From 6dcdb22ab67990569e2031d4f22482681da7f727 Mon Sep 17 00:00:00 2001 From: Max SCHMELLER Date: Wed, 25 Dec 2024 22:47:38 +0900 Subject: [PATCH] WIP Signed-off-by: Max SCHMELLER --- nebula_decoders/CMakeLists.txt | 4 ++ .../point_filters/polar_mask.hpp | 63 ++++++++++++++++++ .../decoders/hesai_decoder.hpp | 42 +++++++----- nebula_ros/config/lidar/hesai/roi-grad1.bmp | Bin 0 -> 1441078 bytes .../config/lidar/hesai/roi-grad1_mask.bmp | Bin 0 -> 4320054 bytes .../config/lidar/hesai/roi-grad1_mask.png | Bin 0 -> 3540 bytes nebula_ros/config/lidar/hesai/roi-grad2.bmp | Bin 0 -> 1441078 bytes .../config/lidar/hesai/roi-grad2_mask.bmp | Bin 0 -> 4320054 bytes .../config/lidar/hesai/roi-grad2_mask.png | Bin 0 -> 10348 bytes nebula_ros/config/lidar/hesai/roi.bmp | Bin 0 -> 4320138 bytes nebula_ros/config/lidar/hesai/roi_mask.bmp | Bin 0 -> 1441078 bytes scripts/make_downsample_mask.py | 53 +++++++++++++++ scripts/requirements.txt | 1 + 13 files changed, 148 insertions(+), 15 deletions(-) create mode 100644 nebula_decoders/include/nebula_decoders/nebula_decoders_common/point_filters/polar_mask.hpp create mode 100644 nebula_ros/config/lidar/hesai/roi-grad1.bmp create mode 100644 nebula_ros/config/lidar/hesai/roi-grad1_mask.bmp create mode 100644 nebula_ros/config/lidar/hesai/roi-grad1_mask.png create mode 100644 nebula_ros/config/lidar/hesai/roi-grad2.bmp create mode 100644 nebula_ros/config/lidar/hesai/roi-grad2_mask.bmp create mode 100644 nebula_ros/config/lidar/hesai/roi-grad2_mask.png create mode 100644 nebula_ros/config/lidar/hesai/roi.bmp create mode 100644 nebula_ros/config/lidar/hesai/roi_mask.bmp create mode 100755 scripts/make_downsample_mask.py diff --git a/nebula_decoders/CMakeLists.txt b/nebula_decoders/CMakeLists.txt index e94afcf2a..33941598e 100644 --- a/nebula_decoders/CMakeLists.txt +++ b/nebula_decoders/CMakeLists.txt @@ -25,6 +25,8 @@ find_package(robosense_msgs REQUIRED) find_package(sensor_msgs REQUIRED) find_package(velodyne_msgs REQUIRED) find_package(yaml-cpp REQUIRED) +find_package(PNG REQUIRED) +find_package(png++ REQUIRED) include_directories(PUBLIC include @@ -52,10 +54,12 @@ add_library(nebula_decoders_hesai SHARED ) target_link_libraries(nebula_decoders_hesai PUBLIC ${pandar_msgs_TARGETS} + ${PNG_LIBRARIES} ) target_include_directories(nebula_decoders_hesai PUBLIC ${pandar_msgs_INCLUDE_DIRS} + ${PNG_INCLUDE_DIRS} ) # Velodyne diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_common/point_filters/polar_mask.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_common/point_filters/polar_mask.hpp new file mode 100644 index 000000000..952cd41eb --- /dev/null +++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_common/point_filters/polar_mask.hpp @@ -0,0 +1,63 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#pragma once + +#include +#include +#include + +#include +#include +#include + +namespace nebula::drivers::point_filters +{ + +class PolarMaskFilter +{ +public: + PolarMaskFilter( + const std::string_view & filename, double azimuth_min, double azimuth_max, double elevation_min, + double elevation_max) + : azimuth_min_(azimuth_min), + azimuth_max_(azimuth_max), + elevation_min_(elevation_min), + elevation_max_(elevation_max), + mask_{filename.data()} + { + } + + bool excluded(const NebulaPoint & point) + { + double azi_normalized = (point.azimuth - azimuth_min_) / (azimuth_max_ - azimuth_min_); + double ele_normalized = (point.elevation - elevation_min_) / (elevation_max_ - elevation_min_); + + size_t x = std::clamp( + static_cast(azi_normalized * mask_.get_width()), 0, mask_.get_width() - 1); + size_t y = std::clamp( + static_cast(ele_normalized * mask_.get_height()), 0, mask_.get_height() - 1); + + return !static_cast(mask_.get_pixel(x, y)); + } + +private: + double azimuth_min_; + double azimuth_max_; + double elevation_min_; + double elevation_max_; + png::image mask_; +}; + +} // namespace nebula::drivers::point_filters diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp index 314c40473..47cb83010 100644 --- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp +++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp @@ -15,6 +15,7 @@ #pragma once #include "nebula_decoders/nebula_decoders_common/angles.hpp" +#include "nebula_decoders/nebula_decoders_common/point_filters/polar_mask.hpp" #include "nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp" #include "nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp" #include "nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp" @@ -28,7 +29,9 @@ #include #include #include +#include #include +#include #include #include #include @@ -83,6 +86,8 @@ class HesaiDecoder : public HesaiScanDecoder std::array, SensorT::packet_t::max_returns> block_firing_offset_ns_; + point_filters::PolarMaskFilter mask_filter_; + /// @brief Validates and parse PandarPacket. Currently only checks size, not checksums etc. /// @param packet The incoming PandarPacket /// @return Whether the packet was parsed successfully @@ -128,18 +133,18 @@ class HesaiDecoder : public HesaiScanDecoder for (size_t block_offset = 0; block_offset < n_blocks; ++block_offset) { auto & unit = *return_units[block_offset]; - if (unit.distance == 0) { - continue; - } + // if (unit.distance == 0) { + // continue; + // } - float distance = get_distance(unit); + float distance = 10; // get_distance(unit); - if ( - distance < SensorT::min_range || SensorT::max_range < distance || - distance < sensor_configuration_->min_range || - sensor_configuration_->max_range < distance) { - continue; - } + // if ( + // distance < SensorT::min_range || SensorT::max_range < distance || + // distance < sensor_configuration_->min_range || + // sensor_configuration_->max_range < distance) { + // continue; + // } auto return_type = sensor_.get_return_type( static_cast(packet_.tail.return_mode), @@ -195,7 +200,7 @@ class HesaiDecoder : public HesaiScanDecoder uint64_t scan_timestamp_ns = in_current_scan ? decode_scan_timestamp_ns_ : output_scan_timestamp_ns_; - NebulaPoint & point = pc->emplace_back(); + NebulaPoint point; point.distance = distance; point.intensity = unit.reflectivity; point.time_stamp = get_point_time_relative( @@ -207,13 +212,17 @@ class HesaiDecoder : public HesaiScanDecoder // The raw_azimuth and channel are only used as indices, sin/cos functions use the precise // corrected angles float xy_distance = distance * corrected_angle_data.cos_elevation; - point.x = xy_distance * corrected_angle_data.sin_azimuth; - point.y = xy_distance * corrected_angle_data.cos_azimuth; - point.z = distance * corrected_angle_data.sin_elevation; + point.x = corrected_angle_data.azimuth_rad; + point.y = point.channel / 128.0 * 6.28; + point.z = 0; // The driver wrapper converts to degrees, expects radians point.azimuth = corrected_angle_data.azimuth_rad; point.elevation = corrected_angle_data.elevation_rad; + + if (!mask_filter_.excluded(point)) { + pc->emplace_back(point); + } } } } @@ -251,7 +260,10 @@ class HesaiDecoder : public HesaiScanDecoder angle_corrector_( correction_data, sensor_configuration_->cloud_min_angle, sensor_configuration_->cloud_max_angle, sensor_configuration_->cut_angle), - logger_(rclcpp::get_logger("HesaiDecoder")) + logger_(rclcpp::get_logger("HesaiDecoder")), + mask_filter_( + "/home/maxschmeller/nebula/nebula_ros/config/lidar/hesai/roi-grad2_mask.png", 0, 2 * M_PI, + deg2rad(-25), deg2rad(15)) { logger_.set_level(rclcpp::Logger::Level::Debug); diff --git a/nebula_ros/config/lidar/hesai/roi-grad1.bmp b/nebula_ros/config/lidar/hesai/roi-grad1.bmp new file mode 100644 index 0000000000000000000000000000000000000000..6ee05bf923ca2eac2f110e83e4184c127d88a0fc GIT binary patch literal 1441078 zcmeI*<ceedEc4E=e?z+gj%9~hWE`&eTP3>-hqz`!sABmZwc@Y9fi`!X9`8UB9_ zZfV#wTpB)&kVZ@+rIFJpY1H(KG+G)xjgiJoW2LdvIBDE8UK*0dPZOkHrU}zTY2q|V 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+++ b/scripts/make_downsample_mask.py @@ -0,0 +1,53 @@ +#!/usr/bin/python3 + +from argparse import ArgumentParser +from fractions import Fraction +from pathlib import Path + +from PIL import Image +import numpy as np + + +def create_dithered_mask(keep_ratio: np.ndarray): + mask = np.zeros_like(keep_ratio, dtype=bool) + + h, w = mask.shape + + for y in range(h): + for x in range(w): + factor = keep_ratio[y, x] + frac = Fraction(round(factor * 10), 10) + positions = [round(1 / frac * i) for i in range(frac.numerator)] + + mask[y, x] = (x + y) % frac.denominator in positions + + return mask + + +def convert_to_mask(in_path: Path, out_path: Path): + image = Image.open(in_path).convert("L") + keep_ratio = np.asarray(image) / 255.0 + + mask = create_dithered_mask(keep_ratio) + + luminance = mask * np.uint8(255) + pil_image = Image.fromarray(luminance, mode="L") + + pil_image.save(out_path, format="PNG", optimize=True, compress_level=9) + + return mask + + +if __name__ == "__main__": + parser = ArgumentParser() + parser.add_argument("input_file", type=Path) + parser.add_argument("-o", "--output-file", type=Path) + args = parser.parse_args() + + in_path: Path = args.input_file + if "output_file" in args and args.output_file is not None: + out_path = args.output_file + else: + out_path = in_path.with_stem(in_path.stem + "_mask").with_suffix(".png") + + mask = convert_to_mask(in_path, out_path) diff --git a/scripts/requirements.txt b/scripts/requirements.txt index d29883f3c..84c6e56c3 100644 --- a/scripts/requirements.txt +++ b/scripts/requirements.txt @@ -2,3 +2,4 @@ pandas tabulate matplotlib rich +pillow