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fix(ground_filter): expand range of cropped_box_filter #1241

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fix(ground_filter): expand range of cropped_box_filter #1241

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86e547c
fix(ground_filter): expand range of cropped_box_filter
badai-nguyen Jul 4, 2022
5a67792
chore: typo
badai-nguyen Jul 6, 2022
d79d3fe
ci(pre-commit): autofix
pre-commit-ci[bot] Jul 6, 2022
23d85f5
chore: add out_range point label
badai-nguyen Jul 7, 2022
c786f6b
chore: typo
badai-nguyen Jul 7, 2022
1cf1602
docs: update parameters
badai-nguyen Jul 7, 2022
73afe15
fix: change range of crop_box_filter
badai-nguyen Jul 7, 2022
1065e40
chore: add default params
badai-nguyen Jul 7, 2022
faab2b6
fix: recheck out of range and change default param
badai-nguyen Jul 7, 2022
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3 changes: 3 additions & 0 deletions perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,7 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter
POINT_FOLLOW,
UNKNOWN,
VIRTUAL_GROUND,
OUT_OF_RANGE
};
struct PointRef
{
Expand Down Expand Up @@ -113,6 +114,8 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter

std::string base_frame_;
std::string sensor_frame_;
float non_ground_height_max_ = 2.5f; // maximum height of non_ground object from ground
float non_ground_height_min_ = 0.0f; // mimimum height of non_ground object from ground
double global_slope_max_angle_rad_; // radians
double local_slope_max_angle_rad_; // radians
double radial_divider_angle_rad_; // distance in rads between dividers
Expand Down
13 changes: 12 additions & 1 deletion perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,10 @@ ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions &
// set initial parameters
{
base_frame_ = declare_parameter("base_frame", "base_link");
non_ground_height_max_ = static_cast<float>(declare_parameter("non_ground_height_max", 2.5));
non_ground_height_min_ = static_cast<float>(declare_parameter("non_ground_height_min", -0.2));
// TODO(badai-nguyen) : adjust margin for non_ground_height_min_ based on the distance
// from LiDAR to allow a down-slope
global_slope_max_angle_rad_ = deg2rad(declare_parameter("global_slope_max_angle_deg", 8.0));
local_slope_max_angle_rad_ = deg2rad(declare_parameter("local_slope_max_angle_deg", 6.0));
radial_divider_angle_rad_ = deg2rad(declare_parameter("radial_divider_angle_deg", 1.0));
Expand Down Expand Up @@ -168,7 +172,14 @@ void ScanGroundFilterComponent::classifyPointCloud(

float global_slope = std::atan2(p->orig_point->z, p->radius);
// check points which is far enough from previous point
if (global_slope > global_slope_max_angle) {
if (
(height_from_gnd < non_ground_height_min_) ||
((p->orig_point->z - ground_cluster.getAverageHeight()) < non_ground_height_min_) ||
(height_from_gnd > non_ground_height_max_)) {
// exclude pcl under ground or higher than limit
p->point_state = PointLabel::OUT_OF_RANGE;
calculate_slope = false;
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In this case, what would be the label for point?

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@badai-nguyen badai-nguyen Jul 7, 2022 •
edited
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I assigned as out_of_range label for that points

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When the point is labeled out of range, prev point label will be also set to out of range. Is this okay for next point judgement?

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as this condition , if the point is labeled out of range, the next point should not classify as POINT_FOLLOW, but GROUND, NON_GROUND or OUT_OF_RANGE.
Keeping to use the current ground_cluster and non_ground_cluster to check the next point is reasonable, IMO.

} else if (global_slope > global_slope_max_angle) {
p->point_state = PointLabel::NON_GROUND;
calculate_slope = false;
} else if (
Expand Down