feat(blockage_diag): time series blockage diag #1004

swiftfile · 2022-05-31T07:17:10Z

Description

This change in blockage-diag is to reduce false positives.
In the previous implementation, areas that did not return Lidar reflections, such as the sky, were also considered as blockages (false positives). because they were considered as blockages where there were no reflections in a single frame.
However, the new implementation detects blockages from multi-frame depth maps, so even areas like the sky are less likely to be considered blockage.
This is because even if a single frame points to the sky and has no reflections, another frame will have reflections from a building or traffic sign.

Tests performed

The top row is the depth map, the middle row is single frame blockage detection (old implementation), and the bottom row is multiple frame blockage detection (new implementation).
Take the right column as an example.
When the lidar is pointing to the sky all the time and no reflection is obtained, both single-frame and multiple-frame blockage detection are judged to be blockage (red pixel). However, in multi-frame blockage detection, if there is a reflection from a building or other object in another frame, it will not be detected as a blockage (blue pixel).
In addition, this implementation will not recognize a blockage as not blockage, even when there is actually a blockage, such as in the left column.

Notes for reviewers

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

I've confirmed the contribution guidelines.
The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

The PR follows the pull request guidelines.
The PR has been properly tested.
The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

There are no open discussions or they are tracked via tickets.
The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

codecov · 2022-05-31T07:47:49Z

Codecov Report

Merging #1004 (83afdd1) into main (f1a8851) will decrease coverage by 0.00%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1004      +/-   ##
==========================================
- Coverage   10.28%   10.28%   -0.01%     
==========================================
  Files        1204     1204              
  Lines       86808    86868      +60     
  Branches    20046    20046              
==========================================
  Hits         8931     8931              
- Misses      68718    68778      +60     
  Partials     9159     9159

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`10.27% <0.00%> (ø)`		Carriedforward from f1a8851

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...cessor/src/blockage_diag/blockage_diag_nodelet.cpp	`0.00% <0.00%> (ø)`

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp

Signed-off-by: swift_file <sky.y.m.318@gmail.com>

Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com>

Signed-off-by: swift_file <sky.y.m.318@gmail.com>

badai-nguyen · 2022-07-06T01:23:32Z

LGTM
Do you have other comments? @miursh @drwnz

miursh · 2022-07-06T01:55:41Z

Please give me some more days 🙏 Sorry for my late response

miursh

LGTM. If @badai-nguyen approves, please merge this PR.

…age_diag

* Add basic pixel value sum function Signed-off-by: swift_file <sky.y.m.318@gmail.com> * update change sum topic(depth_map->mask_image) Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * update to use circular buffer Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * refactor : rename topic_name and publisher_name Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * fix : properly colorized Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * fix normalize process Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * fix bug Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * fix typo Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * update set initial parameter Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * update: change the number of frames to variable Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * feat :Periodically add frames to the buffer ,style Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * chore rename variable Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * add Diagnostics item Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * add debug statement of rosparam Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * update : time series processing integrated to blockage diag Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * chore Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * refactor: change variable name Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * delete non used publisher Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * docs: add description about new parameter Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * update flowchart Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com> * fix: delete unnecessary item of Diagnotics Signed-off-by: swift_file <sky.y.m.318@gmail.com> * update:calc blockage_ratio by multi frame blockage mask Signed-off-by: swift_file <sky.y.m.318@gmail.com> * ci(pre-commit): autofix Signed-off-by: swift_file <sky.y.m.318@gmail.com> Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

swiftfile mentioned this pull request May 31, 2022

feat: add parameter about blockage_diag tier4/aip_launcher#63

Merged

swiftfile force-pushed the feature/time_series_blockage_diag branch 10 times, most recently from b6946df to acba6ce Compare June 2, 2022 12:27

swiftfile marked this pull request as ready for review June 2, 2022 12:29

swiftfile marked this pull request as draft June 2, 2022 12:30

swiftfile force-pushed the feature/time_series_blockage_diag branch 2 times, most recently from 04819de to 3d24057 Compare June 6, 2022 05:38

swiftfile marked this pull request as ready for review June 7, 2022 02:45

badai-nguyen requested review from miursh, drwnz and badai-nguyen June 7, 2022 02:57

badai-nguyen reviewed Jun 14, 2022

View reviewed changes

sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp Outdated Show resolved Hide resolved

sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp Show resolved Hide resolved

swiftfile force-pushed the feature/time_series_blockage_diag branch from b600400 to 52c78bb Compare June 22, 2022 08:44

swiftfile added 8 commits June 22, 2022 19:00

Add basic pixel value sum function

6711e65

Signed-off-by: swift_file <sky.y.m.318@gmail.com>

update change sum topic(depth_map->mask_image)

02811d4

Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com>

update to use circular buffer

c8f52ee

Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com>

refactor : rename topic_name and publisher_name

3143aaf

Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com>

fix : properly colorized

9138069

Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com>

fix normalize process

f4baecb

Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com>

fix bug

4de41b7

Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com>

fix typo

5b13ab9

Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com>

swiftfile added 3 commits June 22, 2022 19:00

update flowchart

3548013

Signed-off-by: YusukeMizoguchi <sky.y.m.318@gmail.com> Signed-off-by: swift_file <sky.y.m.318@gmail.com>

fix: delete unnecessary item of Diagnotics

e013c47

Signed-off-by: swift_file <sky.y.m.318@gmail.com>

update:calc blockage_ratio by multi frame blockage mask

870e577

Signed-off-by: swift_file <sky.y.m.318@gmail.com>

swiftfile force-pushed the feature/time_series_blockage_diag branch from bca43df to 870e577 Compare June 22, 2022 10:02

ci(pre-commit): autofix

756ecd4

miursh approved these changes Aug 4, 2022

View reviewed changes

badai-nguyen requested review from badai-nguyen and miursh August 16, 2022 08:20

badai-nguyen approved these changes Aug 16, 2022

View reviewed changes

Merge branch 'main' into feature/time_series_blockage_diag

7aadef8

badai-nguyen self-requested a review August 30, 2022 23:52

badai-nguyen approved these changes Aug 30, 2022

View reviewed changes

badai-nguyen enabled auto-merge (squash) August 30, 2022 23:55

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

83afdd1

…age_diag

auto-merge was automatically disabled August 31, 2022 03:14
Head branch was pushed to by a user without write access

swiftfile force-pushed the feature/time_series_blockage_diag branch from 9736caf to 83afdd1 Compare August 31, 2022 03:14

swiftfile closed this Aug 31, 2022

swiftfile reopened this Aug 31, 2022

badai-nguyen self-requested a review August 31, 2022 06:01

badai-nguyen approved these changes Aug 31, 2022

View reviewed changes

badai-nguyen merged commit 4b8cf17 into autowarefoundation:main Aug 31, 2022

tier4-autoware-public-bot bot mentioned this pull request Sep 1, 2022

chore: sync upstream tier4/autoware.universe#100

Merged

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

feat(blockage_diag): time series blockage diag #1004

feat(blockage_diag): time series blockage diag #1004

swiftfile commented May 31, 2022 •

edited

Loading

codecov bot commented May 31, 2022 •

edited

Loading

badai-nguyen commented Jul 6, 2022

miursh commented Jul 6, 2022

miursh left a comment

feat(blockage_diag): time series blockage diag #1004

feat(blockage_diag): time series blockage diag #1004

Conversation

swiftfile commented May 31, 2022 • edited Loading

Description

Related links

Tests performed

Notes for reviewers

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

codecov bot commented May 31, 2022 • edited Loading

Codecov Report

badai-nguyen commented Jul 6, 2022

miursh commented Jul 6, 2022

miursh left a comment

Choose a reason for hiding this comment

swiftfile commented May 31, 2022 •

edited

Loading

codecov bot commented May 31, 2022 •

edited

Loading