feat: cherry pick point types update #1535
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…utowarefoundation#6658) * feat(pointcloud_preprocessor): runtime configurable output topic qos Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl> * configurable qos in livox_tag_filter_node Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl> * configurable qos in radar_scan_to_pointcloud2 Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl> --------- Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl>
…lgorithm and refactor distortion correction node (autowarefoundation#7137) * add support for 3d distortion correction Signed-off-by: vividf <yihsiang.fang@tier4.jp> * change parameter back to default and do small refactor Signed-off-by: vividf <yihsiang.fang@tier4.jp> * init version, need to double check Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix the logic error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * temporary save, need to delete some code * init done, need to check for 3d as time is high Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * temporaily save * clean code Signed-off-by: vividf <yihsiang.fang@tier4.jp> * remove unused parameters Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix constructor error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix spell errors Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix more spell errors Signed-off-by: vividf <yihsiang.fang@tier4.jp> * add undistorter to library Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix cmake and change class name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * Update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: update sensing/pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix imu to IMU Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix company name Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove old naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change boolean variable naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change boolean variable naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change boolean variable naming Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix file name and variable name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix invlaid virtual function definitions Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: add sophus in package dependency Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove brackets Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix algorithm Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove timestamp_field_name and add default parameter for 3d distortion Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix known limits explanation Signed-off-by: vividf <yihsiang.fang@tier4.jp> * feat: add parameter schema and launch file for distortion correction node Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix function name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix IMU function name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix twist and imu iterator function name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: add inline for undistortPointcloud function Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: move varialbe to const Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix grammar error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix inline function Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: solve conflicts Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix bug in previous code Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix the template naming Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: fix the component test Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: solve conflicts Signed-off-by: vividf <yihsiang.fang@tier4.jp> --------- Signed-off-by: vividf <yihsiang.fang@tier4.jp> Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com>
…was not saved correctly. (autowarefoundation#7886) * fix: fix bug that geometry message didn't save correctly Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change some functions from public to protected Signed-off-by: vividf <yihsiang.fang@tier4.jp> --------- Signed-off-by: vividf <yihsiang.fang@tier4.jp> Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
… node (autowarefoundation#7801) feat: add unit test for distoriton corrector node Signed-off-by: vividf <yihsiang.fang@tier4.jp>
… unit test (autowarefoundation#7879) fix: temporarily remove distortion corretor unit test Signed-off-by: vividf <yihsiang.fang@tier4.jp>
…owarefoundation#7833) * fix: use pointcloud iterator instead of memcpy, remove reinterpret cast Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: set default debugging parameter to false Signed-off-by: vividf <yihsiang.fang@tier4.jp> * style(pre-commit): autofix * chore: run precommit Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix TIER IV name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: changed public variables to protected and add getters Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: add tolerance Signed-off-by: vividf <yihsiang.fang@tier4.jp> * feat: add two tests for pure linear and rotation Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change naming, fix tolerance value Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: add comment for quat Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: remove node_->get_clock() and use self-defined timestamp Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove redundant parameters Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix spell error and add tests in cmake Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: move all clock->now() to self-defined time Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change function names Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove irrelevant variable Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix variables naming Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change boolen naming: generate_points Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: add assert to make sure ms is not larger than a second Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: add note Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: add unifore initialization and semantic meaning for magic number Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: change vector to Eigen Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix explanation Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix more eigen Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix more magic numbers Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: add unit Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: use assert from gtest Signed-off-by: vividf <yihsiang.fang@tier4.jp> --------- Signed-off-by: vividf <yihsiang.fang@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
* feat: changed most of sensing to the new type Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: started applying changes to the perception stack Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat: confirmed operation until centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat: reverted to the original implementation of pointpainting Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: forgot to push a header Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat: also implemented the changes for the subsample filters that were out of scope before Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * fix: some point type changes were missing from the latest merge from main Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: removed unused code, added comments, and brought back a removed publish Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: replaced pointcloud_raw for pointcloud_raw_ex to avoid extra processing time in the drivers Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat: added memory layout checks Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: updated documentation regarding the point types Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: added hyperlinks to the point definitions. will be valid only once the PR is merged Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * fix: fixed compilation due to moving the utilities files to the base library Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: separated the utilities functions due to a dependency issue * chore: forgot that perception also uses the filter class Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feature: adapted the undistortion tests to the new point type Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com>
TomohitoAndo
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TomohitoAndo
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Description
I cherry picked following PR and dependent PRs to adapt to point type updates.
Related links
TIER IV INTERNAL
How was this PR tested?
Tested on bench environment.
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.