fix(ground segmentation): add elevation grid ground filter #1899

badai-nguyen · 2022-09-16T09:11:58Z

Description

Current scan_ground_filter use the input from cropped_box_filter which limited from 0 < z < vehicle_height. Therefore, in case of uneven road or slope, the ground pcl might be filtered out and failure to initialize initial point cloud by scan_ground_filter.
Extending range of crop_box_filter might cause height computation cost and unexpected miss-classification.
This makes sure ground filter to detect object on slope and uneven road while keep reasonable range of detection.

Current issue:

To cover a slope, crop_box_filter range should be extended:

Tests performed

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Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

codecov · 2022-09-16T09:35:33Z

Codecov Report

Base: 10.14% // Head: 10.11% // Decreases project coverage by -0.02% ⚠️

Coverage data is based on head (9143f38) compared to base (5e748e3).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1899      +/-   ##
==========================================
- Coverage   10.14%   10.11%   -0.03%     
==========================================
  Files        1256     1256              
  Lines       90741    90985     +244     
  Branches    20516    20516              
==========================================
  Hits         9203     9203              
- Misses      72130    72374     +244     
  Partials     9408     9408

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`10.12% <0.00%> (ø)`		Carriedforward from 927141b

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

Impacted Files	Coverage Δ
...ground_segmentation/scan_ground_filter_nodelet.hpp	`0.00% <0.00%> (ø)`
...nd_segmentation/src/scan_ground_filter_nodelet.cpp	`0.00% <0.00%> (ø)`

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Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

yukkysaito · 2022-09-20T15:16:06Z

perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp

@@ -91,6 +150,202 @@ void ScanGroundFilterComponent::calcVirtualGroundOrigin(pcl::PointXYZ & point)
  point.z = 0;
 }

+void ScanGroundFilterComponent::gridScan_classifyPointCloud(


I think lower camel case is better because other functions are used lower camel case.
Also, this function has deep nest. Can you remove deep nest by make sub-function or something?

thanks for your comment. I fixed it by 26c88bd

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

...ption_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

perception/ground_segmentation/docs/scan-ground-filter.md

perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

...ption_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp

miursh · 2022-10-03T05:48:10Z

perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp

+  for (size_t i = 0; i < in_cloud->points.size(); ++i) {
+    auto x{
+      in_cloud->points[i].x - vehicle_info_.wheel_base_m / 2.0f -
+      center_pcl_shift_};  // base on front wheel center


[Q] When do you need to tune center_pcl_shift ? What is the purpose of this parameter?

When some addition LiDARs setup on rear or front of vehicle is used. It is better to move the ray division center to be close to location with LiDAR.

OK 👍
Could you add some description about this to README?

I added here 9143f38

perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp

miursh · 2022-10-03T06:46:44Z

@badai-nguyen Could you add you and me to the maintainer in package.xml ?

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

miursh · 2022-10-04T13:16:27Z

@badai-nguyen Could you add TIER IV JIRA Link to "Related links"?

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

miursh

LGTM

miursh · 2022-10-05T12:53:02Z

@yukkysaito If you are ok, could you approve this?

yukkysaito · 2022-10-06T00:44:32Z

LGTM

…oundation#1899) * fix: add grid elevation scan ground filter Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: merge with scan ground filter Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * chore: update docs Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: remove debug variables Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: add switchable param for grid scan mode Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update docs Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chores: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(ground_filter): remove base_frame and fix ray_ground_filter (#1614) * fix(ray_ground_filter): cannot remove ground pcl Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: remove base_frame Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update docs Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chores: remove unnecessary calculation Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chores: remove unnecessary calculation Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update parameters Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update parameters Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix(ground segmentation): add elevation grid ground filter (autowarefoundation#1899) * fix: add grid elevation scan ground filter Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: merge with scan ground filter Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * chore: update docs Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: remove debug variables Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: add switchable param for grid scan mode Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update docs Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chores: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(ground_filter): remove base_frame and fix ray_ground_filter (autowarefoundation#1614) * fix(ray_ground_filter): cannot remove ground pcl Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: remove base_frame Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update docs Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chores: remove unnecessary calculation Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chores: remove unnecessary calculation Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update parameters Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update parameters Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix(ground segmentation): add elevation grid ground filter (autowarefoundation#1899) * fix: add grid elevation scan ground filter Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: merge with scan ground filter Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * chore: update docs Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: remove debug variables Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: add switchable param for grid scan mode Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update docs Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chores: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…oundation#1899) * fix: add grid elevation scan ground filter Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: merge with scan ground filter Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * chore: update docs Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: remove debug variables Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: add switchable param for grid scan mode Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update docs Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chores: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

badai-nguyen added 2 commits September 16, 2022 17:59

fix: add grid elevation scan ground filter

c1b0d0c

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fix: merge with scan ground filter

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badai-nguyen merged commit 5695431 into autowarefoundation:main Oct 6, 2022

miursh mentioned this pull request Oct 6, 2022

fix(ground_segmentation): Change ground segmentation parameters #1866

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tier4-autoware-public-bot bot mentioned this pull request Oct 7, 2022

chore: sync upstream tier4/autoware.universe#143

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badai-nguyen mentioned this pull request Oct 8, 2022

fix(ground_segmentation): add param for grid scan_ground_filter tier4/autoware_launch-old#509

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djargot mentioned this pull request Oct 11, 2022

Ground segmentation fails for points behind the low objects #669

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tkimura4 mentioned this pull request Oct 14, 2022

feat: add grid elevation ground filter tier4/autoware.universe#154

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This was referenced Oct 18, 2022

test: add test(ray_ground_filter/scan_ground_filter) and fix bug for ray_ground_filter #1401

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fix(ground segmentation): correct initial condition of ground grid #2117

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badai-nguyen deleted the fix/grid_elevation_ground_filter branch November 10, 2022 02:28

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fix(ground segmentation): add elevation grid ground filter #1899

fix(ground segmentation): add elevation grid ground filter #1899

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fix(ground segmentation): add elevation grid ground filter #1899

fix(ground segmentation): add elevation grid ground filter #1899

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