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pointcloud_preprocessor package from autoware_car repo

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github

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Package Summary

Tags	No category tags.
Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/qin-yuan/autoware_car.git
VCS Type	git
VCS Version	master
Last Updated	2024-12-19
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS2 pointcloud_preprocessor package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Shunsuke Miura

Authors

Open Perception
Julius Kammerl
William Woodall

autoware_localization/utils/sensing/pointcloud_preprocessor/README.md

pointcloud_preprocessor

Purpose

The pointcloud_preprocessor is a package that includes the following filters:

removing outlier points
cropping
concatenating pointclouds
correcting distortion
downsampling

Inner-workings / Algorithms

Detail description of each filter’s algorithm is in the following links.

Filter Name	Description	Detail
concatenate_data	subscribe multiple pointclouds and concatenate them into a pointcloud	link
crop_box_filter	remove points within a given box	link
distortion_corrector	compensate pointcloud distortion caused by ego vehicle’s movement during 1 scan	link
downsample_filter	downsampling input pointcloud	link
outlier_filter	remove points caused by hardware problems, rain drops and small insects as a noise	link
passthrough_filter	remove points on the outside of a range in given field (e.g. x, y, z, intensity)	link
pointcloud_accumulator	accumulate pointclouds for a given amount of time	link
vector_map_filter	remove points on the outside of lane by using vector map	link
vector_map_inside_area_filter	remove points inside of vector map area that has given type by parameter	link

Inputs / Outputs

Input

Name	Type	Description
`~/input/points`	`sensor_msgs::msg::PointCloud2`	reference points
`~/input/indices`	`pcl_msgs::msg::Indices`	reference indices

Output

Name	Type	Description
`~/output/points`	`sensor_msgs::msg::PointCloud2`	filtered points

Parameters

Node Parameters

Name	Type	Default Value	Description
`input_frame`	string	” “	input frame id
`output_frame`	string	” “	output frame id
`max_queue_size`	int	5	max queue size of input/output topics
`use_indices`	bool	false	flag to use pointcloud indices
`latched_indices`	bool	false	flag to latch pointcloud indices
`approximate_sync`	bool	false	flag to use approximate sync option

Assumptions / Known limits

pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.

(Optional) Error detection and handling

(Optional) Performance characterization

References/External links

[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp

(Optional) Future extensions / Unimplemented parts

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	autoware_cmake
	ament_cmake_auto
	ament_lint_auto
	autoware_lint_common
	autoware_auto_vehicle_msgs
	autoware_point_types
	cv_bridge
	diagnostic_updater
	image_transport
	lanelet2_extension
	message_filters
	nav_msgs
	pcl_conversions
	pcl_msgs
	pcl_ros
	point_cloud_msg_wrapper
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	tier4_autoware_utils
	tier4_debug_msgs
	tier4_pcl_extensions

System Dependencies

Name
cgal
libopencv-dev
libpcl-all-dev

Dependant Packages

Name	Deps
tier4_localization_launch
tier4_localization_launch
tier4_localization_launch
tier4_localization_launch
tier4_localization_launch
tier4_perception_launch
tier4_perception_launch
tier4_perception_launch
tier4_perception_launch
autonomous_emergency_braking
compare_map_segmentation
ground_segmentation
occupancy_grid_map_outlier_filter
kunyi_sensor_kit_launch

Launch files

launch/blockage_diag.launch.xml
- - input_topic_name [default: pointcloud_raw_ex]
  - output_topic_name [default: blockage_diag/pointcloud]
launch/dual_return_outlier_filter.launch.xml
- - input_topic_name [default: /velodyne_points_ex]
  - output_topic_name [default: /pointcloud_filtered]
  - input_frame [default: velodyne]
  - output_frame [default: velodyne]
  - visibility_threshold [default: 0.95]
  - vertical_bins [default: 128]
  - max_azimuth_diff [default: 50.0]
launch/preprocessor.launch.xml
- - input_points_raw_list [default: ['/points_raw']]
  - output_points_raw [default: /points_raw/cropbox/filtered]
  - tf_output_frame [default: base_link]
launch/random_downsample_filter.launch.xml
- - input_topic_name [default: /sensing/lidar/top/pointcloud_raw]
  - output_topic_name [default: /sensing/lidar/top/random_downsample_filter/pointcloud]
  - sample_num [default: 1500]
  - input_frame [default: ]
  - output_frame [default: base_link]
launch/ring_passthrough_filter.launch.xml
- - input_topic_name [default: /sensing/lidar/top/pointcloud_raw]
  - output_topic_name [default: /sensing/lidar/top/ring_passthrough_filtered/pointcloud]
  - filter_field_name [default: ring]
  - filter_limit_min [default: 0]
  - filter_limit_max [default: 127]
  - filter_limit_negative [default: False]
  - keep_organized [default: False]
  - input_frame [default: ]
  - output_frame [default: base_link]

Messages

No message files found.

Services

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Plugins

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