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calculate visibility score in ring outlier filter
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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‎sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md

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@@ -10,6 +10,8 @@ A method of operating scan in chronological order and removing noise based on th
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![ring_outlier_filter](./image/outlier_filter-ring.drawio.svg)
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Another feature of this node is that it calculates visibility based on outlier pointcloud and publish score as a topic. With this function, for example, in heavy rain, the sensing module can notify that the processing performance has reached its limit, which can lead to ensuring the safety of the vehicle.
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## Inputs / Outputs
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This implementation inherits `pointcloud_preprocessor::Filter` class, please refer [README](../README.md).
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### Core Parameters
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| Name | Type | Default Value | Description |
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| ---------------------------- | ------- | ------------- | -------------------------------------------------------------------------------------------------------- |
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| `distance_ratio` | double | 1.03 | |
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| `object_length_threshold` | double | 0.1 | |
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| `num_points_threshold` | int | 4 | |
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| `max_rings_num` | uint_16 | 128 | |
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| `max_points_num_per_ring` | size_t | 4000 | Set this value large enough such that `HFoV / resolution < max_points_num_per_ring` |
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| `publish_outlier_pointcloud` | bool | false | Flag to publish outlier pointcloud. Due to performance concerns, please set to false during experiments. |
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| Name | Type | Default Value | Description |
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| ---------------------------- | ------- | ------------- | ----------------------------------------------------------------------------------------------------------------------------- |
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| `distance_ratio` | double | 1.03 | |
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| `object_length_threshold` | double | 0.1 | |
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| `num_points_threshold` | int | 4 | |
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| `max_rings_num` | uint_16 | 128 | |
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| `max_points_num_per_ring` | size_t | 4000 | Set this value large enough such that `HFoV / resolution < max_points_num_per_ring` |
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| `publish_outlier_pointcloud` | bool | false | Flag to publish outlier pointcloud and visibility score. Due to performance concerns, please set to false during experiments. |
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| `min_azimuth_deg` | float | 0.0 | The left limit of azimuth for visibility score calculation |
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| `max_azimuth_deg` | float | 360.0 | The right limit of azimuth for visibility score calculation |
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| `max_distance` | float | 12.0 | The limit distance for for visibility score calculation |
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| `vertical_bins` | int | 128 | The number of vertical bin for visibility histogram |
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| `horizontal_bins` | int | 36 | The number of horizontal bin for visibility histogram |
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| `noise_threshold` | int | 2 | The parameter for determining whether it is noise |
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## Assumptions / Known limits
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‎sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp

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#include <memory>
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#include <string>
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#include <unordered_map>
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#include <utility>
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#include <vector>
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@@ -51,7 +50,6 @@ class RingOutlierFilterComponent : public pointcloud_preprocessor::Filter
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const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output,
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const TransformInfo & transform_info);
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image_transport::Publisher image_pub_;
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rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr visibility_pub_;
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private:
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int noise_threshold_;
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int vertical_bins_;
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int horizontal_bins_;
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float max_azimuth_diff_;
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float min_azimuth_deg_;
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float max_azimuth_deg_;

‎sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp

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debug_publisher_ = std::make_unique<DebugPublisher>(this, "ring_outlier_filter");
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outlier_pointcloud_publisher_ =
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this->create_publisher<PointCloud2>("debug/ring_outlier_filter", 1);
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image_pub_ =
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image_transport::create_publisher(this, "ring_outlier_filter/debug/frequency_image");
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visibility_pub_ = create_publisher<tier4_debug_msgs::msg::Float32Stamped>(
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"ring_outlier_filter/debug/visibility", rclcpp::SensorDataQoS());
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stop_watch_ptr_->tic("cyclic_time");
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if (get_param(p, "vertical_bins", vertical_bins_)) {
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RCLCPP_DEBUG(get_logger(), "Setting new vertical_bins to: %d.", vertical_bins_);
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}
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if (get_param(p, "max_azimuth_diff", max_azimuth_diff_)) {
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RCLCPP_DEBUG(get_logger(), "Setting new max_azimuth_diff to: %f.", max_azimuth_diff_);
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if (get_param(p, "horizontal_bins", horizontal_bins_)) {
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RCLCPP_DEBUG(get_logger(), "Setting new horizontal_bins to: %d.", horizontal_bins_);
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}
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if (get_param(p, "noise_threshold", noise_threshold_)) {
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RCLCPP_DEBUG(get_logger(), "Setting new noise_threshold to: %d.", noise_threshold_);
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}
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if (get_param(p, "max_azimuth_deg", max_azimuth_deg_)) {
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RCLCPP_DEBUG(get_logger(), "Setting new max_azimuth_deg to: %f.", max_azimuth_deg_);
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}
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if (get_param(p, "min_azimuth_deg", min_azimuth_deg_)) {
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RCLCPP_DEBUG(get_logger(), "Setting new min_azimuth_deg to: %f.", min_azimuth_deg_);
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}
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if (get_param(p, "max_distance", max_distance_)) {
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RCLCPP_DEBUG(get_logger(), "Setting new max_distance to: %f.", max_distance_);
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}
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rcl_interfaces::msg::SetParametersResult result;

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