autoware_ground_segmentation#
Purpose#
The autoware_ground_segmentation is a node that remove the ground points from the input pointcloud.
Inner-workings / Algorithms#
Detail description of each ground segmentation algorithm is in the following links.
| Filter Name | Description | Detail |
|---|---|---|
| ray_ground_filter | A method of removing the ground based on the geometrical relationship between points lined up on radiation | link |
| scan_ground_filter | Almost the same method as ray_ground_filter, but with slightly improved performance |
link |
| ransac_ground_filter | A method of removing the ground by approximating the ground to a plane | link |
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
~/input/points |
sensor_msgs::msg::PointCloud2 |
reference points |
~/input/indices |
pcl_msgs::msg::Indices |
reference indices |
Output#
| Name | Type | Description |
|---|---|---|
~/output/points |
sensor_msgs::msg::PointCloud2 |
filtered points |
Parameters#
Node Parameters#
| Name | Type | Default Value | Description |
|---|---|---|---|
input_frame |
string | " " | input frame id |
output_frame |
string | " " | output frame id |
has_static_tf_only |
bool | false | flag to listen TF only once |
max_queue_size |
int | 5 | max queue size of input/output topics |
use_indices |
bool | false | flag to use pointcloud indices |
latched_indices |
bool | false | flag to latch pointcloud indices |
approximate_sync |
bool | false | flag to use approximate sync option |
Assumptions / Known limits#
autoware::pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.
References/External links#
[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp