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VTR3 Extractor Comparison #229

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merged 12 commits into from
Jan 18, 2025
Merged

VTR3 Extractor Comparison #229

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ffae4e7
Version of vtr3 used for extractor comparison
Sep 3, 2024
c091ed8
Summer radar extractor clean ups v1
Dec 12, 2024
96b2bec
Extractor Code Cleanups v2
Dec 12, 2024
fb7d713
Merge remote-tracking branch 'origin/main' into vtr3_extractor_comp
Dec 12, 2024
c22d1b3
Extractor Code Cleanup v3
Dec 12, 2024
adbbc39
Added in support to allow new icp failure/skip condition thresholds …
Dec 20, 2024
3399ae6
Changed radar and cart res to double
Jan 11, 2025
a2e8bf6
Fixed log spacing
Jan 11, 2025
00df785
Added upgrade time comment and link to extractor paper
Jan 12, 2025
bcba6ee
Add steam failure flag to count icp as a failure
Jan 12, 2025
9903064
added comments about units for sanity checks
Jan 12, 2025
ae4d087
Fixed sanity check failure flag
Jan 12, 2025
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277 changes: 250 additions & 27 deletions main/src/vtr_radar/include/vtr_radar/detector/detector.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,11 +43,10 @@ template <class PointT>
class KStrongest : public Detector<PointT> {
public:
KStrongest() = default;
KStrongest(int kstrong, double threshold2, double threshold3, double minr,
KStrongest(int kstrong, double static_threshold, double minr,
double maxr, double range_offset)
: kstrong_(kstrong),
threshold2_(threshold2),
threshold3_(threshold3),
static_threshold_(static_threshold),
minr_(minr),
maxr_(maxr),
range_offset_(range_offset) {}
Expand All @@ -59,8 +58,7 @@ class KStrongest : public Detector<PointT> {

private:
int kstrong_ = 10;
double threshold2_ = 1.5;
double threshold3_ = 0.22;
double static_threshold_ = 0.22;
double minr_ = 2.0;
double maxr_ = 100.0;
double range_offset_ = -0.31;
Expand Down Expand Up @@ -91,16 +89,14 @@ class Cen2018 : public Detector<PointT> {
};

template <class PointT>
class CACFAR : public Detector<PointT> {
class OSCFAR : public Detector<PointT> {
public:
CACFAR() = default;
CACFAR(int width, int guard, double threshold, double threshold2,
double threshold3, double minr, double maxr, double range_offset)
OSCFAR() = default;
OSCFAR(int width, int guard, int kstat, double threshold, double minr, double maxr, double range_offset)
: width_(width),
guard_(guard),
kstat_(kstat),
threshold_(threshold),
threshold2_(threshold2),
threshold3_(threshold3),
minr_(minr),
maxr_(maxr),
range_offset_(range_offset) {}
Expand All @@ -111,28 +107,26 @@ class CACFAR : public Detector<PointT> {
pcl::PointCloud<PointT> &pointcloud) override;

private:
int width_ = 41; // window = width + 2 * guard
int width_ = 40;
int guard_ = 2;
double threshold_ = 3.0;
double threshold2_ = 1.1;
double threshold3_ = 0.22;
int kstat_ = 20;
double threshold_ = 1.25;
double minr_ = 2.0;
double maxr_ = 100.0;
double range_offset_ = -0.31;
};

template <class PointT>
class OSCFAR : public Detector<PointT> {
class TM_CFAR : public Detector<PointT> {
public:
OSCFAR() = default;
OSCFAR(int width, int guard, int kstat, double threshold, double threshold2,
double threshold3, double minr, double maxr, double range_offset)
TM_CFAR() = default;
TM_CFAR(int width, int guard, double threshold, int N1,
int N2, double minr, double maxr, double range_offset)
: width_(width),
guard_(guard),
kstat_(kstat),
threshold_(threshold),
threshold2_(threshold2),
threshold3_(threshold3),
N1_(N1),
N2_(N2),
minr_(minr),
maxr_(maxr),
range_offset_(range_offset) {}
Expand All @@ -145,10 +139,35 @@ class OSCFAR : public Detector<PointT> {
private:
int width_ = 40;
int guard_ = 2;
int kstat_ = 20;
double threshold_ = 1.25;
double threshold2_ = 1.2;
double threshold3_ = 0.22;
int N1_ = 5;
int N2_ = 5;
double minr_ = 2.0;
double maxr_ = 100.0;
double range_offset_ = -0.31;
};

template <class PointT>
class CACFAR : public Detector<PointT> {
public:
CACFAR() = default;
CACFAR(int width, int guard, double threshold, double minr, double maxr, double range_offset)
: width_(width),
guard_(guard),
threshold_(threshold),
minr_(minr),
maxr_(maxr),
range_offset_(range_offset) {}

void run(const cv::Mat &raw_scan, const float &res,
const std::vector<int64_t> &azimuth_times,
const std::vector<double> &azimuth_angles,
pcl::PointCloud<PointT> &pointcloud) override;

private:
int width_ = 41; // window = width + 2 * guard
int guard_ = 2;
double threshold_ = 3.0;
double minr_ = 2.0;
double maxr_ = 100.0;
double range_offset_ = -0.31;
Expand Down Expand Up @@ -186,12 +205,36 @@ class ModifiedCACFAR : public Detector<PointT> {
double range_offset_ = -0.31;
};

template <class PointT>
class CAGO_CFAR : public Detector<PointT> {
public:
CAGO_CFAR() = default;
CAGO_CFAR(int width, int guard, double threshold, double minr, double maxr, double range_offset)
: width_(width),
guard_(guard),
threshold_(threshold),
minr_(minr),
maxr_(maxr),
range_offset_(range_offset) {}

void run(const cv::Mat &raw_scan, const float &res,
const std::vector<int64_t> &azimuth_times,
const std::vector<double> &azimuth_angles,
pcl::PointCloud<PointT> &pointcloud) override;
private:
int width_ = 41; // window = width + 2 * guard
int guard_ = 2;
double threshold_ = 3.0;
double minr_ = 2.0;
double maxr_ = 100.0;
double range_offset_ = -0.31;
};

template <class PointT>
class CASO_CFAR : public Detector<PointT> {
public:
CASO_CFAR() = default;
CASO_CFAR(int width, int guard, double threshold, double minr, double maxr,
double range_offset)
CASO_CFAR(int width, int guard, double threshold, double minr, double maxr, double range_offset)
: width_(width),
guard_(guard),
threshold_(threshold),
Expand All @@ -203,11 +246,191 @@ class CASO_CFAR : public Detector<PointT> {
const std::vector<int64_t> &azimuth_times,
const std::vector<double> &azimuth_angles,
pcl::PointCloud<PointT> &pointcloud) override;
private:
int width_ = 41; // window = width + 2 * guard
int guard_ = 2;
double threshold_ = 3.0;
double minr_ = 2.0;
double maxr_ = 100.0;
double range_offset_ = -0.31;
};

template <class PointT>
class CFEAR_KStrong : public Detector<PointT> {
public:
CFEAR_KStrong() = default;
CFEAR_KStrong(int width, int guard, int kstrong, double z_min, double r, double f,
double minr, double maxr, double range_offset)
: width_(width),
guard_(guard),
kstrong_(kstrong),
z_min_(z_min),
r_(r),
f_(f),
minr_(minr),
maxr_(maxr),
range_offset_(range_offset) {}

void run(const cv::Mat &raw_scan, const float &res,
const std::vector<int64_t> &azimuth_times,
const std::vector<double> &azimuth_angles,
pcl::PointCloud<PointT> &pointcloud) override;

private:
int width_ = 41; // window = width + 2 * guard
int guard_ = 2;
int kstrong_ = 12;
double z_min_ = 0.22;
double r_ = 3.5;
double f_ = 1.0;
double minr_ = 2.0;
double maxr_ = 100.0;
double range_offset_ = -0.31;
};

template <class PointT>
class BFAR : public Detector<PointT> {
public:
BFAR() = default;
BFAR(int width, int guard, double threshold,
double static_threshold, double minr, double maxr, double range_offset)
: width_(width),
guard_(guard),
threshold_(threshold),
static_threshold_(static_threshold),
minr_(minr),
maxr_(maxr),
range_offset_(range_offset) {}

void run(const cv::Mat &raw_scan, const float &res,
const std::vector<int64_t> &azimuth_times,
const std::vector<double> &azimuth_angles,
pcl::PointCloud<PointT> &pointcloud) override;

private:
int width_ = 41; // window = width + 2 * guard
int guard_ = 2;
double threshold_ = 3.0;
double static_threshold_ = 0.22;
double minr_ = 2.0;
double maxr_ = 100.0;
double range_offset_ = -0.31;
};

template <class PointT>
class MSCA_CFAR : public Detector<PointT> {
public:
MSCA_CFAR() = default;
MSCA_CFAR(int width, int guard, double threshold,
int M, double minr, double maxr, double range_offset)
: width_(width),
guard_(guard),
threshold_(threshold),
M_(M),
minr_(minr),
maxr_(maxr),
range_offset_(range_offset) {}

void run(const cv::Mat &raw_scan, const float &res,
const std::vector<int64_t> &azimuth_times,
const std::vector<double> &azimuth_angles,
pcl::PointCloud<PointT> &pointcloud) override;

private:
int width_ = 41; // window = width + 2 * guard
int guard_ = 2;
double threshold_ = 3.0;
int M_ = 5;
double minr_ = 2.0;
double maxr_ = 100.0;
double range_offset_ = -0.31;
};

template <class PointT>
class IS_CFAR : public Detector<PointT> {
public:
IS_CFAR() = default;
IS_CFAR(int width, int guard, double alpha_I, int N_TI,
double beta_I, double minr, double maxr, double range_offset)
: width_(width),
guard_(guard),
alpha_I_(alpha_I),
N_TI_(N_TI),
beta_I_(beta_I),
minr_(minr),
maxr_(maxr),
range_offset_(range_offset) {}

void run(const cv::Mat &raw_scan, const float &res,
const std::vector<int64_t> &azimuth_times,
const std::vector<double> &azimuth_angles,
pcl::PointCloud<PointT> &pointcloud) override;

private:
int width_ = 41; // window = width + 2 * guard
int guard_ = 2;
double alpha_I_ = 0.05;
int N_TI_ = 7;
double beta_I_ = 20.02;
double minr_ = 2.0;
double maxr_ = 100.0;
double range_offset_ = -0.31;
};

template <class PointT>
class VI_CFAR : public Detector<PointT> {
public:
VI_CFAR() = default;
VI_CFAR(int width, int guard, double K_VI, double K_MR,
double C_N, double minr, double maxr, double range_offset)
: width_(width),
guard_(guard),
K_VI_(K_VI),
K_MR_(K_MR),
C_N_(C_N),
minr_(minr),
maxr_(maxr),
range_offset_(range_offset) {}

void run(const cv::Mat &raw_scan, const float &res,
const std::vector<int64_t> &azimuth_times,
const std::vector<double> &azimuth_angles,
pcl::PointCloud<PointT> &pointcloud) override;

private:
int width_ = 41; // window = width + 2 * guard
int guard_ = 2;
double alpha_I_ = 0.05;
int K_VI_ = 7;
double K_MR_ = 1.5;
double C_N_ = 20.02;
double minr_ = 2.0;
double maxr_ = 100.0;
double range_offset_ = -0.31;
};

template <class PointT>
class Cen2019 : public Detector<PointT> {
public:
Cen2019() = default;
Cen2019(int width, int guard,
int l_max, double minr, double maxr, double range_offset)
: width_(width),
guard_(guard),
l_max_(l_max),
minr_(minr),
maxr_(maxr),
range_offset_(range_offset) {}

void run(const cv::Mat &raw_scan, const float &res,
const std::vector<int64_t> &azimuth_times,
const std::vector<double> &azimuth_angles,
pcl::PointCloud<PointT> &pointcloud) override;

private:
int width_ = 41; // window = width + 2 * guard
int guard_ = 2;
int l_max_ = 200;
double minr_ = 2.0;
double maxr_ = 100.0;
double range_offset_ = -0.31;
Expand Down
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