autoware_ground_segmentation#

Purpose#

The autoware_ground_segmentation is a node that remove the ground points from the input pointcloud.

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

Name	Type	Description
`~/input/points`	`sensor_msgs::msg::PointCloud2`	reference points
`~/input/indices`	`pcl_msgs::msg::Indices`	reference indices

Name	Type	Description
`~/output/points`	`sensor_msgs::msg::PointCloud2`	filtered points

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

Name	Type	Description	Default	Range
global_slope_max_angle_deg	float	global_slope_max_angle_deg	10	N/A
local_slope_max_angle_deg	float	local_slope_max_angle_deg	13	N/A
split_points_distance_tolerance	float	split_points_distance_tolerance	0.2	N/A
use_virtual_ground_point	boolean	use_virtual_ground_point	1	N/A
split_height_distance	float	split_height_distance	0.2	N/A
non_ground_height_threshold	float	non_ground_height_threshold	0.2	N/A
grid_size_m	float	grid_size_m	0.1	N/A
grid_mode_switch_radius	float	grid_mode_switch_radius	20	N/A
gnd_grid_buffer_size	integer	gnd_grid_buffer_size	4	N/A
detection_range_z_max	float	detection_range_z_max	2.5	N/A
elevation_grid_mode	boolean	elevation_grid_mode	1	N/A
low_priority_region_x	float	low_priority_region_x	-20	N/A
center_pcl_shift	float	center_pcl_shift	0	N/A
radial_divider_angle_deg	float	radial_divider_angle_deg	1	N/A
use_recheck_ground_cluster	boolean	use_recheck_ground_cluster	1	N/A
use_lowest_point	boolean	use_lowest_point	1	N/A
publish_processing_time_detail	boolean	publish_processing_time_detail	0	N/A

Name	Type	Description	Default	Range
base_frame	string	base_frame	base_link	N/A
unit_axis	string	unit_axis	z	N/A
max_iterations	integer	max_iterations	1000	N/A
min_trial	integer	min_trial	5000	N/A
min_points	integer	min_points	1000	N/A
outlier_threshold	float	outlier_threshold	0.01	N/A
plane_slope_threshold	float	plane_slope_threshold	10.0	N/A
voxel_size_x	float	voxel_size_x	0.04	N/A
voxel_size_y	float	voxel_size_y	0.04	N/A
voxel_size_z	float	voxel_size_z	0.04	N/A
height_threshold	float	height_threshold	0.01	N/A
debug	boolean	debug	False	N/A
publish_processing_time_detail	boolean	publish_processing_time_detail	False	N/A

Name	Type	Description	Default	Range
min_x	float	min_x	-0.01	N/A
max_x	float	max_x	0.01	N/A
min_y	float	min_y	-0.01	N/A
max_y	float	max_y	0.01	N/A
use_vehicle_footprint	boolean	use_vehicle_footprint	0	N/A
general_max_slope	float	general_max_slope	8	N/A
local_max_slope	float	local_max_slope	6	N/A
initial_max_slope	float	initial_max_slope	3	N/A
radial_divider_angle	float	radial_divider_angle	1	N/A
min_height_threshold	float	min_height_threshold	0.15	N/A
concentric_divider_distance	float	concentric_divider_distance	0	N/A
reclass_distance_threshold	float	reclass_distance_threshold	0.1	N/A
publish_processing_time_detail	boolean	publish_processing_time_detail	0	N/A

Name	Type	Description	Default	Range
global_slope_max_angle_deg	float	global_slope_max_angle_deg	10	N/A
local_slope_max_angle_deg	float	local_slope_max_angle_deg	13	N/A
split_points_distance_tolerance	float	split_points_distance_tolerance	0.2	N/A
use_virtual_ground_point	boolean	use_virtual_ground_point	1	N/A
split_height_distance	float	split_height_distance	0.2	N/A
non_ground_height_threshold	float	non_ground_height_threshold	0.2	N/A
grid_size_m	float	grid_size_m	0.1	N/A
grid_mode_switch_radius	float	grid_mode_switch_radius	20	N/A
gnd_grid_buffer_size	integer	gnd_grid_buffer_size	4	N/A
detection_range_z_max	float	detection_range_z_max	2.5	N/A
elevation_grid_mode	boolean	elevation_grid_mode	1	N/A
low_priority_region_x	float	low_priority_region_x	-20	N/A
center_pcl_shift	float	center_pcl_shift	0	N/A
radial_divider_angle_deg	float	radial_divider_angle_deg	1	N/A
use_recheck_ground_cluster	boolean	use_recheck_ground_cluster	1	N/A
use_lowest_point	boolean	use_lowest_point	1	N/A
publish_processing_time_detail	boolean	publish_processing_time_detail	0	N/A

autoware::pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.