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segmentation_pointcloud_fusion#

Purpose#

The node segmentation_pointcloud_fusion is a package for filtering pointcloud that are belong to less interesting region which is defined by semantic or instance segmentation by 2D image segmentation model.

Inner-workings / Algorithms#

  • The pointclouds are projected onto the semantic/instance segmentation mask image which is the output from 2D segmentation neural network.
  • The pointclouds are belong to segment such as road, sidewalk, building, vegetation, sky ... are considered as less important points for autonomous driving and could be removed.

segmentation_pointcloud_fusion_image

Inputs / Outputs#

Input#

Name Type Description
input sensor_msgs::msg::PointCloud2 input pointcloud
input/camera_info[0-7] sensor_msgs::msg::CameraInfo camera information to project 3d points onto image planes
input/rois[0-7] tier4_perception_msgs::msg::Image semantic segmentation mask image
input/image_raw[0-7] sensor_msgs::msg::Image images for visualization

Output#

Name Type Description
output sensor_msgs::msg::PointCloud2 output filtered pointcloud

Parameters#

Core Parameters#

Name Type Description
rois_number int the number of input rois

Assumptions / Known limits#

(Optional) Error detection and handling#

(Optional) Performance characterization#

(Optional) Future extensions / Unimplemented parts#