feat(autoware_pointcloud_preprocessor): distortion corrector node upd…

…ate azimuth and distance (autowarefoundation#8380)

* feat: add option for updating distance and azimuth value

Signed-off-by: vividf <[email protected]>

* chore: clean code

Signed-off-by: vividf <[email protected]>

* chore: remove space

Signed-off-by: vividf <[email protected]>

* chore: add documentation

Signed-off-by: vividf <[email protected]>

* chore: fix docs

Signed-off-by: vividf <[email protected]>

* feat: conversion formula implementation for degree, still need to change to rad

Signed-off-by: vividf <[email protected]>

* chore: fix tests for AzimuthConversionExists function

Signed-off-by: vividf <[email protected]>

* feat: add fastatan to utils

Signed-off-by: vividf <[email protected]>

* feat: remove seperate sin, cos and use sin_and_cos function

Signed-off-by: vividf <[email protected]>

* chore: fix readme

Signed-off-by: vividf <[email protected]>

* chore: fix some grammar errors

Signed-off-by: vividf <[email protected]>

* chore: fix spell error

Signed-off-by: vividf <[email protected]>

* chore: set debug mode to false

Signed-off-by: vividf <[email protected]>

* chore: set update_azimuth_and_distance default value to false

Signed-off-by: vividf <[email protected]>

* chore: update readme

Signed-off-by: vividf <[email protected]>

* chore: remove cout

Signed-off-by: vividf <[email protected]>

* chore: add opencv license

Signed-off-by: vividf <[email protected]>

* chore: fix grammar error

Signed-off-by: vividf <[email protected]>

* style(pre-commit): autofix

* chore: add runtime error when azimuth conversion failed

Signed-off-by: vividf <[email protected]>

* chore: change default pointcloud

Signed-off-by: vividf <[email protected]>

* chore: change function name

Signed-off-by: vividf <[email protected]>

* chore: move variables to structure

Signed-off-by: vividf <[email protected]>

* chore: add random seed

Signed-off-by: vividf <[email protected]>

* chore: rewrite get conversion function

Signed-off-by: vividf <[email protected]>

* chore: fix opencv fast atan2 function

Signed-off-by: vividf <[email protected]>

* chore: fix schema description

Signed-off-by: vividf <[email protected]>

* Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp

Co-authored-by: Max Schmeller <[email protected]>

* Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp

Co-authored-by: Max Schmeller <[email protected]>

* chore: move code to function for readability

Signed-off-by: vividf <[email protected]>

* chore: simplify code

Signed-off-by: vividf <[email protected]>

* chore: fix sentence, angle conversion

Signed-off-by: vividf <[email protected]>

* chore: add more invalid condition

Signed-off-by: vividf <[email protected]>

* chore: fix the string name to enum

Signed-off-by: vividf <[email protected]>

* chore: remove runtime error

Signed-off-by: vividf <[email protected]>

* chore: use optional for AngleConversion structure

Signed-off-by: vividf <[email protected]>

* chore: fix bug and clean code

Signed-off-by: vividf <[email protected]>

* chore: refactor the logic of calculating conversion

Signed-off-by: vividf <[email protected]>

* chore: refactor function in unit test

Signed-off-by: vividf <[email protected]>

* chore: RCLCPP_WARN_STREAM logging when failed to get angle conversion

Signed-off-by: vividf <[email protected]>

* chore: improve normalize angle algorithm

Signed-off-by: vividf <[email protected]>

* chore: improve multiple_of_90_degrees logic

Signed-off-by: vividf <[email protected]>

* chore: add opencv license

Signed-off-by: vividf <[email protected]>

* style(pre-commit): autofix

* chore: clean code

Signed-off-by: vividf <[email protected]>

* chore: fix sentence

Signed-off-by: vividf <[email protected]>

* style(pre-commit): autofix

* chore: add 0 0 0 points in test case

Signed-off-by: vividf <[email protected]>

* chore: fix spell error

Signed-off-by: vividf <[email protected]>

* Update common/autoware_universe_utils/NOTICE

Co-authored-by: Max Schmeller <[email protected]>

* Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp

Co-authored-by: Max Schmeller <[email protected]>

* Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp

Co-authored-by: Max Schmeller <[email protected]>

* chore: use constexpr for threshold

Signed-off-by: vividf <[email protected]>

* chore: fix the path of license

Signed-off-by: vividf <[email protected]>

* chore: explanation for failures

Signed-off-by: vividf <[email protected]>

* chore: use throttle

Signed-off-by: vividf <[email protected]>

* chore: fix empty pointcloud function

Signed-off-by: vividf <[email protected]>

* refactor: change camel to snake case

Signed-off-by: vividf <[email protected]>

* Update sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp

Co-authored-by: Max Schmeller <[email protected]>

* Update sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp

Co-authored-by: Max Schmeller <[email protected]>

* style(pre-commit): autofix

* Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp

Co-authored-by: Max Schmeller <[email protected]>

* refactor: refactor virtual function in base class

Signed-off-by: vividf <[email protected]>

* chore: fix test naming error

Signed-off-by: vividf <[email protected]>

* chore: fix clang error

Signed-off-by: vividf <[email protected]>

* chore: fix error

Signed-off-by: vividf <[email protected]>

* chore: fix clangd

Signed-off-by: vividf <[email protected]>

* chore: add runtime error if the setting is wrong

Signed-off-by: vividf <[email protected]>

* chore: clean code

Signed-off-by: vividf <[email protected]>

* Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp

Co-authored-by: Max Schmeller <[email protected]>

* style(pre-commit): autofix

* chore: fix unit test for runtime error

Signed-off-by: vividf <[email protected]>

* Update sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md

Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>

* chore: fix offset_rad_threshold

Signed-off-by: vividf <[email protected]>

* chore: change pointer to reference

Signed-off-by: vividf <[email protected]>

* chore: snake_case for unit test

Signed-off-by: vividf <[email protected]>

* chore: fix refactor process twist and imu

Signed-off-by: vividf <[email protected]>

* chore: fix abs and return type of matrix to tf2

Signed-off-by: vividf <[email protected]>

* chore: fix grammar error

Signed-off-by: vividf <[email protected]>

* chore: fix readme description

Signed-off-by: vividf <[email protected]>

* chore: remove runtime error

Signed-off-by: vividf <[email protected]>

---------

Signed-off-by: vividf <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Max Schmeller <[email protected]>
Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>

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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+4. Redistribution. You may reproduce and distribute copies of the
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+   meet the following conditions:
+
+   (a) You must give any other recipients of the Work or
+   Derivative Works a copy of this License; and
+
+   (b) You must cause any modified files to carry prominent notices
+   stating that You changed the files; and
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+
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+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
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+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
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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>