feat(pointcloud_preprocessor): support 3d distortion corrector for distortion corrector node #7027

vividf · 2024-05-15T10:18:04Z

Description

This PR solved the issue #6657.
This PR provides an option for the user to choose a 3d distortion corrector instead of using the current 2d distortion corrector.

Note that by using this, the time will increase around 50 percent.

Tests performed

Time comparison

Input: mirrored pointcloud (58 frames)
distortion corrector: 2d

Before the PR

	Minimum	Maximum	Average
Time	7.15	15.29	10.09

After the PR

	Minimum	Maximum	Average
Time	7.36	14.01	10.40

Input: mirror pointcloud (58 frames)
distortion corrector: 3d

After the PR

	Minimum	Maximum	Average
Time	13.02	22.26	16.05

Pointcloud comparison

https://github.com/meliketanrikulu will provide more detail.

Notes for reviewers

Interface changes

Additional parameter is added use_3d_distortion_correction, the default value is false

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

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vividf · 2024-05-15T10:46:58Z

@meliketanrikulu
Could you test this PR again with your scenarios and provide some results here? Thanks!

Please note that you need to set the parameter to true.

xmfcx · 2024-05-15T11:38:44Z

Could you also update the readme of this package?

And add @vividf (yourself) and @meliketanrikulu (Melike Tanrıkulu) to the package maintainers under the package.xml?

sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp

xmfcx · 2024-05-15T11:43:17Z

For the PR title, please follow: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/#apply-conventional-commits-to-the-pull-request-title-required-automated

Or you won't pass this required test.

github-actions · 2024-05-15T12:48:37Z

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-7027/
Modified URLs:

Signed-off-by: vividf <yihsiang.fang@tier4.jp>

…arefoundation#6910) * fix(trajectory_follower_node): fix config file of plot juggler Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix spells Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: ignore spell check for "ROS2" Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix spells Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> --------- Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

…towarefoundation#6916) Signed-off-by: vividf <yihsiang.fang@tier4.jp>

…oundation#6914) * docs(tier4_simulated_clock_rviz_plugin): update how to use Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fixed tabbed warning Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix warning not working Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Fix bullet list Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

* refactor(avoidance): rebuild object info structure Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): add helper function to unify same process Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): remove unused header Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

…refoundation#6918) * feat(mission_planner): publish initial and goal poses to logs Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * refactoring to a function Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

…hance requirements on documenting interface changes (autowarefoundation#6896) improve the pull request template to enhance requirements on documenting interface changes Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp> Co-authored-by: Yuxuan Liu <uken.ryu.2@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

…os to besteffort (autowarefoundation#6864) feat: change radar tracks subscription qos to besteffort Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

…to ogm creation (autowarefoundation#6865) * feat: add downsample filter to ogm creation Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * feat: add downsample to multi_lidar ogm creation Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * chore: update package.xml and readme and param file Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * chore: update readme document Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * chore: fix downsample size Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * chore: fix cspell error Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * feat: add test_depend Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

autowarefoundation#6926) Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

fix: do not use c++20 keyword as a type alias Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

…owarefoundation#6921) Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

…foundation#6922) Signed-off-by: vividf <yihsiang.fang@tier4.jp>

autowarefoundation#6917) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

…foundation#6797) * fix(occupancy_grid_map_outlier_filter): add intensity field Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: add intensity Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: using empty padding field Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * refactor Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * Revert "refactor" This reverts commit d16b3e0. * refactor Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: radius filter Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

* refactor(lane_change): rework object filter Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Use preceeding lanes Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * style(pre-commit): autofix * fix preceding lanes Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Adds flow chart Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * prioritize on coming object check instead Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Fix flow chart and rearrange code to early return Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Colorize flow chart Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

Signed-off-by: vividf <yihsiang.fang@tier4.jp>

* feat: componentize-system_error_monitor Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> * modify: componentize-system_error_monitor Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> * feat: add explicit Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> --------- Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

…ndation#6995) * refactor(autoware_planning_test_manager): rename package Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * rename file Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Add maintainer for planning test utils Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Add route handler back into package.xml Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

…ion#7025) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

…n#7023) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

…7026) Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

… autoware_ (autowarefoundation#6817) * build(static_centerline_generator): prefix package and namespace with autoware_ Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * build: fix CMake target Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * build(autoware_static_centerline_generator): more renames Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * build(autoware_static_centerline_generator): fix namespace Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_static_centerline_generator): fix clang-tidy issues Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_static_centerline_generator): fix clang-tidy issues Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_static_centerline_generator): fix build issues Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_static_centerline_generator): fix build issues Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_static_centerline_optimizer): fix clang-tidy issues Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * build: fix build errors Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix: remove else statements after return Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_static_centerline_generator): fix clang-tidy issues Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * revert changes for static_centerline_generator Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_static_centerline_generator): add autoware_ prefix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_static_centerline_generator): fix filenames Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_static_centerline_generator): fix namespaces Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix: added prefix to missing strings Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * refactor(autoware_static_centerline_generator): move header files to src Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * refactor(autoware_static_centerline_generator): fix include paths Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * refactor(autoware_static_centerline_generator): rename base folder Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * Update planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml Co-authored-by: M. Fatih Cırıt <xmfcx@users.noreply.github.com> Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * build(autoware_static_centerline_generator): fix include in CMake Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * build(autoware_static_centerline_generator): fix missing includes Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> --------- Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: M. Fatih Cırıt <xmfcx@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

…oint query (autowarefoundation#7020) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

…and node names (autowarefoundation#7028) Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

…towarefoundation#7012) remove unused functions in route_handler Signed-off-by: vividf <yihsiang.fang@tier4.jp>

vividf · 2024-05-16T03:30:50Z

As one of the commits (suggested by the reviewer) didn't have the signoff, I followed the GitHub suggestion.
However, it makes this PR hard to review by having too many unrelated changes.

I created a new PR at #7031.
Sorry for the inconvenience @xmfcx @meliketanrikulu

github-actions bot added the component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) label May 15, 2024

vividf mentioned this pull request May 15, 2024

The distortion corrector package doesn't compensate for all motion distortion #6657

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xmfcx requested a review from meliketanrikulu May 15, 2024 11:36

xmfcx added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label May 15, 2024

xmfcx assigned vividf May 15, 2024

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xmfcx reviewed May 15, 2024

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sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp Outdated Show resolved Hide resolved

vividf changed the title ~~Feature/3d distortion corrector~~ feat(pointcloud_preprocessor): support 3d distortion corrector for distortion corrector node May 16, 2024

github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label May 16, 2024

vividf and others added 17 commits May 16, 2024 12:11

add support for 3d distortion corrector

87062b6

Signed-off-by: vividf <yihsiang.fang@tier4.jp>

chore(component_state_monitor): relax pose_estimator_pose timeout (au…

7675df2

…towarefoundation#6916) Signed-off-by: vividf <yihsiang.fang@tier4.jp>

chore(radar_track_msgs_converter): change radar tracks subscription q…

de94fc4

…os to besteffort (autowarefoundation#6864) feat: change radar tracks subscription qos to besteffort Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

fix(behavior_path_planner_common): fix warning of containerOutOfBounds (

7ace304

autowarefoundation#6926) Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

fix: do not use c++20 char8_t keyword (autowarefoundation#3629)

5f0ae9c

fix: do not use c++20 keyword as a type alias Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

fix(control_performance_analysis): fix bug of ignoredReturnValue (aut…

2b69477

…owarefoundation#6921) Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

fix(perception_online_evaluator): fix bug of constStatement (autoware…

7b91f0d

…foundation#6922) Signed-off-by: vividf <yihsiang.fang@tier4.jp>

refactor(bpp): path shifter clang tidy and logging level configuration (

bc3425f

autowarefoundation#6917) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

feat(crosswalk)!: change ego min assumed speed (autowarefoundation#6904)

10c3636

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

vividf and others added 11 commits May 16, 2024 12:11

fix readme

32e1beb

Signed-off-by: vividf <yihsiang.fang@tier4.jp>

fix more readme

293824d

Signed-off-by: vividf <yihsiang.fang@tier4.jp>

feat(diagnostic_graph_aggregator): componentize node (autowarefoundat…

b5edd91

…ion#7025) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

feat(component_interface_tools): componentize node (autowarefoundatio…

a2b8711

…n#7023) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

chore(simple_planning_simulator): add maintainer (autowarefoundation#…

7d66313

…7026) Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

perf(map_height_fitter): find z value with a more efficient closest p…

8d57d3f

…oint query (autowarefoundation#7020) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

fix(autoware_static_centerline_generator): remove prefix from topics …

069bac2

…and node names (autowarefoundation#7028) Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

refactor(route_handler): remove unused functions in route_handler (au…

fabb0e0

…towarefoundation#7012) remove unused functions in route_handler Signed-off-by: vividf <yihsiang.fang@tier4.jp>

vividf force-pushed the feature/3d_distortion_corrector branch from f5eca32 to fabb0e0 Compare May 16, 2024 03:13

vividf closed this May 16, 2024

vividf deleted the feature/3d_distortion_corrector branch May 16, 2024 03:27

meliketanrikulu mentioned this pull request May 16, 2024

feat(pointcloud_preprocessor): support 3d distortion corrector for distortion corrector node #7031

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vividf mentioned this pull request May 29, 2024

chore(pointcloud_preprocessor): add maintainers to pointcloud preprocessor #7163

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feat(pointcloud_preprocessor): support 3d distortion corrector for distortion corrector node #7027

feat(pointcloud_preprocessor): support 3d distortion corrector for distortion corrector node #7027

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feat(pointcloud_preprocessor): support 3d distortion corrector for distortion corrector node #7027

feat(pointcloud_preprocessor): support 3d distortion corrector for distortion corrector node #7027

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Description

Related links

Tests performed

Time comparison

Pointcloud comparison

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

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