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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

Assumptions / Known limits#

(Optional) Error detection and handling#

(Optional) Performance characterization#

(Optional) Future extensions / Unimplemented parts#

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