feat: cherry pick point types update #1535
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…utowarefoundation#6658) * feat(pointcloud_preprocessor): runtime configurable output topic qos Signed-off-by: Grzegorz Głowacki <[email protected]> * configurable qos in livox_tag_filter_node Signed-off-by: Grzegorz Głowacki <[email protected]> * configurable qos in radar_scan_to_pointcloud2 Signed-off-by: Grzegorz Głowacki <[email protected]> --------- Signed-off-by: Grzegorz Głowacki <[email protected]>
…lgorithm and refactor distortion correction node (autowarefoundation#7137) * add support for 3d distortion correction Signed-off-by: vividf <[email protected]> * change parameter back to default and do small refactor Signed-off-by: vividf <[email protected]> * init version, need to double check Signed-off-by: vividf <[email protected]> * fix the logic error Signed-off-by: vividf <[email protected]> * temporary save, need to delete some code * init done, need to check for 3d as time is high Signed-off-by: vividf <[email protected]> * fix error Signed-off-by: vividf <[email protected]> * temporaily save * clean code Signed-off-by: vividf <[email protected]> * remove unused parameters Signed-off-by: vividf <[email protected]> * fix constructor error Signed-off-by: vividf <[email protected]> * fix spell errors Signed-off-by: vividf <[email protected]> * fix more spell errors Signed-off-by: vividf <[email protected]> * add undistorter to library Signed-off-by: vividf <[email protected]> * fix: fix cmake and change class name Signed-off-by: vividf <[email protected]> * Update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <[email protected]> Signed-off-by: vividf <[email protected]> * chore: update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <[email protected]> Signed-off-by: vividf <[email protected]> * chore: update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <[email protected]> Signed-off-by: vividf <[email protected]> * chore: fix company name Co-authored-by: David Wong <[email protected]> Signed-off-by: vividf <[email protected]> * chore: fix company name Co-authored-by: David Wong <[email protected]> Signed-off-by: vividf <[email protected]> * chore: fix company name Co-authored-by: David Wong <[email protected]> Signed-off-by: vividf <[email protected]> * chore: fix imu to IMU Co-authored-by: David Wong <[email protected]> Signed-off-by: vividf <[email protected]> * chore: fix company name Co-authored-by: David Wong <[email protected]> Signed-off-by: vividf <[email protected]> * chore: remove old naming Co-authored-by: David Wong <[email protected]> Signed-off-by: vividf <[email protected]> * chore: change boolean variable naming Co-authored-by: David Wong <[email protected]> Signed-off-by: vividf <[email protected]> * chore: change boolean variable naming Co-authored-by: David Wong <[email protected]> Signed-off-by: vividf <[email protected]> * chore: change boolean variable naming Co-authored-by: David Wong <[email protected]> Signed-off-by: vividf <[email protected]> * fix: fix file name and variable name Signed-off-by: vividf <[email protected]> * chore: fix invlaid virtual function definitions Signed-off-by: vividf <[email protected]> * fix: add sophus in package dependency Signed-off-by: vividf <[email protected]> * chore: remove brackets Signed-off-by: vividf <[email protected]> * chore: fix algorithm Signed-off-by: vividf <[email protected]> * chore: remove timestamp_field_name and add default parameter for 3d distortion Signed-off-by: vividf <[email protected]> * chore: fix known limits explanation Signed-off-by: vividf <[email protected]> * feat: add parameter schema and launch file for distortion correction node Signed-off-by: vividf <[email protected]> * chore: fix function name Signed-off-by: vividf <[email protected]> * chore: fix IMU function name Signed-off-by: vividf <[email protected]> * chore: fix twist and imu iterator function name Signed-off-by: vividf <[email protected]> * fix: add inline for undistortPointcloud function Signed-off-by: vividf <[email protected]> * chore: move varialbe to const Signed-off-by: vividf <[email protected]> * chore: fix grammar error Signed-off-by: vividf <[email protected]> * fix: fix inline function Signed-off-by: vividf <[email protected]> * chore: solve conflicts Signed-off-by: vividf <[email protected]> * fix: fix bug in previous code Signed-off-by: vividf <[email protected]> * fix: fix the template naming Signed-off-by: vividf <[email protected]> * fix: fix the component test Signed-off-by: vividf <[email protected]> * fix: solve conflicts Signed-off-by: vividf <[email protected]> --------- Signed-off-by: vividf <[email protected]> Co-authored-by: David Wong <[email protected]>
…was not saved correctly. (autowarefoundation#7886) * fix: fix bug that geometry message didn't save correctly Signed-off-by: vividf <[email protected]> * chore: change some functions from public to protected Signed-off-by: vividf <[email protected]> --------- Signed-off-by: vividf <[email protected]> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>
… node (autowarefoundation#7801) feat: add unit test for distoriton corrector node Signed-off-by: vividf <[email protected]>
… unit test (autowarefoundation#7879) fix: temporarily remove distortion corretor unit test Signed-off-by: vividf <[email protected]>
…owarefoundation#7833) * fix: use pointcloud iterator instead of memcpy, remove reinterpret cast Signed-off-by: vividf <[email protected]> * chore: set default debugging parameter to false Signed-off-by: vividf <[email protected]> * style(pre-commit): autofix * chore: run precommit Signed-off-by: vividf <[email protected]> * chore: fix TIER IV name Signed-off-by: vividf <[email protected]> * chore: changed public variables to protected and add getters Signed-off-by: vividf <[email protected]> * chore: add tolerance Signed-off-by: vividf <[email protected]> * feat: add two tests for pure linear and rotation Signed-off-by: vividf <[email protected]> * chore: change naming, fix tolerance value Signed-off-by: vividf <[email protected]> * chore: add comment for quat Signed-off-by: vividf <[email protected]> * fix: remove node_->get_clock() and use self-defined timestamp Signed-off-by: vividf <[email protected]> * chore: remove redundant parameters Signed-off-by: vividf <[email protected]> * chore: fix spell error and add tests in cmake Signed-off-by: vividf <[email protected]> * chore: move all clock->now() to self-defined time Signed-off-by: vividf <[email protected]> * chore: change function names Signed-off-by: vividf <[email protected]> * chore: remove irrelevant variable Signed-off-by: vividf <[email protected]> * chore: fix variables naming Signed-off-by: vividf <[email protected]> * chore: change boolen naming: generate_points Signed-off-by: vividf <[email protected]> * chore: add assert to make sure ms is not larger than a second Signed-off-by: vividf <[email protected]> * chore: add note Signed-off-by: vividf <[email protected]> * chore: add unifore initialization and semantic meaning for magic number Signed-off-by: vividf <[email protected]> * chore: change vector to Eigen Signed-off-by: vividf <[email protected]> * chore: fix explanation Signed-off-by: vividf <[email protected]> * chore: fix more eigen Signed-off-by: vividf <[email protected]> * chore: fix more magic numbers Signed-off-by: vividf <[email protected]> * chore: add unit Signed-off-by: vividf <[email protected]> * fix: use assert from gtest 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: Kenzo Lobos Tsunekawa <[email protected]>
* feat: changed most of sensing to the new type Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: started applying changes to the perception stack Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: confirmed operation until centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: reverted to the original implementation of pointpainting Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: forgot to push a header Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: also implemented the changes for the subsample filters that were out of scope before Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: some point type changes were missing from the latest merge from main Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed unused code, added comments, and brought back a removed publish Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: replaced pointcloud_raw for pointcloud_raw_ex to avoid extra processing time in the drivers Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: added memory layout checks Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: updated documentation regarding the point types Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added hyperlinks to the point definitions. will be valid only once the PR is merged Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed compilation due to moving the utilities files to the base library Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: separated the utilities functions due to a dependency issue * chore: forgot that perception also uses the filter class Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feature: adapted the undistortion tests to the new point type Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> Co-authored-by: kminoda <[email protected]> Co-authored-by: badai nguyen <[email protected]>
TomohitoAndo
requested review from
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technolojin,
YoshiRi,
badai-nguyen,
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kyoichi-sugahara,
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TomohitoAndo
removed request for
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scepter914 and
YoshiRi
TomohitoAndo
removed request for
kyoichi-sugahara,
drwnz,
miursh,
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TomohitoAndo
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Description
I cherry picked following PR and dependent PRs to adapt to point type updates.
Related links
TIER IV INTERNAL
How was this PR tested?
Tested on bench environment.
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.