refactor(autoware_pointcloud_preprocessor): rework ring passthrough f…

…ilter parameters (autowarefoundation#8472) * feat: rework ring passthrough parameters Signed-off-by: vividf <[email protected]> * chore: fix cmake Signed-off-by: vividf <[email protected]> * feat: add schema Signed-off-by: vividf <[email protected]> * chore: fix readme Signed-off-by: vividf <[email protected]> * chore: fix parameter file name Signed-off-by: vividf <[email protected]> * chore: add boundary Signed-off-by: vividf <[email protected]> * chore: fix default parameter Signed-off-by: vividf <[email protected]> * chore: fix default parameter in schema Signed-off-by: vividf <[email protected]> --------- Signed-off-by: vividf <[email protected]>
shtokuda · Sep 9, 2024 · 60f9829 · 60f9829
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Showing 9 changed files with 94 additions and 41 deletions.
diff --git a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt
@@ -74,8 +74,8 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
   src/outlier_filter/voxel_grid_outlier_filter_node.cpp
   src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp
   src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
-  src/passthrough_filter/passthrough_filter_nodelet.cpp
-  src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp
+  src/passthrough_filter/passthrough_filter_node.cpp
+  src/passthrough_filter/passthrough_filter_uint16_node.cpp
   src/passthrough_filter/passthrough_uint16.cpp
   src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp
   src/vector_map_filter/lanelet2_map_filter_node.cpp

diff --git a/sensing/autoware_pointcloud_preprocessor/config/passthrough_filter_uint16_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/passthrough_filter_uint16_node.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    filter_limit_min: 0
+    filter_limit_max: 127
+    filter_field_name: "channel"
+    keep_organized: false
+    filter_limit_negative: false
diff --git a/sensing/autoware_pointcloud_preprocessor/docs/passthrough-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/passthrough-filter.md
@@ -25,13 +25,8 @@ The `passthrough_filter` is a node that removes points on the outside of a range
 
 ### Core Parameters
 
-| Name                    | Type   | Default Value | Description                                            |
-| ----------------------- | ------ | ------------- | ------------------------------------------------------ |
-| `filter_limit_min`      | int    | 0             | minimum allowed field value                            |
-| `filter_limit_max`      | int    | 127           | maximum allowed field value                            |
-| `filter_field_name`     | string | "ring"        | filtering field name                                   |
-| `keep_organized`        | bool   | false         | flag to keep indices structure                         |
-| `filter_limit_negative` | bool   | false         | flag to return whether the data is inside limit or not |
+{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json
+") }}
 
 ## Assumptions / Known limits
 

diff --git a/...ugh_filter/passthrough_filter_nodelet.hpp → ...hrough_filter/passthrough_filter_node.hpp b/...ugh_filter/passthrough_filter_nodelet.hpp → ...hrough_filter/passthrough_filter_node.hpp
@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// Copyright 2024 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -48,8 +48,8 @@
  *
  */
 
-#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_NODELET_HPP_
-#define AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_NODELET_HPP_
+#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_NODE_HPP_
+#define AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_NODE_HPP_
 
 #include "autoware/pointcloud_preprocessor/filter.hpp"
 
@@ -77,4 +77,4 @@ class PassThroughFilterComponent : public autoware::pointcloud_preprocessor::Fil
 };
 }  // namespace autoware::pointcloud_preprocessor
 
-#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_NODELET_HPP_
+#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_NODE_HPP_
diff --git a/...ter/passthrough_filter_uint16_nodelet.hpp → ...filter/passthrough_filter_uint16_node.hpp b/...ter/passthrough_filter_uint16_nodelet.hpp → ...filter/passthrough_filter_uint16_node.hpp
@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// Copyright 2024 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_UINT16_NODELET_HPP_  // NOLINT
-#define AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_UINT16_NODELET_HPP_  // NOLINT
+#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_UINT16_NODE_HPP_  // NOLINT
+#define AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_UINT16_NODE_HPP_  // NOLINT
 
 #include "autoware/pointcloud_preprocessor/filter.hpp"
 #include "autoware/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp"
@@ -46,5 +46,5 @@ class PassThroughFilterUInt16Component : public autoware::pointcloud_preprocesso
 }  // namespace autoware::pointcloud_preprocessor
 
 // clang-format off
-#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_UINT16_NODELET_HPP_  // NOLINT
+#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__PASSTHROUGH_FILTER__PASSTHROUGH_FILTER_UINT16_NODE_HPP_  // NOLINT
 // clang-format on
diff --git a/sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml
@@ -1,24 +1,16 @@
 <launch>
   <arg name="input_topic_name" default="/sensing/lidar/top/pointcloud_raw"/>
   <arg name="output_topic_name" default="/sensing/lidar/top/ring_passthrough_filtered/pointcloud"/>
-
-  <arg name="filter_field_name" default="ring"/>
-  <arg name="filter_limit_min" default="0"/>
-  <arg name="filter_limit_max" default="127"/>
-  <arg name="filter_limit_negative" default="False"/>
-  <arg name="keep_organized" default="False"/>
   <arg name="input_frame" default=""/>
   <arg name="output_frame" default="base_link"/>
+  <arg name="passthrough_filter_uint16_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/passthrough_filter_uint16_node.param.yaml"/>
+  <arg name="filter_param_file" default="$(find-pkg-share autoware_pointcloud_preprocessor)/config/filter.param.yaml"/>
 
-  <node pkg="autoware_pointcloud_preprocessor" exec="passthrough_filter_uint16_node" name="passthrough_filter">
+  <node pkg="autoware_pointcloud_preprocessor" exec="passthrough_filter_uint16_node" name="ring_passthrough_filter">
+    <param from="$(var passthrough_filter_uint16_param_file)"/>
+    <param from="$(var filter_param_file)"/>
     <remap from="input" to="$(var input_topic_name)"/>
     <remap from="output" to="$(var output_topic_name)"/>
-
-    <param name="filter_field_name" value="$(var filter_field_name)"/>
-    <param name="filter_limit_min" value="$(var filter_limit_min)"/>
-    <param name="filter_limit_max" value="$(var filter_limit_max)"/>
-    <param name="filter_limit_negative" value="$(var filter_limit_negative)"/>
-    <param name="keep_organized" value="$(var keep_organized)"/>
     <param name="input_frame" value="$(var input_frame)"/>
     <param name="output_frame" value="$(var output_frame)"/>
   </node>

diff --git a/sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json
@@ -0,0 +1,61 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Passthrough Filter UInt16 Node",
+  "type": "object",
+  "definitions": {
+    "passthrough_filter_uint16": {
+      "type": "object",
+      "properties": {
+        "filter_limit_min": {
+          "type": "integer",
+          "description": "minimum allowed field value",
+          "default": "0",
+          "minimum": 0
+        },
+        "filter_limit_max": {
+          "type": "integer",
+          "description": "maximum allowed field value",
+          "default": "127",
+          "minimum": 0
+        },
+        "filter_field_name": {
+          "type": "string",
+          "description": "filtering field name",
+          "default": "channel"
+        },
+        "keep_organized": {
+          "type": "boolean",
+          "description": "flag to keep indices structure",
+          "default": "false"
+        },
+        "filter_limit_negative": {
+          "type": "boolean",
+          "description": "flag to return whether the data is inside limit or not",
+          "default": "false"
+        }
+      },
+      "required": [
+        "filter_limit_min",
+        "filter_limit_max",
+        "filter_field_name",
+        "keep_organized",
+        "filter_limit_negative"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/passthrough_filter_uint16"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/...ugh_filter/passthrough_filter_nodelet.cpp → ...hrough_filter/passthrough_filter_node.cpp b/...ugh_filter/passthrough_filter_nodelet.cpp → ...hrough_filter/passthrough_filter_node.cpp
@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// Copyright 2024 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -48,7 +48,7 @@
  *
  */
 
-#include "autoware/pointcloud_preprocessor/passthrough_filter/passthrough_filter_nodelet.hpp"
+#include "autoware/pointcloud_preprocessor/passthrough_filter/passthrough_filter_node.hpp"
 
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/search/kdtree.h>

diff --git a/...ter/passthrough_filter_uint16_nodelet.cpp → ...filter/passthrough_filter_uint16_node.cpp b/...ter/passthrough_filter_uint16_nodelet.cpp → ...filter/passthrough_filter_uint16_node.cpp
@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// Copyright 2024 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_nodelet.hpp"
+#include "autoware/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_node.hpp"
 
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/search/kdtree.h>
@@ -29,15 +29,13 @@ PassThroughFilterUInt16Component::PassThroughFilterUInt16Component(
 {
   // set initial parameters
   {
-    int filter_min = static_cast<int>(declare_parameter("filter_limit_min", 0));
-    int filter_max = static_cast<int>(declare_parameter("filter_limit_max", 127));
+    int filter_min = declare_parameter<int>("filter_limit_min");
+    int filter_max = declare_parameter<int>("filter_limit_max");
     impl_.setFilterLimits(filter_min, filter_max);
 
-    impl_.setFilterFieldName(
-      static_cast<std::string>(declare_parameter("filter_field_name", "ring")));
-    impl_.setKeepOrganized(static_cast<bool>(declare_parameter("keep_organized", false)));
-    impl_.setFilterLimitsNegative(
-      static_cast<bool>(declare_parameter("filter_limit_negative", false)));
+    impl_.setFilterFieldName(declare_parameter<std::string>("filter_field_name"));
+    impl_.setKeepOrganized(declare_parameter<bool>("keep_organized"));
+    impl_.setFilterLimitsNegative(declare_parameter<bool>("filter_limit_negative"));
   }
 
   using std::placeholders::_1;