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fix(autoware_image_projection_based_fusion): fix bug of fov checker in pointpainting #9637

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fix(autoware_image_projection_based_fusion): fix bug of fov checker in pointpainting #9637

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2b84521
chore: update camera field of view in PointPaintingFusionNode
technolojin Dec 12, 2024
f349982
fix: check left and right separately for efficiency and accuracy
technolojin Dec 12, 2024
0ee76ad
refactor: move update camera field of view calculation to preprocess
technolojin Dec 12, 2024
849e529
fix: check the point after the image projection is done
technolojin Dec 13, 2024
355c183
Revert "fix: check the point after the image projection is done"
technolojin Dec 16, 2024
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4 changes: 3 additions & 1 deletion ...based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,9 @@ class PointPaintingFusionNode

rclcpp::Publisher<DetectedObjects>::SharedPtr obj_pub_ptr_;

std::vector<double> tan_h_; // horizontal field of view
// horizontal field of view
std::vector<double> fov_left_;
std::vector<double> fov_right_;

int omp_num_threads_{1};
float score_threshold_{0.0};
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25 changes: 18 additions & 7 deletions perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -159,11 +159,11 @@
sub_ = this->create_subscription<sensor_msgs::msg::PointCloud2>(
"~/input/pointcloud", rclcpp::SensorDataQoS().keep_last(3), sub_callback);

tan_h_.resize(rois_number_);
fov_left_.resize(rois_number_);
fov_right_.resize(rois_number_);

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perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp#L162-L163 

Added lines #L162 - L163 were not covered by tests
for (std::size_t roi_i = 0; roi_i < rois_number_; ++roi_i) {
auto fx = camera_info_map_[roi_i].k.at(0);
auto x0 = camera_info_map_[roi_i].k.at(2);
tan_h_[roi_i] = x0 / fx;
fov_left_[roi_i] = 0;
fov_right_[roi_i] = 0;

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perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp#L165-L166 

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}

detection_class_remapper_.setParameters(
Expand Down Expand Up @@ -251,6 +251,15 @@
painted_pointcloud_msg.point_step);
painted_pointcloud_msg.row_step =
static_cast<uint32_t>(painted_pointcloud_msg.data.size() / painted_pointcloud_msg.height);

// update camera fov
for (std::size_t roi_i = 0; roi_i < rois_number_; ++roi_i) {
const auto fx = camera_info_map_[roi_i].k.at(0);
const auto x0 = camera_info_map_[roi_i].k.at(2);
const auto width = camera_info_map_[roi_i].width;
fov_left_[roi_i] = -x0 / fx;
fov_right_[roi_i] = (-x0 + width) / fx;

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perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp#L257-L261 

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}

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Complex Method 

PointPaintingFusionNode::preprocess increases in cyclomatic complexity from 9 to 10, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
}

void PointPaintingFusionNode::fuseOnSingleImage(
Expand Down Expand Up @@ -338,9 +347,11 @@
p_y = point_camera.y();
p_z = point_camera.z();

if (p_z <= 0.0 || p_x > (tan_h_.at(image_id) * p_z) || p_x < (-tan_h_.at(image_id) * p_z)) {
continue;
}
/// check if the point is in the camera view
if (p_z <= 0.0) continue;
if (p_x < fov_left_.at(image_id) * p_z) continue;
if (p_x > fov_right_.at(image_id) * p_z) continue;

// project
Eigen::Vector2d projected_point = calcRawImageProjectedPoint(
pinhole_camera_model, cv::Point3d(p_x, p_y, p_z), point_project_to_unrectified_image_);
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