtime error if the setting is wrong
vividf Oct 3, 2024
9663eaa
chore: clean code
vividf Oct 3, 2024
a06ad31
Update sensing/autoware_pointcloud_preprocessor/src/distortion_correc…
vividf Oct 3, 2024
20ffc99
style(pre-commit): autofix
pre-commit-ci[bot] Oct 3, 2024
7f31139
chore: fix unit test for runtime error
vividf Oct 3, 2024
9d1bef7
Update sensing/autoware_pointcloud_preprocessor/docs/distortion-corre…
vividf Oct 8, 2024
bbbc501
chore: fix offset_rad_threshold
vividf Oct 8, 2024
2594e76
chore: change pointer to reference
vividf Oct 8, 2024
9d0aa59
chore: snake_case for unit test
vividf Oct 8, 2024
cfddc0d
chore: fix refactor process twist and imu
vividf Oct 8, 2024
b1ffa5e
chore: fix abs and return type of matrix to tf2
vividf Oct 8, 2024
57824ef
chore: fix grammar error
vividf Oct 8, 2024
9680027
chore: fix readme description
vividf Oct 9, 2024
4bc0df1
chore: remove runtime error
vividf Oct 9, 2024
384abe8
Merge branch 'main' into feature/distortion_corrector_node_update_azi…
vividf Oct 24, 2024
a4a693e
Merge branch 'main' into feature/distortion_corrector_node_update_azi…
vividf Oct 28, 2024
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chore: use throttle
Signed-off-by: vividf <yihsiang.fang@tier4.jp>
  • Loading branch information
vividf committed Sep 13, 2024
commit 03354c85ca8ec274c2360466078429d7d782d2e9
Original file line number Diff line number Diff line change
Expand Up @@ -211,8 +211,8 @@ std::optional<AngleConversion> DistortionCorrector<T>::tryComputeAngleConversion
next_it_y = it_y + 1;
next_it_azimuth = it_azimuth + 1;
} else {
RCLCPP_WARN(
node_->get_logger(),
RCLCPP_WARN_STREAM_THROTTLE(
node_->get_logger(), *node_->get_clock(), 10000 /* ms */,
"Current point cloud only has a single point. Could not calculate the angle conversion.");
return std::nullopt;
}
Expand All @@ -227,8 +227,9 @@ std::optional<AngleConversion> DistortionCorrector<T>::tryComputeAngleConversion
if (
abs(*next_it_azimuth - *it_azimuth) == 0 ||
abs(next_cartesian_rad - current_cartesian_rad) == 0) {
RCLCPP_DEBUG(
node_->get_logger(), "Angle between two points is 0 degrees. Iterate to next point ...");
RCLCPP_DEBUG_STREAM_THROTTLE(
node_->get_logger(), *node_->get_clock(), 10000 /* ms */,
"Angle between two points is 0 degrees. Iterate to next point ...");
continue;
}

Expand All @@ -249,8 +250,9 @@ std::optional<AngleConversion> DistortionCorrector<T>::tryComputeAngleConversion
} else if (std::abs(sign + 1.0f) <= angle_conversion.sign_threshold) {
angle_conversion.sign = -1.0f;
} else {
RCLCPP_DEBUG(
node_->get_logger(), "Value of sign is not close to 1 or -1. Iterate to next point ...");
RCLCPP_DEBUG_STREAM_THROTTLE(
node_->get_logger(), *node_->get_clock(), 10000 /* ms */,
"Value of sign is not close to 1 or -1. Iterate to next point ...");
continue;
}

Expand All @@ -260,8 +262,8 @@ std::optional<AngleConversion> DistortionCorrector<T>::tryComputeAngleConversion
if (
std::abs(offset_rad - multiple_of_90_degrees * (autoware::universe_utils::pi / 2)) >
angle_conversion.offset_rad_threshold) {
RCLCPP_DEBUG(
node_->get_logger(),
RCLCPP_DEBUG_STREAM_THROTTLE(
node_->get_logger(), *node_->get_clock(), 10000 /* ms */,
"Value of offset_rad is not close to multiplication of 90 degrees. Iterate to next point "
"...");
continue;
Expand Down