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refactor/ground_segmentation
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Signed-off-by: prakash-kannaiah <[email protected]>
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@prakash-kannaiah
prakash-kannaiah committed Oct 1, 2024
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12 changes: 12 additions & 0 deletions perception/autoware_ground_segmentation/README.md
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Expand Up @@ -43,6 +43,18 @@ Detail description of each ground segmentation algorithm is in the following lin
| `latched_indices` | bool | false | flag to latch pointcloud indices |
| `approximate_sync` | bool | false | flag to use approximate sync option |

### Ground Segmentation
{{ json_to_markdown("perception/autoware_ground_segmentation/schema/ground_segmentation.schema.json") }}

### RANSAC Ground Filter
{{ json_to_markdown("perception/autoware_ground_segmentation/schema/ransac_ground_filter.schema.json") }}

### Ray Ground Filter
{{ json_to_markdown("perception/autoware_ground_segmentation/schema/ray_ground_filter.schema.json") }}

### Scan Ground Filter
{{ json_to_markdown("perception/autoware_ground_segmentation/schema/scan_ground_filter.schema.json") }}

## Assumptions / Known limits

`autoware::pointcloud_preprocessor::Filter` is implemented based on pcl_perception [1] because of [this issue](https://github.com/ros-perception/perception_pcl/issues/9).
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131 changes: 131 additions & 0 deletions perception/autoware_ground_segmentation/schema/ground_segmentation.schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Ground Segmentation Node Params",
"type": "object",
"definitions": {
"ground_segmentation": {
"type": "object",
"properties": {
"global_slope_max_angle_deg": {
"type": "number",
"description": "global_slope_max_angle_deg",
"default": 10.0
},
"local_slope_max_angle_deg": {
"type": "number",
"description": "local_slope_max_angle_deg",
"default": 13.0
},
"split_points_distance_tolerance": {
"type": "number",
"description": "split_points_distance_tolerance",
"default": 0.2
},
"use_virtual_ground_point": {
"type": "boolean",
"description": "use_virtual_ground_point",
"default": true
},
"split_height_distance": {
"type": "number",
"description": "split_height_distance",
"default": 0.2
},
"non_ground_height_threshold": {
"type": "number",
"description": "non_ground_height_threshold",
"default": 0.20
},
"grid_size_m": {
"type": "number",
"description": "grid_size_m",
"default": 0.1
},
"grid_mode_switch_radius": {
"type": "number",
"description": "grid_mode_switch_radius",
"default": 20.0
},
"gnd_grid_buffer_size": {
"type": "integer",
"description": "gnd_grid_buffer_size",
"default": 4
},
"detection_range_z_max": {
"type": "number",
"description": "detection_range_z_max",
"default": 2.5
},
"elevation_grid_mode": {
"type": "boolean",
"description": "elevation_grid_mode",
"default": true
},
"low_priority_region_x": {
"type": "number",
"description": "low_priority_region_x",
"default": -20.0
},
"center_pcl_shift": {
"type": "number",
"description": "center_pcl_shift",
"default": 0.0
},
"radial_divider_angle_deg": {
"type": "number",
"description": "radial_divider_angle_deg",
"default": 1.0
},
"use_recheck_ground_cluster": {
"type": "boolean",
"description": "use_recheck_ground_cluster",
"default": true
},
"use_lowest_point": {
"type": "boolean",
"description": "use_lowest_point",
"default": true
},
"publish_processing_time_detail": {
"type": "boolean",
"description": "publish_processing_time_detail",
"default": false
}
},
"required": [
"global_slope_max_angle_deg",
"local_slope_max_angle_deg",
"split_points_distance_tolerance",
"use_virtual_ground_point",
"split_height_distance",
"non_ground_height_threshold",
"grid_size_m",
"grid_mode_switch_radius",
"gnd_grid_buffer_size",
"detection_range_z_max",
"elevation_grid_mode",
"low_priority_region_x",
"center_pcl_shift",
"radial_divider_angle_deg",
"use_recheck_ground_cluster",
"use_lowest_point",
"publish_processing_time_detail"
],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/ground_segmentation"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
107 changes: 107 additions & 0 deletions perception/autoware_ground_segmentation/schema/ransac_ground_filter.schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "RANSAC Ground Filter Node Params",
"type": "object",
"definitions": {
"ransac_ground_filter": {
"type": "object",
"properties": {
"base_frame": {
"type": "string",
"description": "base_frame",
"default": "base_link"
},
"unit_axis": {
"type": "string",
"description": "unit_axis",
"default": "z"
},
"max_iterations": {
"type": "integer",
"description": "max_iterations",
"default": 1000
},
"min_trial": {
"type": "integer",
"description": "min_trial",
"default": 5000
},
"min_points": {
"type": "integer",
"description": "min_points",
"default": 1000
},
"outlier_threshold": {
"type": "number",
"description": "outlier_threshold",
"default": 0.01
},
"plane_slope_threshold": {
"type": "number",
"description": "plane_slope_threshold",
"default": 10.0
},
"voxel_size_x": {
"type": "number",
"description": "voxel_size_x",
"default": 0.04
},
"voxel_size_y": {
"type": "number",
"description": "voxel_size_y",
"default": 0.04
},
"voxel_size_z": {
"type": "number",
"description": "voxel_size_z",
"default": 0.04
},
"height_threshold": {
"type": "number",
"description": "height_threshold",
"default": 0.01
},
"debug": {
"type": "boolean",
"description": "debug",
"default": false
},
"publish_processing_time_detail": {
"type": "boolean",
"description": "publish_processing_time_detail",
"default": false
}
},
"required": [
"base_frame",
"unit_axis",
"max_iterations",
"min_trial",
"min_points",
"outlier_threshold",
"plane_slope_threshold",
"voxel_size_x",
"voxel_size_y",
"voxel_size_z",
"height_threshold",
"debug",
"publish_processing_time_detail"
],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/ransac_ground_filter"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
108 changes: 108 additions & 0 deletions perception/autoware_ground_segmentation/schema/ray_ground_filter.schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Ray Ground Filter Node Params",
"type": "object",
"definitions": {
"ray_ground_filter": {
"type": "object",
"properties": {
"min_x": {
"type": "number",
"description": "min_x",
"default": -0.01
},
"max_x": {
"type": "number",
"description": "max_x",
"default": 0.01
},
"min_y": {
"type": "number",
"description": "min_y",
"default": -0.01
},
"max_y": {
"type": "number",
"description": "max_y",
"default": 0.01
},
"use_vehicle_footprint": {
"type": "boolean",
"description": "use_vehicle_footprint",
"default": false
},
"general_max_slope": {
"type": "number",
"description": "general_max_slope",
"default": 8.0
},
"local_max_slope": {
"type": "number",
"description": "local_max_slope",
"default": 6.0
},
"initial_max_slope": {
"type": "number",
"description": "initial_max_slope",
"default": 3.0
},
"radial_divider_angle": {
"type": "number",
"description": "radial_divider_angle",
"default": 1.0
},
"min_height_threshold": {
"type": "number",
"description": "min_height_threshold",
"default": 0.15
},
"concentric_divider_distance": {
"type": "number",
"description": "concentric_divider_distance",
"default": 0.0
},
"reclass_distance_threshold": {
"type": "number",
"description": "reclass_distance_threshold",
"default": 0.1
},
"publish_processing_time_detail": {
"type": "boolean",
"description": "publish_processing_time_detail",
"default": false
}
},
"required": [
"min_x",
"max_x",
"min_y",
"max_y",
"use_vehicle_footprint",
"general_max_slope",
"local_max_slope",
"initial_max_slope",
"radial_divider_angle",
"min_height_threshold",
"concentric_divider_distance",
"reclass_distance_threshold",
"publish_processing_time_detail"
],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/ray_ground_filter"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}

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