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elevation_map_loader package from autodrrt repo

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Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/ieiauto/autodrrt.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The map_loader package

Additional Links

No additional links.

Maintainers

  • Kosuke Takeuchi
  • Taichi Higashide

Authors

No additional authors.
src/autodrrt.application/perception/autoware.perception/elevation_map_loader/README.md

elevation_map_loader

Purpose

This package provides elevation map for compare_map_segmentation.

Inner-workings / Algorithms

Generate elevation_map from subscribed pointcloud_map and vector_map and publish it. Save the generated elevation_map locally and load it from next time.

The elevation value of each cell is the average value of z of the points of the lowest cluster.
Cells with No elevation value can be inpainted using the values of neighboring cells.

Inputs / Outputs

Input

Name Type Description
input/pointcloud_map sensor_msgs::msg::PointCloud2 The point cloud map
input/vector_map autoware_auto_mapping_msgs::msg::HADMapBin (Optional) The binary data of lanelet2 map
input/pointcloud_map_metadata autoware_map_msgs::msg::PointCloudMapMetaData (Optional) The metadata of point cloud map

Output

Name Type Description
output/elevation_map grid_map_msgs::msg::GridMap The elevation map
output/elevation_map_cloud sensor_msgs::msg::PointCloud2 (Optional) The point cloud generated from the value of elevation map

Service

Name Type Description
service/get_selected_pcd_map autoware_map_msgs::srv::GetSelectedPointCloudMap (Optional) service to request point cloud map. If pointcloud_map_loader uses selected pointcloud map loading via ROS 2 service, use this.

Parameters

Node parameters

Name Type Description Default value
map_layer_name std::string elevation_map layer name elevation
param_file_path std::string GridMap parameters config path_default
elevation_map_directory std::string elevation_map file (bag2) path_default
map_frame std::string map_frame when loading elevation_map file map
use_inpaint bool Whether to inpaint empty cells true
inpaint_radius float Radius of a circular neighborhood of each point inpainted that is considered by the algorithm [m] 0.3
use_elevation_map_cloud_publisher bool Whether to publish output/elevation_map_cloud false
use_lane_filter bool Whether to filter elevation_map with vector_map false
lane_margin float Margin distance from the lane polygon of the area to be included in the inpainting mask [m]. Used only when use_lane_filter=True. 0.0
use_sequential_load bool Whether to get point cloud map by service false
sequential_map_load_num int The number of point cloud maps to load at once (only used when use_sequential_load is set true). This should not be larger than number of all point cloud map cells. 1

GridMap parameters

The parameters are described on config/elevation_map_parameters.yaml.

General parameters

Name Type Description Default value
pcl_grid_map_extraction/num_processing_threads int Number of threads for processing grid map cells. Filtering of the raw input point cloud is not parallelized. 12

Grid map parameters

See: https://github.com/ANYbotics/grid_map/tree/ros2/grid_map_pcl

Resulting grid map parameters.

Name Type Description Default value
pcl_grid_map_extraction/grid_map/min_num_points_per_cell int Minimum number of points in the point cloud that have to fall within any of the grid map cells. Otherwise the cell elevation will be set to NaN. 3
pcl_grid_map_extraction/grid_map/resolution float Resolution of the grid map. Width and length are computed automatically. 0.3
pcl_grid_map_extraction/grid_map/height_type int The parameter that determine the elevation of a cell 0: Smallest value among the average values of each cluster, 1: Mean value of the cluster with the most points 1
pcl_grid_map_extraction/grid_map/height_thresh float Height range from the smallest cluster (Only for height_type 1) 1.0

Point Cloud Pre-processing Parameters

Rigid body transform parameters

Rigid body transform that is applied to the point cloud before computing elevation.

Name Type Description Default value
pcl_grid_map_extraction/cloud_transform/translation float Translation (xyz) that is applied to the input point cloud before computing elevation. 0.0
pcl_grid_map_extraction/cloud_transform/rotation float Rotation (intrinsic rotation, convention X-Y’-Z’’) that is applied to the input point cloud before computing elevation. 0.0

Cluster extraction parameters

Cluster extraction is based on pcl algorithms. See https://pointclouds.org/documentation/tutorials/cluster_extraction.html for more details.

Name Type Description Default value
pcl_grid_map_extraction/cluster_extraction/cluster_tolerance float Distance between points below which they will still be considered part of one cluster. 0.2
pcl_grid_map_extraction/cluster_extraction/min_num_points int Min number of points that a cluster needs to have (otherwise it will be discarded). 3
pcl_grid_map_extraction/cluster_extraction/max_num_points int Max number of points that a cluster can have (otherwise it will be discarded). 1000000

Outlier removal parameters

See https://pointclouds.org/documentation/tutorials/statistical_outlier.html for more explanation on outlier removal.

Name Type Description Default value
pcl_grid_map_extraction/outlier_removal/is_remove_outliers float Whether to perform statistical outlier removal. false
pcl_grid_map_extraction/outlier_removal/mean_K float Number of neighbors to analyze for estimating statistics of a point. 10
pcl_grid_map_extraction/outlier_removal/stddev_threshold float Number of standard deviations under which points are considered to be inliers. 1.0

Subsampling parameters

See https://pointclouds.org/documentation/tutorials/voxel_grid.html for more explanation on point cloud downsampling.

Name Type Description Default value
pcl_grid_map_extraction/downsampling/is_downsample_cloud bool Whether to perform downsampling or not. false
pcl_grid_map_extraction/downsampling/voxel_size float Voxel sizes (xyz) in meters. 0.02
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/elevation_map_loader.launch.xml
      • elevation_map_directory [default: $(find-pkg-share elevation_map_loader)/data/elevation_maps]
      • param_file_path [default: $(find-pkg-share elevation_map_loader)/config/elevation_map_parameters.yaml]
      • use_lane_filter [default: false]
      • use_sequential_load [default: false]
      • sequential_map_load_num [default: 1]
      • use_inpaint [default: true]
      • inpaint_radius [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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