Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

added shadow and average filters (backport #31) #33

Merged
merged 4 commits into from
Nov 12, 2024
Merged

added shadow and average filters (backport #31) #33

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
5bed0f5
added shadow and average filters
pradyum Nov 12, 2024
eac5724
added vector header and linted
pradyum Nov 12, 2024
6c597d3
fixed conflict
pradyum Nov 12, 2024
781cb2d
removed humble lint
pradyum Nov 12, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 7 additions & 7 deletions CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,13 +21,13 @@ install(DIRECTORY bag DESTINATION share/dual_laser_merger)
install(DIRECTORY config DESTINATION share/dual_laser_merger)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
set(ament_cmake_copyright_FOUND TRUE)
set(ament_cmake_cpplint_FOUND TRUE)
set(ament_flake8_FOUND TRUE)
set(ament_pep257_FOUND TRUE)
set(ament_xmllint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
#find_package(ament_lint_auto REQUIRED)
#set(ament_cmake_copyright_FOUND TRUE)
#set(ament_cmake_cpplint_FOUND TRUE)
#set(ament_flake8_FOUND TRUE)
#set(ament_pep257_FOUND TRUE)
#set(ament_xmllint_FOUND TRUE)
#ament_lint_auto_find_test_dependencies()
endif()

ament_auto_package()
19 changes: 15 additions & 4 deletions include/dual_laser_merger/dual_laser_merger.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,12 +17,14 @@

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl_conversions/pcl_conversions.h>

#include <chrono>
#include <cmath>
#include <memory>
#include <string>
#include <vector>

#include "laser_geometry/laser_geometry.hpp"
#include "message_filters/subscriber.h"
Expand Down Expand Up @@ -56,9 +58,12 @@ class MergerNode : public rclcpp::Node
message_filter;
message_filters::Subscriber<sensor_msgs::msg::LaserScan> laser_1_sub;
message_filters::Subscriber<sensor_msgs::msg::LaserScan> laser_2_sub;
rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr merged_pub;
rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr merged_scan_pub;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr merged_cloud_pub;
laser_geometry::LaserProjection projector;

sensor_msgs::msg::LaserScan lidar_1_avg;
sensor_msgs::msg::LaserScan lidar_2_avg;
sensor_msgs::msg::LaserScan merged;
sensor_msgs::msg::PointCloud2 cloud_in_1;
sensor_msgs::msg::PointCloud2 cloud_in_2;
Expand All @@ -74,11 +79,17 @@ class MergerNode : public rclcpp::Node
double tolerance_param, min_height_param, max_height_param, angle_min_param, angle_max_param,
angle_increment_param, scan_time_param, range_min_param, range_max_param, inf_epsilon_param,
laser_1_x_offset, laser_1_y_offset, laser_1_yaw_offset, laser_2_x_offset, laser_2_y_offset,
laser_2_yaw_offset;
bool use_inf_param, enable_calibration_param;
laser_2_yaw_offset, allowed_radius_param;
bool use_inf_param, enable_calibration_param, enable_shadow_filter_param,
enable_average_filter_param;
uint32_t ranges_size;
double range, angle;
int index;
int index, numNearbyPoints;
double allowed_radius_scaled, dist_from_origin;

pcl::KdTreeFLANN<pcl::PointXYZ> kdtree;
std::vector<int> pointIndices;
std::vector<float> pointDistances;

void sub_callback(
const sensor_msgs::msg::LaserScan::ConstSharedPtr & lidar_1_msg,
Expand Down
3 changes: 3 additions & 0 deletions launch/demo_laser_merger.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -66,6 +66,9 @@ def generate_launch_description():
{'angle_max': 3.141592654},
{'inf_epsilon': 1.0},
{'use_inf': True},
{'allowed_radius': 0.45},
{'enable_shadow_filter': True},
{'enable_average_filter': True},
],
)
],
Expand Down
79 changes: 71 additions & 8 deletions src/dual_laser_merger.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,10 +29,12 @@ MergerNode::MergerNode(const rclcpp::NodeOptions & options)
RCLCPP_INFO(this->get_logger(), "Target Frame: %s", target_frame_param.c_str());
}

merged_pub =
this->create_publisher<sensor_msgs::msg::LaserScan>(
this->get_parameter(
"merged_topic").as_string(), rclcpp::SensorDataQoS());
merged_scan_pub =
this->create_publisher<sensor_msgs::msg::LaserScan>(this->get_parameter(
"merged_scan_topic").as_string(), rclcpp::SensorDataQoS());
merged_cloud_pub =
this->create_publisher<sensor_msgs::msg::PointCloud2>(this->get_parameter(
"merged_cloud_topic").as_string(), rclcpp::SensorDataQoS());
laser_1_sub.subscribe(
this, this->get_parameter("laser_1_topic").as_string(),
rclcpp::SensorDataQoS().get_rmw_qos_profile());
Expand All @@ -58,7 +60,8 @@ void MergerNode::declare_param()
{
this->declare_parameter("laser_1_topic", "laser_1");
this->declare_parameter("laser_2_topic", "laser_2");
this->declare_parameter("merged_topic", "merged");
this->declare_parameter("merged_scan_topic", "merged");
this->declare_parameter("merged_cloud_topic", "merged_cloud");
target_frame_param = this->declare_parameter("target_frame", "");
tolerance_param = this->declare_parameter("tolerance", 0.01);
input_queue_size_param =
Expand All @@ -80,6 +83,9 @@ void MergerNode::declare_param()
laser_2_x_offset = this->declare_parameter("laser_2_x_offset", 0.0);
laser_2_y_offset = this->declare_parameter("laser_2_y_offset", 0.0);
laser_2_yaw_offset = this->declare_parameter("laser_2_yaw_offset", 0.0);
allowed_radius_param = this->declare_parameter("allowed_radius", 1.0);
enable_shadow_filter_param = this->declare_parameter("enable_shadow_filter", false);
enable_average_filter_param = this->declare_parameter("enable_average_filter", false);
}

void MergerNode::refresh_param()
Expand All @@ -102,6 +108,9 @@ void MergerNode::refresh_param()
this->get_parameter("laser_2_x_offset", laser_2_x_offset);
this->get_parameter("laser_2_y_offset", laser_2_y_offset);
this->get_parameter("laser_2_yaw_offset", laser_2_yaw_offset);
this->get_parameter("allowed_radius", allowed_radius_param);
this->get_parameter("enable_shadow_filter", enable_shadow_filter_param);
this->get_parameter("enable_average_filter", enable_average_filter_param);
}

void MergerNode::sub_callback(
Expand All @@ -116,8 +125,40 @@ void MergerNode::sub_callback(
refresh_param();
}

projector.projectLaser(*lidar_1_msg, cloud_in_1);
projector.projectLaser(*lidar_2_msg, cloud_in_2);
if(enable_average_filter_param) {
lidar_1_avg = *lidar_1_msg;
lidar_2_avg = *lidar_2_msg;
for(size_t i = 0; i <= lidar_1_msg->ranges.size(); i++) {
if(i == 0) {
lidar_1_avg.ranges[i] = (lidar_1_msg->ranges[lidar_1_msg->ranges.size() - 1] +
lidar_1_msg->ranges[i] + lidar_1_msg->ranges[i + 1]) / 3;
} else if(i == (lidar_1_msg->ranges.size() - 1)) {
lidar_1_avg.ranges[i] = (lidar_1_msg->ranges[i - 1] + lidar_1_msg->ranges[i] +
lidar_1_msg->ranges[0]) / 3;
} else {
lidar_1_avg.ranges[i] = (lidar_1_msg->ranges[i - 1] + lidar_1_msg->ranges[i] +
lidar_1_msg->ranges[i + 1]) / 3;
}
}
for(size_t i = 0; i <= lidar_2_msg->ranges.size(); i++) {
if(i == 0) {
lidar_2_avg.ranges[i] = (lidar_2_msg->ranges[lidar_2_msg->ranges.size() - 1] +
lidar_2_msg->ranges[i] + lidar_2_msg->ranges[i + 1]) / 3;
} else if(i == (lidar_2_msg->ranges.size() - 1)) {
lidar_2_avg.ranges[i] = (lidar_2_msg->ranges[i - 1] + lidar_2_msg->ranges[i] +
lidar_2_msg->ranges[0]) / 3;
} else {
lidar_2_avg.ranges[i] = (lidar_2_msg->ranges[i - 1] + lidar_2_msg->ranges[i] +
lidar_2_msg->ranges[i + 1]) / 3;
}
}

projector.projectLaser(lidar_1_avg, cloud_in_1);
projector.projectLaser(lidar_2_avg, cloud_in_2);
} else {
projector.projectLaser(*lidar_1_msg, cloud_in_1);
projector.projectLaser(*lidar_2_msg, cloud_in_2);
}

if (lidar_1_msg->header.frame_id != target_frame_param) {
tf2_msg.header = cloud_in_1.header;
Expand Down Expand Up @@ -175,7 +216,29 @@ void MergerNode::sub_callback(
pcl_cloud_out = pcl_cloud_in_1;
pcl_cloud_out += pcl_cloud_in_2;

if(enable_shadow_filter_param) {
allowed_radius_scaled = allowed_radius_param / range_max_param;
kdtree.setInputCloud(pcl_cloud_out.makeShared());

for (auto & point : pcl_cloud_out.points) {
dist_from_origin = std::sqrt(std::pow(point.x, 2) + std::pow(point.y, 2));
numNearbyPoints = kdtree.radiusSearch(point, allowed_radius_scaled * dist_from_origin,
pointIndices, pointDistances);
numNearbyPoints -= 1;
if(numNearbyPoints == 0) {
if(use_inf_param) {
point.x = std::numeric_limits<double>::infinity();
point.y = std::numeric_limits<double>::infinity();
} else {
point.x = range_max_param + inf_epsilon_param;
point.y = range_max_param + inf_epsilon_param;
}
}
}
}

pcl::toROSMsg(pcl_cloud_out, cloud_out);
merged_cloud_pub->publish(cloud_out);

merged.header = cloud_out.header;
merged.header.frame_id = target_frame_param;
Expand Down Expand Up @@ -223,7 +286,7 @@ void MergerNode::sub_callback(
}
}

merged_pub->publish(merged);
merged_scan_pub->publish(merged);
}
}

Expand Down