feat(pointcloud_preprocessor): support for 3d distortion correction algorithm and refactor distortion correction node #7137

vividf · 2024-05-27T08:14:28Z

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.
This PR also refactored the distortion correction node to make the code cleaner and support different undistortion strategies (ex: hybrid 2d/3d) in the future.

Changes:

once the node gets the TF information between imu, baselink, and lidar, it will stop getting the transformation again.
add 3d undistorted algorithm
refactor the code.
Add parameter file, parameter schema, and launch for this node.

Tests performed

Run the node

ros2 launch pointcloud_preprocessor distortion_corrector.launch.xml

I tested this PR and ensured the pointcloud output is the same and the processing time has a negligible time difference (the result is different every time).

Before the PR
Input: mirror pointcloud (58 frames)
distortion corrector: 2d

	Minimum	Maximum	Average
Time	7.15	15.29	10.09

After the PR
Test 1:

	Minimum	Maximum	Average
Time	7.516	12.719	9.47

Test2:

	Minimum	Maximum	Average
Time	7.5	14.9	10.5

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

After the PR

	Minimum	Maximum	Average
Time	13.02	22.26	16.05

Per point calculation time

test with 58 frames * 3 times
2d algorithm

Before PR

	Minimum	Maximum	Average	Std Dev	50%	99%
Time	4.000000e-08	3.256100e-05	5.722510e-08	3.861742e-08	5.600000e-08	7.000000e-08

After PR

	Minimum	Maximum	Average	Std Dev	50%	99%
Time	4.400000e-08	3.476100e-05	5.898946e-08	4.029356e-08	5.800000e-08	7.200000e-08

Pointcloud comparison

@meliketanrikulu
Checked distortion corrector input point cloud and output point cloud for understanding difference coming with this PR. I did this test by viewing the moments when it passed through speed bumps.
Before this PR:

Blue pc : Input of the distortion corrector
White pc : Output of the distortion corrector
We can see here pc which is output of the distortion corrector does not changes in direction z

After this PR:

Blue pc : Input of the distortion corrector
White pc : Output of the distortion corrector

We can see here pc which is output of the distortion corrector is changes in direction z.
After seeing this change, I tested it with ground segmentation to see if it provided an improvement.

Test with Ground Segmentation:

You can see below that ground segmentation adds ground points to non-ground points when passing through speed bump before the changes occur.
Before 3d distortion corrector (ground segmentation test) Video link is here

I observed that this error did not occur after checkout the 3d distortion corrector branch.
After 3d distortion corrector (ground segmentation test) Video link is here

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

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

…tion_correction

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

…ctor_node

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

sensing/pointcloud_preprocessor/CMakeLists.txt

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

knzo25 · 2024-06-04T09:04:53Z

@vividf
This PR and #7031 contain all the core changes to the distortion correction and thus makes no sense (to me) to have them split like this. If you only want us to check the refactor part in this PR, should the base not be the other PR rather than main? Otherwise it is really double work.

knzo25 · 2024-06-04T09:06:08Z

(I am aware that you want to merge the other one first, in which case this PR automatically would show only the rafactor changes, but 1) main is blocked right now. 2) the PRs should be merged rather together)

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

meliketanrikulu

Hello @vividf . I tested again with your new updates. I get same results. There doesn't seem to be any problem. Thanks for your your work. LGTM.

Related Tests

Distortion Corrector Input/Output point cloud Difference on speed bumps:

Green: Input of 3D distortion corrector
Pink: Output of the 3D distortion corrector
The output of the Distortion Corrector approximates the location of the objects on the map. (When I visualized the map on this image, I did not add it because it looked complicated, but I observed that it approached the location on the map).
I tested with ground segmentation.
The problem caused by wobbling of the point cloud while passing through the speed bump caused ground points to be added to non-ground points. I observed that it was corrected with 3D distortion corrector.
Test video is here
White point cloud is non-ground points in the video

knzo25 · 2024-07-01T11:05:28Z

@vividf
In case you have not done this before, I will leave the comment here:
It seems some of your commits were not signed off, which causes DCO to fail (it is required).
If you see the instructions, you can rebase to fix it, which is the clean way of doing things, but if you prefer, you can also click the Set DCO to pass button (please do not forget the -s from now on)

…ctor_node

vividf · 2024-07-02T06:46:34Z

@drwnz This PR requires your approval 😃

...d_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp

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

…f/autoware.universe into refactor/distortion_corrector_node

drwnz

LGTM 👍

drwnz · 2024-07-03T05:48:40Z

@vividf it would be good to sign all your commits to pass DCO.

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

…_corrector_node

…lgorithm and refactor distortion correction node (autowarefoundation#7137) * add support for 3d distortion correction Signed-off-by: vividf <yihsiang.fang@tier4.jp> * change parameter back to default and do small refactor Signed-off-by: vividf <yihsiang.fang@tier4.jp> * init version, need to double check Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix the logic error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * temporary save, need to delete some code * init done, need to check for 3d as time is high Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * temporaily save * clean code Signed-off-by: vividf <yihsiang.fang@tier4.jp> * remove unused parameters Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix constructor error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix spell errors Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix more spell errors Signed-off-by: vividf <yihsiang.fang@tier4.jp> * add undistorter to library Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix cmake and change class name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * Update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix imu to IMU Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove old naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change boolean variable naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change boolean variable naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change boolean variable naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix file name and variable name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix invlaid virtual function definitions Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: add sophus in package dependency Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove brackets Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix algorithm Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove timestamp_field_name and add default parameter for 3d distortion Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix known limits explanation Signed-off-by: vividf <yihsiang.fang@tier4.jp> * feat: add parameter schema and launch file for distortion correction node Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix function name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix IMU function name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix twist and imu iterator function name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: add inline for undistortPointcloud function Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: move varialbe to const Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix grammar error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix inline function Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: solve conflicts Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix bug in previous code Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix the template naming Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix the component test Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: solve conflicts Signed-off-by: vividf <yihsiang.fang@tier4.jp> --------- Signed-off-by: vividf <yihsiang.fang@tier4.jp> Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: palas21 <palas21@itu.edu.tr>

…lgorithm and refactor distortion correction node (autowarefoundation#7137) * add support for 3d distortion correction Signed-off-by: vividf <yihsiang.fang@tier4.jp> * change parameter back to default and do small refactor Signed-off-by: vividf <yihsiang.fang@tier4.jp> * init version, need to double check Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix the logic error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * temporary save, need to delete some code * init done, need to check for 3d as time is high Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * temporaily save * clean code Signed-off-by: vividf <yihsiang.fang@tier4.jp> * remove unused parameters Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix constructor error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix spell errors Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix more spell errors Signed-off-by: vividf <yihsiang.fang@tier4.jp> * add undistorter to library Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix cmake and change class name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * Update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix imu to IMU Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove old naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change boolean variable naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change boolean variable naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change boolean variable naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix file name and variable name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix invlaid virtual function definitions Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: add sophus in package dependency Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove brackets Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix algorithm Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove timestamp_field_name and add default parameter for 3d distortion Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix known limits explanation Signed-off-by: vividf <yihsiang.fang@tier4.jp> * feat: add parameter schema and launch file for distortion correction node Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix function name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix IMU function name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix twist and imu iterator function name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: add inline for undistortPointcloud function Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: move varialbe to const Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix grammar error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix inline function Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: solve conflicts Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix bug in previous code Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix the template naming Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix the component test Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: solve conflicts Signed-off-by: vividf <yihsiang.fang@tier4.jp> --------- Signed-off-by: vividf <yihsiang.fang@tier4.jp> Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com>

…lgorithm and refactor distortion correction node (#7137) * add support for 3d distortion correction Signed-off-by: vividf <yihsiang.fang@tier4.jp> * change parameter back to default and do small refactor Signed-off-by: vividf <yihsiang.fang@tier4.jp> * init version, need to double check Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix the logic error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * temporary save, need to delete some code * init done, need to check for 3d as time is high Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * temporaily save * clean code Signed-off-by: vividf <yihsiang.fang@tier4.jp> * remove unused parameters Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix constructor error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix spell errors Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix more spell errors Signed-off-by: vividf <yihsiang.fang@tier4.jp> * add undistorter to library Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix cmake and change class name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * Update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix imu to IMU Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove old naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change boolean variable naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change boolean variable naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change boolean variable naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix file name and variable name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix invlaid virtual function definitions Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: add sophus in package dependency Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove brackets Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix algorithm Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove timestamp_field_name and add default parameter for 3d distortion Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix known limits explanation Signed-off-by: vividf <yihsiang.fang@tier4.jp> * feat: add parameter schema and launch file for distortion correction node Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix function name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix IMU function name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix twist and imu iterator function name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: add inline for undistortPointcloud function Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: move varialbe to const Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix grammar error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix inline function Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: solve conflicts Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix bug in previous code Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix the template naming Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix the component test Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: solve conflicts Signed-off-by: vividf <yihsiang.fang@tier4.jp> --------- Signed-off-by: vividf <yihsiang.fang@tier4.jp> Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com>

…lgorithm and refactor distortion correction node (autowarefoundation#7137) * add support for 3d distortion correction Signed-off-by: vividf <yihsiang.fang@tier4.jp> * change parameter back to default and do small refactor Signed-off-by: vividf <yihsiang.fang@tier4.jp> * init version, need to double check Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix the logic error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * temporary save, need to delete some code * init done, need to check for 3d as time is high Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * temporaily save * clean code Signed-off-by: vividf <yihsiang.fang@tier4.jp> * remove unused parameters Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix constructor error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix spell errors Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix more spell errors Signed-off-by: vividf <yihsiang.fang@tier4.jp> * add undistorter to library Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix cmake and change class name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * Update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix imu to IMU Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove old naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change boolean variable naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change boolean variable naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change boolean variable naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix file name and variable name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix invlaid virtual function definitions Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: add sophus in package dependency Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove brackets Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix algorithm Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove timestamp_field_name and add default parameter for 3d distortion Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix known limits explanation Signed-off-by: vividf <yihsiang.fang@tier4.jp> * feat: add parameter schema and launch file for distortion correction node Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix function name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix IMU function name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix twist and imu iterator function name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: add inline for undistortPointcloud function Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: move varialbe to const Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix grammar error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix inline function Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: solve conflicts Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix bug in previous code Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix the template naming Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix the component test Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: solve conflicts Signed-off-by: vividf <yihsiang.fang@tier4.jp> --------- Signed-off-by: vividf <yihsiang.fang@tier4.jp> Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com>

vividf and others added 13 commits May 16, 2024 12:21

add support for 3d distortion correction

5f85981

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

Merge branch 'autowarefoundation:main' into feature/support_3d_distro…

f30364f

…tion_correction

change parameter back to default and do small refactor

026edf3

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

init version, need to double check

89216a1

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

fix the logic error

da8f829

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

temporary save, need to delete some code

80d88e1

init done, need to check for 3d as time is high

4d96e94

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

fix error

b990188

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

temporaily save

23e4ab9

clean code

3830fe6

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

remove unused parameters

bf07078

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

fix constructor error

93fa49f

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

Merge branch 'autowarefoundation:main' into refactor/distortion_corre…

4b7f9e8

…ctor_node

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) labels May 27, 2024

vividf mentioned this pull request May 27, 2024

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

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vividf added 2 commits May 27, 2024 17:34

fix spell errors

4023409

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

fix more spell errors

eb420a2

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

vividf marked this pull request as ready for review May 27, 2024 15:07

vividf requested review from amc-nu, badai-nguyen, knzo25, kyoichi-sugahara, miursh, YoshiRi and yukkysaito as code owners May 27, 2024 15:07

yukkysaito reviewed May 27, 2024

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add undistorter to library

8e8dfb9

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

fix: fix bug in previous code

9fef37b

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

meliketanrikulu reviewed Jun 28, 2024

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Merge branch 'autowarefoundation:main' into refactor/distortion_corre…

386a70c

…ctor_node

meliketanrikulu mentioned this pull request Jul 2, 2024

Improve Roll and Pitch estimation in Localization #6993

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vividf mentioned this pull request Jul 2, 2024

feat(pointcloud_preprocessor): add unit test for distortion corrector node #7783

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Merge branch 'main' into refactor/distortion_corrector_node

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vividf added 2 commits July 3, 2024 14:40

fix: fix the template naming

3c3ca35

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

Merge branch 'refactor/distortion_corrector_node' of github.com:vivid…

c395fab

…f/autoware.universe into refactor/distortion_corrector_node

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Merge branch 'main' into refactor/distortion_corrector_node

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vividf enabled auto-merge (squash) July 3, 2024 06:25

vividf disabled auto-merge July 3, 2024 06:45

vividf added 3 commits July 3, 2024 15:54

fix: fix the component test

d9c8b65

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

fix: solve conflicts

7f76efb

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

Merge remote-tracking branch 'upstream/main' into refactor/distortion…

ee8ace5

…_corrector_node

vividf merged commit a7b8a10 into autowarefoundation:main Jul 3, 2024
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meliketanrikulu mentioned this pull request Jul 3, 2024

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

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vividf mentioned this pull request Jul 5, 2024

ground remover package cannot delete ghost points appears front of car when passing speedbump #3673

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meliketanrikulu mentioned this pull request Jul 5, 2024

fix(ekf_localizer): add imu option for roll pitch and height estimation #7875

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vividf mentioned this pull request Jul 12, 2024

distortion_corrector cannot compensate point cloud while passing over speed bump #4961

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feat(pointcloud_preprocessor): support for 3d distortion correction algorithm and refactor distortion correction node #7137

feat(pointcloud_preprocessor): support for 3d distortion correction algorithm and refactor distortion correction node #7137

vividf commented May 27, 2024 •

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feat(pointcloud_preprocessor): support for 3d distortion correction algorithm and refactor distortion correction node #7137

feat(pointcloud_preprocessor): support for 3d distortion correction algorithm and refactor distortion correction node #7137

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vividf commented May 27, 2024 • edited Loading

Description

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Tests performed

Pointcloud comparison

Test with Ground Segmentation:

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

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vividf commented May 27, 2024 •

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