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4 changes: 1 addition & 3 deletions perception/autoware_ground_segmentation/README.md
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Expand Up @@ -30,14 +30,12 @@ Detail description of each ground segmentation algorithm is in the following lin
| `~/output/points` | `sensor_msgs::msg::PointCloud2` | filtered points |

## Parameters

{{ json_to_markdown("perception/autoware_ground_segmentation/schema/ground_segmentation.schema.json") }}
{{ json_to_markdown("perception/autoware_ground_segmentation/schema/ransac_ground_filter.schema.json") }}
{{ json_to_markdown("perception/autoware_ground_segmentation/schema/ray_ground_filter.schema.json") }}
{{ 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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297 changes: 148 additions & 149 deletions perception/autoware_ground_segmentation/schema/ground_segmentation.schema.json
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@@ -1,151 +1,150 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "autoware_ground_segmentation",
"type": "object",
"definitions": {
"ground_segmentation": {
"type": "object",
"properties": {
"plugin": {
"type": "string",
"description": "The plugin name used for ground segmentation.",
"default": "autoware::ground_segmentation::ScanGroundFilterComponent"
},
"parameters": {
"type": "object",
"properties": {
"global_slope_max_angle_deg": {
"type": "number",
"description": "Maximum allowable global slope angle in degrees.",
"default": 10.0
},
"local_slope_max_angle_deg": {
"type": "number",
"description": "Maximum allowable local slope angle in degrees. Recommended 30.0 for non-elevation grid mode.",
"default": 13.0
},
"split_points_distance_tolerance": {
"type": "number",
"description": "Distance tolerance for split points.",
"default": 0.2
},
"use_virtual_ground_point": {
"type": "boolean",
"description": "Enable the use of virtual ground points.",
"default": true
},
"split_height_distance": {
"type": "number",
"description": "Height distance threshold for splitting.",
"default": 0.2
},
"non_ground_height_threshold": {
"type": "number",
"description": "Height threshold for non-ground points.",
"default": 0.20
},
"grid_size_m": {
"type": "number",
"description": "Size of the grid in meters.",
"default": 0.1
},
"grid_mode_switch_radius": {
"type": "number",
"description": "Radius for switching grid mode.",
"default": 20.0
},
"gnd_grid_buffer_size": {
"type": "integer",
"description": "Buffer size for ground grid processing.",
"default": 4
},
"detection_range_z_max": {
"type": "number",
"description": "Maximum detection range in the Z direction.",
"default": 2.5
},
"elevation_grid_mode": {
"type": "boolean",
"description": "Enable elevation grid mode for ground filtering.",
"default": true
},
"low_priority_region_x": {
"type": "number",
"description": "X-coordinate defining the low-priority region.",
"default": -20.0
},
"center_pcl_shift": {
"type": "number",
"description": "Shift applied to the center of the point cloud.",
"default": 0.0
},
"radial_divider_angle_deg": {
"type": "number",
"description": "Angle step for radial segmentation in degrees.",
"default": 1.0
},
"use_recheck_ground_cluster": {
"type": "boolean",
"description": "Enable rechecking of ground clusters for refinement.",
"default": true
},
"use_lowest_point": {
"type": "boolean",
"description": "Use the lowest point for ground estimation.",
"default": true
},
"publish_processing_time_detail": {
"type": "boolean",
"description": "Enable publishing of detailed processing time for debugging.",
"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
}
},
"required": ["plugin", "parameters"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"type": "object",
"properties": {
"common_ground_filter": {
"$ref": "#/definitions/ground_segmentation"
}
},
"required": ["common_ground_filter"],
"additionalProperties": false
}
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "autoware_ground_segmentation",
"type": "object",
"definitions": {
"ground_segmentation": {
"type": "object",
"properties": {
"plugin": {
"type": "string",
"description": "The plugin name used for ground segmentation.",
"default": "autoware::ground_segmentation::ScanGroundFilterComponent"
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}

"parameters": {
"type": "object",
"properties": {
"global_slope_max_angle_deg": {
"type": "number",
"description": "Maximum allowable global slope angle in degrees.",
"default": 10.0
},
"local_slope_max_angle_deg": {
"type": "number",
"description": "Maximum allowable local slope angle in degrees. Recommended 30.0 for non-elevation grid mode.",
"default": 13.0
},
"split_points_distance_tolerance": {
"type": "number",
"description": "Distance tolerance for split points.",
"default": 0.2
},
"use_virtual_ground_point": {
"type": "boolean",
"description": "Enable the use of virtual ground points.",
"default": true
},
"split_height_distance": {
"type": "number",
"description": "Height distance threshold for splitting.",
"default": 0.2
},
"non_ground_height_threshold": {
"type": "number",
"description": "Height threshold for non-ground points.",
"default": 0.2
},
"grid_size_m": {
"type": "number",
"description": "Size of the grid in meters.",
"default": 0.1
},
"grid_mode_switch_radius": {
"type": "number",
"description": "Radius for switching grid mode.",
"default": 20.0
},
"gnd_grid_buffer_size": {
"type": "integer",
"description": "Buffer size for ground grid processing.",
"default": 4
},
"detection_range_z_max": {
"type": "number",
"description": "Maximum detection range in the Z direction.",
"default": 2.5
},
"elevation_grid_mode": {
"type": "boolean",
"description": "Enable elevation grid mode for ground filtering.",
"default": true
},
"low_priority_region_x": {
"type": "number",
"description": "X-coordinate defining the low-priority region.",
"default": -20.0
},
"center_pcl_shift": {
"type": "number",
"description": "Shift applied to the center of the point cloud.",
"default": 0.0
},
"radial_divider_angle_deg": {
"type": "number",
"description": "Angle step for radial segmentation in degrees.",
"default": 1.0
},
"use_recheck_ground_cluster": {
"type": "boolean",
"description": "Enable rechecking of ground clusters for refinement.",
"default": true
},
"use_lowest_point": {
"type": "boolean",
"description": "Use the lowest point for ground estimation.",
"default": true
},
"publish_processing_time_detail": {
"type": "boolean",
"description": "Enable publishing of detailed processing time for debugging.",
"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
}
},
"required": ["plugin", "parameters"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"type": "object",
"properties": {
"common_ground_filter": {
"$ref": "#/definitions/ground_segmentation"
}
},
"required": ["common_ground_filter"],
"additionalProperties": false
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
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