feat: add ring based filter for velodyne #69

mebasoglu · 2023-09-06T11:47:00Z

PR Type

New Feature

Description

This is an implementation for a ring based filter. It removes points if they are within specified angle ranges.

Review Procedure

There are two new parameters: enable_ring_section_filter and excluded_ring_sectors on velodyne_decoder_ros_wrapper.cpp.

enable_ring_section_filter is a boolean to activate the filter.

excluded_ring_sectors is a string which holds a list of excluded sectors. [12, 31110, 31495], [], []

An excluded region is a list which holds ring, start angle and end angle. [12, 31110, 31495]

Since ROS 2 doesn't support setting parameters as a list of lists, nlohmann-json-dev library has been used.
excluded_ring_sectors string is parsed using the library.

On nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
file a new function has been added check_excluded_point.

This function takes channel id and azimuth angle of the point and checks if the point inside any of the regions specified
for that ring.

The function was used in vlp16_decoder.hpp, vlp32_decoder.hpp and vlp128_decoder.hpp.

A sample usage has been added to velodyne_launch_all_hw.xml.

<node pkg="nebula_ros" exec="velodyne_driver_ros_wrapper_node"
      name="velodyne_cloud" output="screen">
  ...
  <param name="enable_ring_section_filter" value="true"/>
  <param name="excluded_ring_sectors" type="str"
         value="[0, 3500, 6900], [1, 3400, 6500], [2, 3200, 4600], [3, 3200, 4600]"/>
</node>

Here is a sample bag file which has only /velodyne_packets of a VLP16 to test: https://drive.google.com/drive/folders/1LY_Nyt5Z_M6rG4juSB1UiKk9IFBKVxU7?usp=sharing

These parameters were used for the bag:

<arg name="enable_ring_section_filter" default="true"/>
<arg name="excluded_ring_sectors"
         default="'[[12, 31110, 31495], [0, 3500, 6900], [1, 3400, 6500], [2, 3200, 4600], [3, 3200, 4600], [4, 3000, 4300], [5, 2950, 4050], [6, 3100, 3800], [0, 26000, 32200], [1, 26000, 32200], [2, 26000, 31000], [3, 26000, 30000], [4, 26000, 28000]]'"/>

Remarks

Comparison between main branch and this PR:

	main	ring_filter
d_total AVG	0.363243	0.469112
n_out AVG	15869.5	15869.5
d_total STD	0.108956	0.109353
n_out STD	262.889	262.889
d_total AVG % rel to main	100	129.146
n_out AVG % rel to main	100	100
d_total STD % rel to main	100	100.364
n_out STD % rel to main	100	100

Without the filter, we have reflected points which are under the ground:

With the filter:

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PR title describes the changes

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codecov-commenter · 2023-09-06T12:00:51Z

Codecov Report

Attention: Patch coverage is 8.51064% with 43 lines in your changes are missing coverage. Please review.

Project coverage is 9.21%. Comparing base (1ae3f75) to head (0ae17b5).

Files	Patch %	Lines
..._ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp	0.00%	32 Missing ⚠️
...coders_velodyne/decoders/velodyne_scan_decoder.hpp	0.00%	4 Missing and 2 partials ⚠️
...ebula_decoders_velodyne/decoders/vlp32_decoder.cpp	0.00%	3 Missing ⚠️
...ebula_decoders_velodyne/decoders/vlp16_decoder.cpp	66.66%	0 Missing and 1 partial ⚠️
...bula_decoders_velodyne/decoders/vls128_decoder.cpp	66.66%	0 Missing and 1 partial ⚠️

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Additional details and impacted files

@@           Coverage Diff            @@
##            main     #69      +/-   ##
========================================
+ Coverage   4.84%   9.21%   +4.37%     
========================================
  Files        249      78     -171     
  Lines      19210    9384    -9826     
  Branches    1075    1060      -15     
========================================
- Hits         931     865      -66     
+ Misses     17579    7820    -9759     
+ Partials     700     699       -1

Flag	Coverage Δ
differential	`9.21% <8.51%> (?)`
total	`?`

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amc-nu · 2023-09-11T09:35:47Z

This looks like an interesting feature.
However, I think this should be implemented as a composable node for any current and future lidar model.

mebasoglu · 2023-12-14T14:38:13Z

This looks like an interesting feature. However, I think this should be implemented as a composable node for any current and future lidar model.

Hello @amc-nu , do you mean a new composable node inside Nebula or inside Autoware sensing pipeline? My idea was to implement it inside the driver so that the delay will be lower.

mebasoglu · 2024-03-08T12:43:33Z

Hello @drwnz , this PR is ready for a review.

README.md

xmfcx · 2024-04-03T12:37:08Z

README.md

+| cloud_min_angle        | uint16 | 0        | degrees [0, 360] | FoV start angle                  |
+| cloud_max_angle        | uint16 | 359      | degrees [0, 360] | FoV end angle                    |
+| invalid_point_remove   | bool   | false    | true, false      | Enable ring based filter*        |
+| invalid_regions        | string |          |                  | Invalid point regions to remove* |


xmfcx · 2024-04-03T12:48:40Z

README.md

+*`invalid_point_remove` activates the ring based filter which removes points if they are within specified angle ranges. 
+
+*The format for an invalid region is [ring_id, start_angle, end_angle]
+
+*Angles are given in degrees and multiplied by 100. For instance, 34.44 degrees is represented as 3444. 
+
+*Invalid regions are specified as a string containing a list of invalid regions. Ensure that you have quotation marks to make it string. For example:


Suggested change

*`invalid_point_remove` activates the ring based filter which removes points if they are within specified angle ranges.

*The format for an invalid region is [ring_id, start_angle, end_angle]

*Angles are given in degrees and multiplied by 100. For instance, 34.44 degrees is represented as 3444.

*Invalid regions are specified as a string containing a list of invalid regions. Ensure that you have quotation marks to make it string. For example:

- `enable_ring_section_filter` toggles a ring-based filter to remove points located within predefined angle ranges.

- Specify an excluded section using the format `[ring_id, start_angle, end_angle]`.

- Angles must be in degrees, scaled by a factor of 100. For example, represent `34.44` degrees as `3444`.

- It's possible to define multiple excluded regions for the same ring, allowing for versatile filtering configurations.

- Define excluded regions as a string containing a list of such regions, enclosed in quotation marks. For instance:

xmfcx · 2024-04-03T12:49:19Z

README.md

+
+*Multiple invalid regions are possible for the same ring.


Suggested change

*Multiple invalid regions are possible for the same ring.

xmfcx · 2024-04-03T13:20:18Z

README.md

+          name="velodyne_cloud" output="screen">
+        ...
+        <param name="invalid_point_remove" value="true"/>
+        <param name="invalid_regions" value="'[[0, 3500, 6900], [1, 3400, 6500], [2, 3200, 4600], [3, 3200, 4600]]'"/>


Suggested change

<param name="invalid_regions" value="'[[0, 3500, 6900], [1, 3400, 6500], [2, 3200, 4600], [3, 3200, 4600]]'"/>

<param name="invalid_regions" value="'[[0, 3500, 6900], [1, 3400, 6500], [2, 3200, 4600], [3, 3200, 4600]]'"/>

Why do we need the additional single quotes?

Hello, since ROS 2 doesn't support setting parameters as a list of lists, Boost Property Tree library has been used.
invalid_regions is assumed as a string and parsed with the library. To make it string, I have added another set of quotes.

xmfcx · 2024-04-03T14:04:58Z

nebula_ros/include/nebula_ros/velodyne/velodyne_decoder_ros_wrapper.hpp

+#include "boost/property_tree/json_parser.hpp"
+#include "boost/property_tree/ptree.hpp"


Suggested change

#include "boost/property_tree/json_parser.hpp"

#include "boost/property_tree/ptree.hpp"

#include <nlohmann/json.hpp>

Let's use this instead, boost is too heavy for this task.

<depend>nlohmann-json-dev</depend> can be added to the package.xml file and all should work fine.

And the rest of the code will be much cleaner and also will be error checked:

// Assuming `nlohmann::json` namespace is available as `json` void parseInvalidRegions(const std::string& regions_json) { // Parse the JSON string auto invalid_regions_json = json::parse(regions_json); // Clear existing regions sensor_configuration_.invalid_regions.clear(); // Iterate over the parsed JSON array for (const auto& region : invalid_regions_json) { // Extract the ring number, start angle, and end angle from each sub-array int ring_number = region[0]; uint16_t start = region[1]; uint16_t end = region[2]; // Add the InvalidRegion to the map under the corresponding ring number sensor_configuration_.invalid_regions[ring_number].emplace_back(InvalidRegion{start, end}); } }

mebasoglu · 2024-04-16T15:15:07Z

Hello @xmfcx , I updated the PR. Could you please have another look?

Signed-off-by: Mehmet Emin BAŞOĞLU <[email protected]>

mebasoglu · 2024-04-26T13:34:12Z

Hello @drwnz @mojomex , could you please review this PR? Maybe we can merge it before #138

drwnz

Thank you for the PR, and apologies for the delay in review!
We would really like to apply this methodology to Hesai decoders as well, so if you can look at the suggested changes, we will proceed quickly to review. Mostly, if we are to adopt throughout multiple sensor manufacturers and models, we need to make sure to minimize the performance cost.

drwnz · 2024-06-12T12:51:36Z

...decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp

@@ -182,6 +182,19 @@ class VelodyneScanDecoder
  virtual void reset_pointcloud(size_t n_pts, double time_stamp) = 0;
  /// @brief Resetting overflowed point cloud buffer
  virtual void reset_overflow(double time_stamp) = 0;
+


This check has to be calculated with a search in the excluded regions parameters for every point, which is causing the performance overhead. We suggest pre-computing the binary value for each azimuth and channel value to make a map, allowing a single conditional to check if the point is valid or not.

mojomex

@mebasoglu Thank you for your contribution!
I'm sorry for responding that late 🙇 but here is my review.

The feature itself looks great and is a nice addition to Nebula but I would like you to refactor the filter code into its own isolated class as much as possible to properly separate the sensor features from Nebula features. Please respond to the comments I left above.

Thank you!

mojomex · 2024-06-13T06:37:02Z

README.md

+
+- `enable_ring_section_filter` toggles a ring-based filter to remove points located within predefined angle ranges.
+- Specify an excluded section using the format `[ring_id, start_angle, end_angle]`.
+- Angles must be in degrees, scaled by a factor of 100. For example, represent `34.44` degrees as `3444`.


In my opinion, it would be more user-friendly to have a float here (34.44) and for Nebula to convert it to an int 3444 internally.

mojomex · 2024-06-13T06:37:55Z

nebula_common/include/nebula_common/velodyne/velodyne_common.hpp

+/// @brief Invalid region on the cloud to be removed. `start` and `end` represent angles of the
+/// region.
+struct ExcludedRegion
+{
+  uint16_t start;
+  uint16_t end;
+};


As the filter is not inherently a feature of the sensor, please move it to a class RingSectionFilter in its own header file.

mojomex · 2024-06-13T06:40:31Z

nebula_common/include/nebula_common/velodyne/velodyne_common.hpp

+  bool ring_section_filter;
+  std::map<int, std::vector<ExcludedRegion>>
+    excluded_ring_sectors;  // Key holds the channel id, value holds excluded ring sectors belong to that
+                            // channel


As it is now, the bool and std::map could be assigned in invalid ways, e.g. ring_section_filter = false; excluded_ring_sectors = { /* not empty */ };. We should avoid such possibilities as much as possibe to make Nebula safer and more maintainable.
This would be cleaner as std::optional<RingSectionFilter>.

mojomex · 2024-06-13T06:41:54Z

...decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp

+  /// @brief Checks if the point is inside invalid regions.
+  /// @param channel Channel id of the point.
+  /// @param azimuth Azimuth angle of the point.
+  /// @return True if the point is invalid, false otherwise.
+  bool check_excluded_point(const int & channel, const uint16_t & azimuth)
+  {
+    if (!sensor_configuration_->ring_section_filter) return false;
+    const auto & sectors = sensor_configuration_->excluded_ring_sectors[channel];
+    return std::any_of(sectors.begin(), sectors.end(), [azimuth](const auto & sector) {
+      return azimuth >= sector.start && azimuth <= sector.end;
+    });
+  }


since the filter is not an inherent feature of the sensor, please move this to a class RingSectionFilter (and as @drwnz mentioned, precompute in the class's constructor).

mojomex · 2024-06-13T06:49:41Z

nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp

+              const bool is_not_excluded_point =
+                !check_excluded_point(corrections.laser_ring, azimuth_corrected);
+
+              if ((is_within_min_max_angle || is_outside_max_min_angle) && is_not_excluded_point) {


To make clear to the reader that the existing FOV filtering (min_angle and max_angle) and the new RingBasedFilter are separate features, please refactor to:

Suggested change

const bool is_not_excluded_point =

!check_excluded_point(corrections.laser_ring, azimuth_corrected);

if ((is_within_min_max_angle || is_outside_max_min_angle) && is_not_excluded_point) {

const bool is_excluded_point =

check_excluded_point(corrections.laser_ring, azimuth_corrected);

if (is_excluded_point) {

continue;

}

if (is_within_min_max_angle || is_outside_max_min_angle) {

mojomex · 2024-06-13T06:50:59Z

nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp

+        const bool is_not_excluded_point =
+          !check_excluded_point(corrections.laser_ring, block.rotation);
+
+        if ((is_within_min_max_angle || is_outside_max_min_angle) && is_not_excluded_point) {


To make clear to the reader that the existing FOV filtering (min_angle and max_angle) and the new RingBasedFilter are separate features, please refactor to:

Suggested change

const bool is_not_excluded_point =

!check_excluded_point(corrections.laser_ring, block.rotation);

if ((is_within_min_max_angle || is_outside_max_min_angle) && is_not_excluded_point) {

const bool is_excluded_point =

check_excluded_point(corrections.laser_ring, block.rotation);

if (is_excluded_point) {

continue;

}

if (is_within_min_max_angle || is_outside_max_min_angle) {

mojomex · 2024-06-13T06:51:42Z

nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp

+            const bool is_not_excluded_point =
+              !check_excluded_point(corrections.laser_ring, azimuth_corrected);
+
+            if ((is_within_min_max_angle || is_outside_max_min_angle) && is_not_excluded_point) {


To make clear to the reader that the existing FOV filtering (min_angle and max_angle) and the new RingBasedFilter are separate features, please refactor to:

Suggested change

const bool is_not_excluded_point =

!check_excluded_point(corrections.laser_ring, azimuth_corrected);

if ((is_within_min_max_angle || is_outside_max_min_angle) && is_not_excluded_point) {

const bool is_excluded_point =

check_excluded_point(corrections.laser_ring, azimuth_corrected);

if (is_excluded_point) {

continue;

}

if (is_within_min_max_angle || is_outside_max_min_angle) {

mojomex · 2024-06-13T06:54:45Z

nebula_ros/launch/velodyne_launch_all_hw.xml

@@ -19,13 +19,19 @@

    <arg name="setup_sensor" default="True" description="Enable sensor setup on hw-driver."/>

+    <arg name="enable_ring_section_filter" default="false"/>
+    <arg name="excluded_ring_sectors"
+         default="[0, 3500, 6900], [1, 3400, 6500], [2, 3200, 4600], [3, 3200, 4600]"/>


As noted in README.md, I think specifying floats (35.00, 69.00 etc.) is more easily understandable to the user.

Also, please set the default to an emty filter. Instead, a `description=". Example: '[0, 3500, 6900], ...'" would be nice.

mojomex · 2024-06-13T06:58:57Z

nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp

+      // Add the ExcludedRegion to the map under the corresponding ring number
+      sensor_configuration.excluded_ring_sectors[ring_number].emplace_back(
+        drivers::ExcludedRegion{start, end});


As noted in velodyne_common.hpp, it would be nicer (better separation of concerns) if the configuration contained a std::optional<RingBasedFilter> instead of bool ring_section_filter and excluded_ring_sectors.

mojomex · 2024-06-13T06:59:48Z

README.md

+- `enable_ring_section_filter` toggles a ring-based filter to remove points located within predefined angle ranges.
+- Specify an excluded section using the format `[ring_id, start_angle, end_angle]`.
+- Angles must be in degrees, scaled by a factor of 100. For example, represent `34.44` degrees as `3444`.
+- It's possible to define multiple excluded regions for the same ring, allowing for versatile filtering configurations.


"It's" sounds a bit informal, how about:

Suggested change

- It's possible to define multiple excluded regions for the same ring, allowing for versatile filtering configurations.

- It is possible to define multiple excluded regions for the same ring, allowing for versatile filtering configurations.

mebasoglu · 2024-06-26T09:58:44Z

Hello @drwnz @mojomex, unfortunately I couldn't take a look at the PR since your review. It seems we aren't able to work on this right now. I wonder if it's all right for you to continue with this issue?

mojomex · 2024-06-27T06:25:25Z

@mebasoglu As we want to implement something similar for Hesai sensors too, I think we can pick up where you left off. Not sure if it will happen this week, but definitely soon!

mebasoglu changed the title ~~Memin/dev/ring based filter~~ feat: add ring based filter for velodyne Sep 6, 2023

mebasoglu force-pushed the memin/dev/ring-based-filter branch from 7c0c855 to 1c63a05 Compare December 13, 2023 17:07

mebasoglu marked this pull request as draft January 26, 2024 11:38

mebasoglu self-assigned this Jan 26, 2024

mebasoglu force-pushed the memin/dev/ring-based-filter branch from 1c63a05 to 5cdce1a Compare February 3, 2024 09:53

mebasoglu force-pushed the memin/dev/ring-based-filter branch from 78ee135 to 77a4781 Compare March 8, 2024 09:45

mebasoglu marked this pull request as ready for review March 8, 2024 12:42

mebasoglu linked an issue Mar 8, 2024 that may be closed by this pull request

Enhancement: Add Ring-Based Filter for Removing Reflected and Vehicle Points #60

Open

drwnz requested review from drwnz and amc-nu March 11, 2024 09:03

mebasoglu force-pushed the memin/dev/ring-based-filter branch 2 times, most recently from deaea10 to 6154ce8 Compare March 19, 2024 09:35

mebasoglu force-pushed the memin/dev/ring-based-filter branch from 6154ce8 to 0ae17b5 Compare April 1, 2024 09:45

xmfcx reviewed Apr 3, 2024

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xmfcx reviewed Apr 3, 2024

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mebasoglu force-pushed the memin/dev/ring-based-filter branch 2 times, most recently from 99d5413 to 847c1a7 Compare April 16, 2024 14:50

mebasoglu force-pushed the memin/dev/ring-based-filter branch from a47d4a7 to 96f1c4a Compare April 18, 2024 09:08

mebasoglu added 3 commits April 26, 2024 16:32

Check invalid points by their ring and angle and do not use them

c3e4e11

Created InvalidRegion struct and tidied up invalid point remover

0c754f8

Add filter to VLP32 and VLS128

ac085aa

mebasoglu added 10 commits April 26, 2024 16:32

refactor(velodyne): improve invalid point remove

20f427f

Signed-off-by: Mehmet Emin BAŞOĞLU <[email protected]>

fix(velodyne): don't get invalid angle params if remove is inactive

7f853a9

chore: tidy up

e361e12

docs: add ring based filter params to readme

4d33e1f

chore(nebula_ros): make logs as debug

74c639e

docs: explain invalid point remove

7de409b

refactor: rename filter and parse regions with a different library

8b7ca7e

refactor: rename filter parameter name

9820954

fix: typo

59a5c22

refactor: simplify if condition

860f6a0

mebasoglu force-pushed the memin/dev/ring-based-filter branch from 96f1c4a to 860f6a0 Compare April 26, 2024 13:32

drwnz requested changes Jun 12, 2024

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drwnz requested a review from mojomex June 12, 2024 12:55

mojomex requested changes Jun 13, 2024

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tier4 deleted a comment from mojomex Jun 14, 2024

mojomex mentioned this pull request Aug 13, 2024

feat(hesai): add a ring section filter to Hesai sensors #182

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feat: add ring based filter for velodyne #69

feat: add ring based filter for velodyne #69

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mojomex commented Jun 27, 2024

	\| invalid_regions \| string \| \| \| Invalid point regions to remove* \|
	\| excluded_ring_sectors \| string \| \| \| Identifies and prevents specific ring sectors from being included in the point cloud based on ring ID, start angle, and end angle. \|

	<param name="invalid_regions" value="'[[0, 3500, 6900], [1, 3400, 6500], [2, 3200, 4600], [3, 3200, 4600]]'"/>
	<param name="invalid_regions" value="'[[0, 3500, 6900], [1, 3400, 6500], [2, 3200, 4600], [3, 3200, 4600]]'"/>

		#include "boost/property_tree/json_parser.hpp"
		#include "boost/property_tree/ptree.hpp"

	#include "boost/property_tree/json_parser.hpp"
	#include "boost/property_tree/ptree.hpp"
	#include <nlohmann/json.hpp>

	- It's possible to define multiple excluded regions for the same ring, allowing for versatile filtering configurations.
	- It is possible to define multiple excluded regions for the same ring, allowing for versatile filtering configurations.

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