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map/autoware_tp_collector/schema/pointcloud_merger.schema.json
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| # autoware_tp_manager | ||
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| Here are some tools for collecting average TPs of PCD maps. Currently, we consider the decrease of TPs as a sign of map decay. However, we don't know what TPs are 'abnormal', e.g. in some areas the TPs range around 2.0 ~ 3.0, while in others TPs float around 5.0. This package provides some tools to check it, including: | ||
| - TP collector: collect the average TPs per segment of a PCD map | ||
| - TP checker: compare a rosbag's TPs with a map's TPs and highlight the map areas where the rosbag's TPs differ significantly from the map's TPs. | ||
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| ## Installation | ||
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| ```bash | ||
| cd <PATH_TO_pilot-auto.*> # OR <PATH_TO_autoware> | ||
| cd src/ | ||
| git clone [email protected]:autowarefoundation/autoware_tools.git | ||
| cd .. | ||
| colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-tests --symlink-install --packages-up-to autoware_pointcloud_merger | ||
| ``` | ||
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| ## Usage | ||
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| - Collect the average TPs per segment from a map by TP_collector | ||
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| ```bash | ||
| ros2 run autoware_tp_manager tp_collector.py <path_to_pcd_dir> <path_to_rosbag> <path_to_output_dir> [--resolution:=<resolution>] [--pose_topic:=<topic_of_poses>] [--tp_topic:=<topic_of_TPs>] [--scan_topic:=<topic_of_scans>] | ||
| ``` | ||
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| | Name | Description | | ||
| | ----------------- | ------------------------------------------- | | ||
| | path_to_pcd_dir | Directory that contains the input PCD files | | ||
| | path_to_rosbag | Path to the input rosbag | | ||
| | path_to_output_dir| Path to the output directory | | ||
| | resolution | Resolution to segment the input PCD. The TPs are collected on these segments| | ||
| | topic_of_poses | Topic of poses messages in the input rosbag| | ||
| | topic_of_TPs | Topic of TPs in the input rosbag| | ||
| | topic_of_scans | Topic of downsampled scans in the input rosbag| | ||
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| Paths to folders should be specified as **absolute paths**. | ||
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| The rosbag should contain the following topics | ||
| - /localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias | ||
| - /localization/pose_estimator/transform_probability | ||
| - /localization/util/downsample/pointcloud | ||
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| The average TPs can be visualized on Rviz2 by running the following command | ||
| ```bash | ||
| python3 install/autoware_tp_manager/lib/autoware_tp_manager/tp_visualizer.py <path_to_output_dir> | ||
| ``` | ||
| | Name | Description | | ||
| | ----------------- | ------------------------------------------- | | ||
| | path_to_output_dir| Path to the output directory of TP_collector| | ||
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| then open another terminal to launch Rviz2 and add the topic /autoware_tp_visualizer. | ||
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| - Compare a rosbags' TPs with a map's TPs by TP_checker | ||
| ```bash | ||
| ros2 run autoware_tp_manager tp_checker.py <path_to_score_dir> <path_to_rosbag> [--pose_topic:=<topic_of_poses>] [--tp_topic:=<topic_of_TPs>] [--scan_topic:=<topic_of_scans>] | ||
| ``` | ||
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| | Name | Description | | ||
| | ----------------- | ------------------------------------------- | | ||
| | path_to_score_dir | Directory that contains the TP file (.csv) and the downsampled PCD map. This is the output directory of the tp_collector. | | ||
| | path_to_rosbag | Path to the input rosbag to be evaluated| | ||
| | topic_of_poses | Topic of poses in the evaluation rosbag | | ||
| | topic_of_TPs | Topic of TPs in the evaluation rosbag | | ||
| | topic_of_scans | Topic of scans in the evaluation rosbag | | ||
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| The results of checking are published to the topic /autoware_tp_checker, and can also be displayed on Rviz2. The red points | ||
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| - The rosbags used to both TP collector and TP checker is created by running Autoware's logging simulator and record the following three topics: | ||
| - /localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias | ||
| - /localization/pose_estimator/transform_probability | ||
| - /localization/util/downsample/pointcloud | ||
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| ## Parameter | ||
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| {{ json_to_markdown("map/autoware_tp_manager/schema/tp_manager.schema.json") }} | ||
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| ## LICENSE | ||
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| This package is under [Apache License 2.0](../../LICENSE) |
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| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for autoware tp manager node", | ||
| "type": "object", | ||
| "definitions": { | ||
| "tp_collector": { | ||
| "type": "object", | ||
| "properties": { | ||
| "path_to_pcd_dir": { | ||
| "type": "string", | ||
| "description": "The path to the directory containing the input PCD files", | ||
| "default": "" | ||
| }, | ||
| "path_to_rosbag": { | ||
| "type": "string", | ||
| "description": "The path to the input rosbag", | ||
| "default": "" | ||
| }, | ||
| "path_to_output_dir": { | ||
| "type": "string", | ||
| "description": "The path to the output directory", | ||
| "default": "" | ||
| }, | ||
| "resolution": { | ||
| "type": "number", | ||
| "description": "Resolution to segment the input PCD. The TPs are collected on these segments.", | ||
| "default": "5,0" | ||
| }, | ||
| "pose_topic": { | ||
| "type": "string", | ||
| "description": "Topic of poses messages in the input rosbag", | ||
| "default": "/localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias" | ||
| }, | ||
| "tp_topic": { | ||
| "type": "string", | ||
| "description": "Topic of TPs in the input rosbag", | ||
| "default": "/localization/pose_estimator/transform_probability" | ||
| }, | ||
| "scan_topic": { | ||
| "type": "string", | ||
| "description": "Topic of downsampled scans in the input rosbag", | ||
| "default": "/localization/util/downsample/pointcloud" | ||
| } | ||
| }, | ||
| "required": ["path_to_pcd_dir", "path_to_rosbag", "path_to_output_dir"], | ||
| "additionalProperties": false | ||
| }, | ||
| "tp_checker": { | ||
| "type": "object", | ||
| "properties": { | ||
| "path_to_score_dir": { | ||
| "type": "string", | ||
| "description": "The path to the directory containing the average TP file (.csv) and the downsampled PCD map. This is also the output directory of the TP collector.", | ||
| "default": "" | ||
| }, | ||
| "path_to_rosbag": { | ||
| "type": "string", | ||
| "description": "Path to the input rosbag to be evaluated", | ||
| "default": "" | ||
| }, | ||
| "pose_topic": { | ||
| "type": "string", | ||
| "description": "Topic of poses messages in the input rosbag", | ||
| "default": "/localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias" | ||
| }, | ||
| "tp_topic": { | ||
| "type": "string", | ||
| "description": "Topic of TPs in the input rosbag", | ||
| "default": "/localization/pose_estimator/transform_probability" | ||
| }, | ||
| "scan_topic": { | ||
| "type": "string", | ||
| "description": "Topic of downsampled scans in the input rosbag", | ||
| "default": "/localization/util/downsample/pointcloud" | ||
| } | ||
| }, | ||
| "required": ["path_to_score_dir", "path_to_rosbag"], | ||
| "additionalProperties": false | ||
| }, | ||
| "tp_visualizer": { | ||
| "type": "object", | ||
| "properties": { | ||
| "path_to_output_dir": { | ||
| "type": "string", | ||
| "description": "Path to the output directory of TP_collector", | ||
| "default": "" | ||
| } | ||
| }, | ||
| "required": ["path_to_output_dir"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/autoware_pointcloud_merger" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
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