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refactor(ndt_scan_matcher): rework parameters (autowarefoundation#6229)
* refactor(ndt_scan_matcher): rework parameters Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * delete tmp file Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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‎localization/ndt_scan_matcher/README.md

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@@ -56,28 +56,29 @@ One optional function is regularization. Please see the regularization chapter i
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### Core Parameters
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| Name | Type | Description |
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| --------------------------------------------------------- | ---------------------- | -------------------------------------------------------------------------------------------------- |
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| `base_frame` | string | Vehicle reference frame |
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| `ndt_base_frame` | string | NDT reference frame |
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| `map_frame` | string | map frame |
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| `input_sensor_points_queue_size` | int | Subscriber queue size |
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| `trans_epsilon` | double | The max difference between two consecutive transformations to consider convergence |
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| `step_size` | double | The newton line search maximum step length |
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| `resolution` | double | The ND voxel grid resolution [m] |
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| `max_iterations` | int | The number of iterations required to calculate alignment |
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| `converged_param_type` | int | The type of indicators for scan matching score (0: TP, 1: NVTL) |
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| `converged_param_transform_probability` | double | TP threshold for deciding whether to trust the estimation result (when converged_param_type = 0) |
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| `converged_param_nearest_voxel_transformation_likelihood` | double | NVTL threshold for deciding whether to trust the estimation result (when converged_param_type = 1) |
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| `initial_estimate_particles_num` | int | The number of particles to estimate initial pose |
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| `n_startup_trials` | int | The number of initial random trials in the TPE (Tree-Structured Parzen Estimator). |
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| `lidar_topic_timeout_sec` | double | Tolerance of timestamp difference between current time and sensor pointcloud |
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| `initial_pose_timeout_sec` | int | Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec] |
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| `initial_pose_distance_tolerance_m` | double | Tolerance of distance difference between two initial poses used for linear interpolation. [m] |
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| `num_threads` | int | Number of threads used for parallel computing |
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| `output_pose_covariance` | std::array<double, 36> | The covariance of output pose |
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(TP: Transform Probability, NVTL: Nearest Voxel Transform Probability)
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#### Frame
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{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/frame.json") }}
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#### Ndt
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{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/ndt.json") }}
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#### Initial Pose Estimation
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{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/initial_pose_estimation.json") }}
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#### Validation
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{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/validation.json") }}
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#### Score Estimation
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{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/score_estimation.json") }}
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#### Covariance
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{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/covariance.json") }}
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## Regularization
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@@ -153,10 +154,7 @@ This is because if the base position is far off from the true value, NDT scan ma
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### Parameters
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| Name | Type | Description |
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| ----------------------------- | ------ | ---------------------------------------------------------------------- |
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| `regularization_enabled` | bool | Flag to add regularization term to NDT optimization (FALSE by default) |
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| `regularization_scale_factor` | double | Coefficient of the regularization term. |
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{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/ndt_regularization.json") }}
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Regularization is disabled by default because GNSS is not always accurate enough to serve the appropriate base position in any scenes.
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@@ -206,11 +204,7 @@ Using the feature, `ndt_scan_matcher` can theoretically handle any large size ma
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### Parameters
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| Name | Type | Description |
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| ------------------------------------- | ------ | ------------------------------------------------------------ |
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| `dynamic_map_loading_update_distance` | double | Distance traveled to load new map(s) |
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| `dynamic_map_loading_map_radius` | double | Map loading radius for every update |
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| `lidar_radius` | double | LiDAR radius used for localization (only used for diagnosis) |
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{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/dynamic_map_loading.json") }}
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### Notes for dynamic map loading
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### Parameters
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| Name | Type | Description |
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| ------------------------------------- | ------ | ----------------------------------------------------------------------------------- |
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| `estimate_scores_by_no_ground_points` | bool | Flag for using scan matching score based on no ground LiDAR scan (FALSE by default) |
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| `z_margin_for_ground_removal` | double | Z-value margin for removal ground points |
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{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/score_estimation_no_ground_points.json") }}
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## 2D real-time covariance estimation
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initial_pose_offset_model is rotated around (x,y) = (0,0) in the direction of the first principal component of the Hessian matrix.
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initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements.
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| Name | Type | Description |
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| ----------------------------- | ------------------- | ----------------------------------------------------------------- |
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| `use_covariance_estimation` | bool | Flag for using real-time covariance estimation (FALSE by default) |
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| `initial_pose_offset_model_x` | std::vector<double> | X-axis offset [m] |
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| `initial_pose_offset_model_y` | std::vector<double> | Y-axis offset [m] |
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{{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/covariance_covariance_estimation.json") }}

‎localization/ndt_scan_matcher/schema/ndt_scan_matcher.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"type": "object",
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"type": "object",
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"properties": {
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"frame": { "$ref": "sub/frame.json#/definitions/frame" },
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"ndt": { "$ref": "sub/ndt.json#/definitions/ndt" },
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"regularization": { "$ref": "ndt_regularization.json#/definitions/ndt/regularization" },
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"initial_pose_estimation": {
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"$ref": "sub/initial_pose_estimation.json#/definitions/initial_pose_estimation"
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},
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"validation": { "$ref": "sub/validation.json#/definitions/validation" },
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"score_estimation": {
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"$ref": "sub/score_estimation.json#/definitions/score_estimation"
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},
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"covariance": { "$ref": "sub/covariance.json#/definitions/covariance" },
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"dynamic_map_loading": {
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"$ref": "sub/dynamic_map_loading.json#/definitions/dynamic_map_loading"
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}
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},
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"required": [
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"frame",
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"ndt",
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"initial_pose_estimation",
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"validation",
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"score_estimation",
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"covariance",
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"dynamic_map_loading"
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],
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"additionalProperties": false
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}
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},
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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},
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"required": ["/**"],
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"additionalProperties": false
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}

‎localization/ndt_scan_matcher/schema/sub/covariance.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Ndt Scan Matcher Node",
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"definitions": {
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"covariance": {
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"type": "object",
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"properties": {
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"output_pose_covariance": {
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"type": "array",
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"description": "The covariance of output pose. Note that this covariance matrix is empirically derived.",
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"default": [
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0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0225, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.000625
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]
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},
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"covariance_estimation": {
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"$ref": "covariance_covariance_estimation.json#/definitions/covariance_estimation"
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}
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},
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"required": ["output_pose_covariance", "covariance_estimation"],
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"additionalProperties": false
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}
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}
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}

‎localization/ndt_scan_matcher/schema/sub/covariance_covariance_estimation.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Ndt Scan Matcher Node",
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"definitions": {
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"covariance_estimation": {
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"type": "object",
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"properties": {
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"enable": {
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"type": "boolean",
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"description": "2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value).",
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"default": false
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},
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"initial_pose_offset_model_x": {
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"type": "array",
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"description": "Offset arrangement in covariance estimation [m]. initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements.",
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"default": [0.0, 0.0, 0.5, -0.5, 1.0, -1.0]
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},
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"initial_pose_offset_model_y": {
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"type": "array",
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"description": "Offset arrangement in covariance estimation [m]. initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements.",
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"default": [0.5, -0.5, 0.0, 0.0, 0.0, 0.0]
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}
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},
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"required": ["enable", "initial_pose_offset_model_x", "initial_pose_offset_model_y"],
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"additionalProperties": false
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}
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}
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}

‎localization/ndt_scan_matcher/schema/sub/dynamic_map_loading.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Ndt Scan Matcher Node",
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"definitions": {
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"dynamic_map_loading": {
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"type": "object",
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"properties": {
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"update_distance": {
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"type": "number",
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"description": "Dynamic map loading distance.",
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"default": 20.0,
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"minimum": 0.0
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},
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"map_radius": {
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"type": "number",
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"description": "Dynamic map loading loading radius.",
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"default": 150.0,
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"minimum": 0.0
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},
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"lidar_radius": {
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"type": "number",
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"description": "Radius of input LiDAR range (used for diagnostics of dynamic map loading).",
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"default": 100.0,
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"minimum": 0.0
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}
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},
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"required": ["update_distance", "map_radius", "lidar_radius"],
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"additionalProperties": false
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}
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}
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}

‎localization/ndt_scan_matcher/schema/sub/frame.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Ndt Scan Matcher Node",
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"definitions": {
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"frame": {
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"type": "object",
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"properties": {
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"base_frame": {
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"type": "string",
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"description": "Vehicle reference frame.",
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"default": "base_link"
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},
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"ndt_base_frame": {
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"type": "string",
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"description": "NDT reference frame.",
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"default": "ndt_base_link"
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},
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"map_frame": {
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"type": "string",
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"description": "Map frame.",
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"default": "map"
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}
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},
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"required": ["base_frame", "ndt_base_frame", "map_frame"],
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"additionalProperties": false
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}
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}
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}

‎localization/ndt_scan_matcher/schema/sub/initial_pose_estimation.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Ndt Scan Matcher Node",
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"definitions": {
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"initial_pose_estimation": {
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"type": "object",
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"properties": {
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"particles_num": {
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"type": "number",
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"description": "The number of particles to estimate initial pose.",
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"default": 200,
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"minimum": 1
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},
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"n_startup_trials": {
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"type": "number",
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"description": "The number of initial random trials in the TPE (Tree-Structured Parzen Estimator). This value should be equal to or less than 'initial_estimate_particles_num' and more than 0. If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search.",
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"default": 20,
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"minimum": 1
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}
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},
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"required": ["particles_num", "n_startup_trials"],
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"additionalProperties": false
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}
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}
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}

‎localization/ndt_scan_matcher/schema/sub/ndt.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Ndt Scan Matcher Node",
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"definitions": {
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"ndt": {
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"type": "object",
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"properties": {
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"trans_epsilon": {
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"type": "number",
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"description": "The maximum difference between two consecutive transformations in order to consider convergence.",
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"default": 0.01,
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"minimum": 0.0
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},
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"step_size": {
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"type": "number",
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"description": "The newton line search maximum step length.",
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"default": 0.1,
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"minimum": 0.0
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},
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"resolution": {
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"type": "number",
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"description": "The ND voxel grid resolution.",
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"default": 2.0,
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"minimum": 0.0
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},
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"max_iterations": {
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"type": "number",
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"description": "The number of iterations required to calculate alignment.",
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"default": 30,
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"minimum": 1
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},
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"num_threads": {
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"type": "number",
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"description": "Number of threads used for parallel computing.",
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"default": 4,
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"minimum": 1
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},
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"regularization": {
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"$ref": "ndt_regularization.json#/definitions/regularization"
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}
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},
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"required": [
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"trans_epsilon",
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"step_size",
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"resolution",
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"max_iterations",
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"num_threads",
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"regularization"
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],
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"additionalProperties": false
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}
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}
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}

‎localization/ndt_scan_matcher/schema/sub/ndt_regularization.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Ndt Scan Matcher Node",
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"definitions": {
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"regularization": {
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"type": "object",
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"properties": {
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"enable": {
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"type": "boolean",
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"description": "Regularization switch.",
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"default": false
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},
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"scale_factor": {
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"type": "number",
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"description": "Regularization scale factor.",
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"default": 0.01,
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"minimum": 0.0
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}
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},
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"required": ["enable", "scale_factor"],
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"additionalProperties": false
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}
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}
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}

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