feat(autoware_crop_box_filter): reimplementation in core repo

[liuXinGangChina]

Description

Extracted from universe-sensing-pointcloud-preprocessor and reimplemented on core repo

Reimplementation content

1. remove dependency to packages under universe repo
2. refactering package.xml and CMakeList.txt
3. add readme
4. add unit test code checking “only expected point pass the filter”
   4.1 construct a input pointcloud which contain points both inside and outside the box, and pass it to the filter
   4.2 check the total number of points in the output pointcloud, whether it equals expectation
   4.3 check every point of the output pointcloud, whether it should pass the filter

What's the difference from original code

1. set polygon pulisher's frenquency from always to when someone subscribed
2. add a launch paramter "input_pointcloud_frame", thus we can get pointcloud transformation matrix once and for all, rather than lookup tf everytime get new input pointlcoud

Related links

Parent Issue:

• Link implement crop_box_filter #266

How was this PR tested?

1. colcon build with entire autoware packages
   1.1 type the command in a terminal -- colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
2. using AWSIM lab‘s pointcloud for input, using rviz for visual checking that pointcloud has been croped correctlly
   2.1 in terminal 1 launch AWSIM and use ros2 topic list to confirm that the pointcloud topic exist
   2.2 in terminal 2 source autoware workspace first, then type ros2 run tf2_ros static_transform_publisher 2.0 3.2 1.3 0 0 0 1 velodyne_top_base_link base_link to publish a static tf manually
   2.3 in terminal 3 source autoware workspace, launch crop_box_filter_node by typing ros2 launch autoware_crop_box_filter crop_box_filter_node.launch.xml
   2.4 in terminal 4 source autoware workspace, launch rviz, set frame id to base_link, add bbox topic and output pointcloud topic using add button.
   2.5 you will see that all the point cloud inside the green bbox is cropped, which mean "self-crop" succeed
3. using rqt_reconfigure to dynamicly changing crop box parameters, and chaning is visualized on rviz
   3.1 repeat operation 2.2 ~ 2.4
   3.2 in a new terminal open parameter reconfigure tool rqt_reconfigure using command ros2 run rqt_reconfigure rqt_reconfigure
   3.3 in rqt_reconfigure, change the parameter and see the pointcloud meets your expectation.

e.g. set negative to false will crop the pointcloud outside the bbox and keep the pointcloud inside the bbox

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 20.98361% with 241 lines in your changes missing coverage. Please review.

Project coverage is 19.93%. Comparing base (4cb18f5) to head (d561a12).
Report is 105 commits behind head on main.

Files with missing lines	Patch %	Lines
...oware_crop_box_filter/src/crop_box_filter_node.cpp	21.14%	223 Missing and 12 partials ⚠️
.../autoware/crop_box_filter/crop_box_filter_node.hpp	14.28%	6 Missing ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main     #279       +/-   ##
===========================================
- Coverage   78.75%   19.93%   -58.82%     
===========================================
  Files          11        3        -8     
  Lines         193      321      +128     
  Branches       73      140       +67     
===========================================
- Hits          152       64       -88     
- Misses         11      245      +234     
+ Partials       30       12       -18     

Flag	Coverage Δ
differential	19.93% <20.98%> (?)
total	?

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[sasakisasaki]

According to @mitsudome-r san, we'll implement the crop_box_filter as an additional new package which is unique to autoware.core. Thus, we keep the current crop_box_filter in the autoware.universe side. So,

• Please fix the PR description that mentions about removal of crop_box_filter from the autoware.universe side

Thank you in advance.

[liuXinGangChina]

According to @mitsudome-r san, we'll implement the crop_box_filter as an additional new package which is unique to autoware.core. Thus, we keep the current crop_box_filter in the autoware.universe side. So,

* Please fix the PR description that mentions about removal of `crop_box_filter` from the `autoware.universe` side

Thank you in advance.

Sasaki san， @sasakisasaki

I double check the pr and remove the sentence “porting autoware_crop_box_filter”
Now the rest of the pr description will not lead to the "removing" meaning.

Please feel free to leave further comment

Best regards

心刚

[youtalk]

Please add unit tests to check whether the point cloud passes or does not pass through the filter.

[liuXinGangChina]

Please add unit tests to check whether the point cloud passes or does not pass through the filter.

sure kondo san @youtalk
I will do that

Best regards

心刚

[liuXinGangChina]

Hello ，Kondo san @youtalk

Unit test for “filter function check” already added，in this test case :

1. construct a input pointcloud which contain points both inside and outside the box, and pass it to the filter
2. check the total number of points in the output pointcloud, whether it equals expectation
3. check every point of the output pointcloud, whether it should pass the filter

Have a nice day

心刚

[youtalk]

It’s difficult to point out specific issues, but overall, it reads as if the memory efficiency is poor.

[mitsudome-r]

I think it is good enough for initial implementation.
We can improve the memory efficiency in the other PRs if we need improvements.

I just would like to have someone from original Sensing/Perception engineers to have a quick review as well. (cc. @YoshiRi )

[youtalk]

I compared the original with the implementation, and I think it's safe to say that it's a completely different implementation. So, if the crop box algorithm itself isn't subject to any licensing, I think it's fine to remove it. If any problems arise, I'll take responsibility for now.
https://github.com/PointCloudLibrary/pcl/blob/master/filters/src/crop_box.cpp
https://github.com/autowarefoundation/autoware_core/pull/279/files

[youtalk]

LGTM