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

common/autoware_universe_utils/NOTICE

@@ -0,0 +1,2 @@
+The function 'opencv_fast_atan2' in /autoware/src/universe/autoware.universe/common/autoware_universe_utils/src/math/trigonometry.cpp
+is a modified version of 'fastAtan2' in the OpenCV project. (https://github.com/opencv/opencv/blob/4.x/modules/core/src/mathfuncs_core.simd.hpp)

common/autoware_universe_utils/include/autoware/universe_utils/math/trigonometry.hpp

@@ -26,6 +26,8 @@ float cos(float radian);
 
 std::pair<float, float> sin_and_cos(float radian);
 
+float opencv_fast_atan2(float dy, float dx);
+
 }  // namespace autoware::universe_utils
 
 #endif  // AUTOWARE__UNIVERSE_UTILS__MATH__TRIGONOMETRY_HPP_

common/autoware_universe_utils/src/math/trigonometry.cpp

@@ -72,4 +72,57 @@ std::pair<float, float> sin_and_cos(float radian)
   }
 }
 
+// This code is modified from a part of the OpenCV project
+// (https://github.com/opencv/opencv/blob/4.x/modules/core/src/mathfuncs_core.simd.hpp). It is
+// subject to the license terms in the LICENSE file found in the top-level directory of this
+// distribution and at http://opencv.org/license.html.
+// The license can be found in
+// common/autoware_universe_utils/third_party_licenses/opencv-license.md
+// and https://github.com/opencv/opencv/blob/master/LICENSE
+
+// Modification:
+// 1. use autoware defined PI
+// 2. output of the function is changed from degrees to radians.
+namespace detail_fast_atan2
+{
+static const float atan2_p1 =
+  0.9997878412794807f * static_cast<float>(180) / autoware::universe_utils::pi;
+static const float atan2_p3 =
+  -0.3258083974640975f * static_cast<float>(180) / autoware::universe_utils::pi;
+static const float atan2_p5 =
+  0.1555786518463281f * static_cast<float>(180) / autoware::universe_utils::pi;
+static const float atan2_p7 =
+  -0.04432655554792128f * static_cast<float>(180) / autoware::universe_utils::pi;
+static const float atan2_DBL_EPSILON = 2.2204460492503131e-016f;
+}  // namespace detail_fast_atan2
+
+float opencv_fast_atan2(float dy, float dx)
+{
+  float ax = std::abs(dx);
+  float ay = std::abs(dy);
+  float a, c, c2;
+  if (ax >= ay) {
+    c = ay / (ax + detail_fast_atan2::atan2_DBL_EPSILON);
+    c2 = c * c;
+    a = (((detail_fast_atan2::atan2_p7 * c2 + detail_fast_atan2::atan2_p5) * c2 +
+          detail_fast_atan2::atan2_p3) *
+           c2 +
+         detail_fast_atan2::atan2_p1) *
+        c;
+  } else {
+    c = ax / (ay + detail_fast_atan2::atan2_DBL_EPSILON);
+    c2 = c * c;
+    a = 90.f - (((detail_fast_atan2::atan2_p7 * c2 + detail_fast_atan2::atan2_p5) * c2 +
+                 detail_fast_atan2::atan2_p3) *
+                  c2 +
+                detail_fast_atan2::atan2_p1) *
+                 c;
+  }
+  if (dx < 0) a = 180.f - a;
+  if (dy < 0) a = 360.f - a;
+
+  a = a * autoware::universe_utils::pi / 180.f;
+  return a;
+}
+
 }  // namespace autoware::universe_utils

common/autoware_universe_utils/test/src/math/test_trigonometry.cpp

@@ -50,3 +50,28 @@ TEST(trigonometry, sin_and_cos)
     EXPECT_TRUE(std::abs(std::cos(x * static_cast<float>(i)) - sin_and_cos.second) < 10e-7);
   }
 }
+
+float normalize_angle(double angle)
+{
+  const double tau = 2 * autoware::universe_utils::pi;
+  double factor = std::floor(angle / tau);
+  return static_cast<float>(angle - (factor * tau));
+}
+
+TEST(trigonometry, opencv_fast_atan2)
+{
+  for (int i = 0; i < 100; ++i) {
+    // Generate random x and y between -10 and 10
+    std::srand(0);
+    float x = static_cast<float>(std::rand()) / RAND_MAX * 20.0 - 10.0;
+    float y = static_cast<float>(std::rand()) / RAND_MAX * 20.0 - 10.0;
+
+    float fast_atan = autoware::universe_utils::opencv_fast_atan2(y, x);
+    float std_atan = normalize_angle(std::atan2(y, x));
+
+    // 0.3 degree accuracy
+    ASSERT_NEAR(fast_atan, std_atan, 6e-3)
+      << "Test failed for input (" << y << ", " << x << "): "
+      << "fast atan2 = " << fast_atan << ", std::atan2 = " << std_atan;
+  }
+}

common/autoware_universe_utils/third_party_licenses/opencv-license.md

@@ -0,0 +1,201 @@
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sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml

@@ -3,4 +3,5 @@
     base_frame: base_link
     use_imu: true
     use_3d_distortion_correction: false
+    update_azimuth_and_distance: false
     has_static_tf_only: true

sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md

@@ -48,3 +48,24 @@ ros2 launch autoware_pointcloud_preprocessor distortion_corrector.launch.xml
 
 - The node requires time synchronization between the topics from lidars, twist, and IMU.
 - If you want to use a 3D distortion corrector without IMU, please check that the linear and angular velocity fields of your twist message are not empty.
+- The node updates the per-point azimuth and distance values based on the undistorted XYZ coordinates when the input point cloud is in the sensor frame (not in the `base_link`) and the `update_azimuth_and_distance` parameter is set to `true`. The azimuth values are calculated using a modified version of OpenCV's `cv::fastAtan2` function.
+- Please note that updating the azimuth and distance fields increases the execution time by approximately 20%. Additionally, due to the `cv::fastAtan2` algorithm's has a maximum error of 0.3 degrees, there is a **possibility of changing the beam order for high azimuth resolution LiDAR**.
+- LiDARs from different vendors have different azimuth coordinates, as shown in the images below. Currently, the coordinate systems listed below have been tested, and the node will update the azimuth based on the input coordinate system.
+  - `velodyne`: (x: 0 degrees, y: 270 degrees)
+  - `hesai`: (x: 90 degrees, y: 0 degrees)
+  - `others`: (x: 0 degrees, y: 90 degrees) and (x: 270 degrees, y: 0 degrees)
+
+<table>
+  <tr>
+    <td><img src="./image/velodyne.drawio.png" alt="velodyne azimuth coordinate"></td>
+    <td><img src="./image/hesai.drawio.png" alt="hesai azimuth coordinate"></td>
+   </tr>
+   <tr>
+    <td><p style="text-align: center;">Velodyne azimuth coordinate</p></td>
+    <td><p style="text-align: center;">Hesai azimuth coordinate</p></td>
+  </tr>
+</table>
+
+## References/External links
+
+<https://docs.opencv.org/3.4/db/de0/group__core__utils.html#ga7b356498dd314380a0c386b059852270>