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feat(intersection): denoise occlusion by morphology open process #3763

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merged 3 commits into from
May 19, 2023
Merged

feat(intersection): denoise occlusion by morphology open process #3763

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a424aa7
apply morpholgoyEx to occlusion_mask_raw to remove noisy occlusion cell
soblin May 15, 2023
b76643d
parameterize kernel size
soblin May 18, 2023
8ec266e
remove debug
soblin May 18, 2023
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1 change: 1 addition & 0 deletions planning/behavior_velocity_planner/config/intersection.param.yaml
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Expand Up @@ -40,6 +40,7 @@
before_creep_stop_time: 1.0 # [s]
min_vehicle_brake_for_rss: -2.5 # [m/s^2]
max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph
denoise_kernel: 1.0 # [m]

merge_from_private:
stop_duration_sec: 1.0
1 change: 1 addition & 0 deletions planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp
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Expand Up @@ -119,6 +119,7 @@ class IntersectionModule : public SceneModuleInterface
double before_creep_stop_time;
double min_vehicle_brake_for_rss;
double max_vehicle_velocity_for_rss;
double denoise_kernel;
} occlusion;
};

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1 change: 1 addition & 0 deletions planning/behavior_velocity_planner/src/scene_module/intersection/manager.cpp
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Expand Up @@ -94,6 +94,7 @@ IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node)
node.declare_parameter<double>(ns + ".occlusion.min_vehicle_brake_for_rss");
ip.occlusion.max_vehicle_velocity_for_rss =
node.declare_parameter<double>(ns + ".occlusion.max_vehicle_velocity_for_rss");
ip.occlusion.denoise_kernel = node.declare_parameter<double>(ns + ".occlusion.denoise_kernel");
}

void IntersectionModuleManager::launchNewModules(
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10 changes: 8 additions & 2 deletions planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
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Expand Up @@ -1070,8 +1070,14 @@ bool IntersectionModule::isOcclusionCleared(
}

// (3) occlusion mask
cv::Mat occlusion_mask(width, height, CV_8UC1, cv::Scalar(0));
cv::bitwise_and(detection_mask, unknown_mask, occlusion_mask);
cv::Mat occlusion_mask_raw(width, height, CV_8UC1, cv::Scalar(0));
cv::bitwise_and(detection_mask, unknown_mask, occlusion_mask_raw);
// (3.1) apply morphologyEx
cv::Mat occlusion_mask;
const int morph_size = std::ceil(planner_param_.occlusion.denoise_kernel / reso);
cv::morphologyEx(
occlusion_mask_raw, occlusion_mask, cv::MORPH_OPEN,
cv::getStructuringElement(cv::MORPH_RECT, cv::Size(morph_size, morph_size)));

// (4) create distance grid
// value: 0 - 254: signed distance representing [distamce_min, distance_max]
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