feat(autoware_pointcloud_preprocessor): add pointcloud_densifier package #10226
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Signed-off-by: Kaan Çolak <kaancolak95@gmail.com>
kaancolak
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Signed-off-by: Kaan Çolak <kaancolak95@gmail.com>
Signed-off-by: Kaan Çolak <kaancolak95@gmail.com>
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #10226 +/- ##
==========================================
- Coverage 26.24% 26.21% -0.03%
==========================================
Files 1378 1382 +4
Lines 107445 107648 +203
Branches 41428 41532 +104
==========================================
+ Hits 28194 28223 +29
- Misses 76433 76604 +171
- Partials 2818 2821 +3
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YoshiRi
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Mar 27, 2025
Comment on lines
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| geometry_msgs::msg::TransformStamped transform_stamped; | ||
| try { | ||
| tf2::TimePoint current_time_point = tf2::TimePoint( | ||
| std::chrono::nanoseconds(current_msg->header.stamp.nanosec) + | ||
| std::chrono::seconds(current_msg->header.stamp.sec)); | ||
| tf2::TimePoint prev_time_point = tf2::TimePoint( | ||
| std::chrono::nanoseconds(previous_cloud->header.stamp.nanosec) + | ||
| std::chrono::seconds(previous_cloud->header.stamp.sec)); | ||
| transform_stamped = tf_buffer_->lookupTransform( | ||
| current_msg->header.frame_id, current_time_point, previous_cloud->header.frame_id, | ||
| prev_time_point, "map"); | ||
| } catch (tf2::TransformException & ex) { | ||
| RCLCPP_WARN(get_logger(), "Could not transform point cloud: %s", ex.what()); | ||
| continue; | ||
| } |
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[imho]
By maintaining point clouds in the map frame and setting the occupancy grid's origin relative to self-localization, we could reduce the number of transforms required for each point cloud, leading to a simpler and more economical design.
| std::memcpy(&x, &transformed_cloud.data[data_offset + x_offset], sizeof(float)); | ||
| std::memcpy(&y, &transformed_cloud.data[data_offset + y_offset], sizeof(float)); | ||
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|
||
| if (occupancy_grid.isOccupied(x, y)) { |
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[just a comment]
We may want more detailed condition for the future.
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Description
For more details : #10225
Related links
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How was this PR tested?
run ->
ros2 launch autoware_pointcloud_preprocessor pointcloud_densifier.launch.pyNotes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.