compare_map_segmentation#
Purpose#
The compare_map_segmentation is a node that filters the ground points from the input pointcloud by using map info (e.g. pcd, elevation map).
Inner-workings / Algorithms#
Compare Elevation Map Filter#
Compare the z of the input points with the value of elevation_map. The height difference is calculated by the binary integration of neighboring cells. Remove points whose height difference is below the height_diff_thresh.
Distance Based Compare Map Filter#
WIP
Voxel Based Approximate Compare Map Filter#
WIP
Voxel Based Compare Map Filter#
WIP
Voxel Distance based Compare Map Filter#
WIP
Inputs / Outputs#
Compare Elevation Map Filter#
Input#
| Name | Type | Description |
|---|---|---|
~/input/points |
sensor_msgs::msg::PointCloud2 |
reference points |
~/input/elevation_map |
grid_map::msg::GridMap |
elevation map |
Output#
| Name | Type | Description |
|---|---|---|
~/output/points |
sensor_msgs::msg::PointCloud2 |
filtered points |
Other Filters#
Input#
| Name | Type | Description |
|---|---|---|
~/input/points |
sensor_msgs::msg::PointCloud2 |
reference points |
~/input/map |
grid_map::msg::GridMap |
map |
Output#
| Name | Type | Description |
|---|---|---|
~/output/points |
sensor_msgs::msg::PointCloud2 |
filtered points |
Parameters#
Core Parameters#
| Name | Type | Description | Default value |
|---|---|---|---|
map_layer_name |
string | elevation map layer name | elevation |
map_frame |
float | frame_id of the map that is temporarily used before elevation_map is subscribed | map |
height_diff_thresh |
float | Remove points whose height difference is below this value [m] | 0.15 |