Ray Ground Filter#
Purpose#
The purpose of this node is that remove the ground points from the input pointcloud.
Inner-workings / Algorithms#
The points is separated radially (Ray), and the ground is classified for each Ray sequentially from the point close to ego-vehicle based on the geometric information such as the distance and angle between the points.
Inputs / Outputs#
This implementation inherits pointcloud_preprocessor::Filter class, please refer README.
Parameters#
Node Parameters#
This implementation inherits pointcloud_preprocessor::Filter class, please refer README.
Core Parameters#
| Name | Type | Description |
|---|---|---|
base_frame |
string | The target frame of input points |
general_max_slope |
double | The triangle created by general_max_slope is called the global cone. If the point is outside the global cone, it is judged to be a point that is no on the ground |
initial_max_slope |
double | Generally, the point where the object first hits is far from ego-vehicle because of sensor blind spot, so resolution is different from that point and thereafter, so this parameter exists to set a separate local_max_slope |
local_max_slope |
double | The triangle created by local_max_slope is called the local cone. This parameter for classification based on the continuity of points |
min_height_threshold |
double | This parameter is used instead of height_threshold because it's difficult to determine continuity in the local cone when the points are too close to each other. |
radial_divider_angle |
double | The angle of ray |
concentric_divider_distance |
double | Only check points which radius is larger than concentric_divider_distance |
reclass_distance_threshold |
double | To check if point is to far from previous one, if so classify again |
min_x |
double | The parameter to set vehicle footprint manually |
max_x |
double | The parameter to set vehicle footprint manually |
min_y |
double | The parameter to set vehicle footprint manually |
max_y |
double | The parameter to set vehicle footprint manually |