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pointcloud_preprocessor package from autoware_car 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/qin-yuan/autoware_car.git
VCS Type git
VCS Version master
Last Updated 2024-12-19
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 ROS2 pointcloud_preprocessor package

Additional Links

No additional links.

Maintainers

  • amc-nu
  • Yukihiro Saito
  • Shunsuke Miura

Authors

  • Open Perception
  • Julius Kammerl
  • William Woodall
autoware_localization/utils/sensing/pointcloud_preprocessor/README.md

pointcloud_preprocessor

Purpose

The pointcloud_preprocessor is a package that includes the following filters:

  • removing outlier points
  • cropping
  • concatenating pointclouds
  • correcting distortion
  • downsampling

Inner-workings / Algorithms

Detail description of each filter’s algorithm is in the following links.

Filter Name Description Detail
concatenate_data subscribe multiple pointclouds and concatenate them into a pointcloud link
crop_box_filter remove points within a given box link
distortion_corrector compensate pointcloud distortion caused by ego vehicle’s movement during 1 scan link
downsample_filter downsampling input pointcloud link
outlier_filter remove points caused by hardware problems, rain drops and small insects as a noise link
passthrough_filter remove points on the outside of a range in given field (e.g. x, y, z, intensity) link
pointcloud_accumulator accumulate pointclouds for a given amount of time link
vector_map_filter remove points on the outside of lane by using vector map link
vector_map_inside_area_filter remove points inside of vector map area that has given type by parameter link

Inputs / Outputs

Input

Name Type Description
~/input/points sensor_msgs::msg::PointCloud2 reference points
~/input/indices pcl_msgs::msg::Indices reference indices

Output

Name Type Description
~/output/points sensor_msgs::msg::PointCloud2 filtered points

Parameters

Node Parameters

Name Type Default Value Description
input_frame string ” “ input frame id
output_frame string ” “ output frame id
max_queue_size int 5 max queue size of input/output topics
use_indices bool false flag to use pointcloud indices
latched_indices bool false flag to latch pointcloud indices
approximate_sync bool false flag to use approximate sync option

Assumptions / Known limits

pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.

(Optional) Error detection and handling

(Optional) Performance characterization

[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp

(Optional) Future extensions / Unimplemented parts

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/ring_passthrough_filter.launch.xml
      • input_topic_name [default: /sensing/lidar/top/pointcloud_raw]
      • output_topic_name [default: /sensing/lidar/top/ring_passthrough_filtered/pointcloud]
      • filter_field_name [default: ring]
      • filter_limit_min [default: 0]
      • filter_limit_max [default: 127]
      • filter_limit_negative [default: False]
      • keep_organized [default: False]
      • input_frame [default: ]
      • output_frame [default: base_link]
  • launch/random_downsample_filter.launch.xml
      • input_topic_name [default: /sensing/lidar/top/pointcloud_raw]
      • output_topic_name [default: /sensing/lidar/top/random_downsample_filter/pointcloud]
      • sample_num [default: 1500]
      • input_frame [default: ]
      • output_frame [default: base_link]
  • launch/dual_return_outlier_filter.launch.xml
      • input_topic_name [default: /velodyne_points_ex]
      • output_topic_name [default: /pointcloud_filtered]
      • input_frame [default: velodyne]
      • output_frame [default: velodyne]
      • visibility_threshold [default: 0.95]
      • vertical_bins [default: 128]
      • max_azimuth_diff [default: 50.0]
  • launch/preprocessor.launch.xml
      • input_points_raw_list [default: ['/points_raw']]
      • output_points_raw [default: /points_raw/cropbox/filtered]
      • tf_output_frame [default: base_link]
  • launch/blockage_diag.launch.xml
      • input_topic_name [default: pointcloud_raw_ex]
      • output_topic_name [default: blockage_diag/pointcloud]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pointcloud_preprocessor at Robotics Stack Exchange

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