From 5725c2daf9b6d00a5f52abe028641af7c71dc192 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Mon, 16 Oct 2023 12:59:34 +0900 Subject: [PATCH] chore(ground_segmentation): update docs (#4806) * chore(ground_segmentation): update docs Signed-off-by: badai-nguyen * chore: update figure Signed-off-by: badai-nguyen * style(pre-commit): autofix --------- Signed-off-by: badai-nguyen Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../scan_ground_filter_parameters.drawio.svg | 225 ++++++++++++++++++ .../docs/scan-ground-filter.md | 39 +-- 2 files changed, 245 insertions(+), 19 deletions(-) create mode 100644 perception/ground_segmentation/docs/image/scan_ground_filter_parameters.drawio.svg diff --git a/perception/ground_segmentation/docs/image/scan_ground_filter_parameters.drawio.svg b/perception/ground_segmentation/docs/image/scan_ground_filter_parameters.drawio.svg new file mode 100644 index 0000000000000..985b99d82ba9b --- /dev/null +++ b/perception/ground_segmentation/docs/image/scan_ground_filter_parameters.drawio.svg @@ -0,0 +1,225 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ + z + + + + + + + Text is not SVG - cannot display + + + diff --git a/perception/ground_segmentation/docs/scan-ground-filter.md b/perception/ground_segmentation/docs/scan-ground-filter.md index 0c07ce600f625..bc44544fa298c 100644 --- a/perception/ground_segmentation/docs/scan-ground-filter.md +++ b/perception/ground_segmentation/docs/scan-ground-filter.md @@ -29,25 +29,26 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref #### Core Parameters -| Name | Type | Default Value | Description | -| --------------------------------- | ------ | ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------- | -| `input_frame` | string | "base_link" | frame id of input pointcloud | -| `output_frame` | string | "base_link" | frame id of output pointcloud | -| `global_slope_max_angle_deg` | double | 8.0 | The global angle to classify as the ground or object [deg] | -| `local_slope_max_angle_deg` | double | 10.0 | The local angle to classify as the ground or object [deg] | -| `radial_divider_angle_deg` | double | 1.0 | The angle which divide the whole pointcloud to sliced group [deg] | -| `split_points_distance_tolerance` | double | 0.2 | The xy-distance threshold to to distinguishing far and near [m] | -| `split_height_distance` | double | 0.2 | The height threshold to distinguishing far and near [m] | -| `use_virtual_ground_point` | bool | true | whether to use the ground center of front wheels as the virtual ground point. | -| `detection_range_z_max` | float | 2.5 | Maximum height of detection range [m], applied only for elevation_grid_mode | -| `center_pcl_shift` | float | 0.0 | The x-axis offset of addition LiDARs from vehicle center of mass [m],
recommended to use only for additional LiDARs in elevation_grid_mode | -| `non_ground_height_threshold` | float | 0.2 | Height threshold of non ground objects [m], applied only for elevation_grid_mode | -| `grid_mode_switch_radius` | float | 20.0 | The distance where grid division mode change from by distance to by vertical angle [m],
applied only for elevation_grid_mode | -| `grid_size_m` | float | 0.5 | The first grid size [m], applied only for elevation_grid_mode | -| `gnd_grid_buffer_size` | uint16 | 4 | Number of grids using to estimate local ground slope,
applied only for elevation_grid_mode | -| `low_priority_region_x` | float | -20.0 | The non-zero x threshold in back side from which small objects detection is low priority [m] | -| `elevation_grid_mode` | bool | true | Elevation grid scan mode option | -| `use_recheck_ground_cluster` | bool | true | Enable recheck ground cluster | +![scan_ground_parameter](./image/scan_ground_filter_parameters.drawio.svg) +| Name | Type | Default Value | Description | +| --------------------------------- | ------ | ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `input_frame` | string | "base_link" | frame id of input pointcloud | +| `output_frame` | string | "base_link" | frame id of output pointcloud | +| `global_slope_max_angle_deg` | double | 8.0 | The global angle to classify as the ground or object [deg].
A large threshold may reduce false positive of high slope road classification but it may lead to increase false negative of non-ground classification, particularly for small objects. | +| `local_slope_max_angle_deg` | double | 10.0 | The local angle to classify as the ground or object [deg] when comparing with adjacent point.
A small value enhance accuracy classification of object with inclined surface. This should be considered together with `split_points_distance_tolerance` value. | +| `radial_divider_angle_deg` | double | 1.0 | The angle which divide the whole pointcloud to sliced group [deg] | +| `split_points_distance_tolerance` | double | 0.2 | The xy-distance threshold to distinguish far and near [m] | +| `split_height_distance` | double | 0.2 | The height threshold to distinguish ground and non-ground pointcloud when comparing with adjacent points [m].
A small threshold improves classification of non-ground point, especially for high elevation resolution pointcloud lidar. However, it might cause false positive for small step-like road surface or misaligned multiple lidar configuration. | +| `use_virtual_ground_point` | bool | true | whether to use the ground center of front wheels as the virtual ground point. | +| `detection_range_z_max` | float | 2.5 | Maximum height of detection range [m], applied only for elevation_grid_mode | +| `center_pcl_shift` | float | 0.0 | The x-axis offset of addition LiDARs from vehicle center of mass [m],
recommended to use only for additional LiDARs in elevation_grid_mode | +| `non_ground_height_threshold` | float | 0.2 | Height threshold of non ground objects [m] as `split_height_distance` and applied only for elevation_grid_mode | +| `grid_mode_switch_radius` | float | 20.0 | The distance where grid division mode change from by distance to by vertical angle [m],
applied only for elevation_grid_mode | +| `grid_size_m` | float | 0.5 | The first grid size [m], applied only for elevation_grid_mode.
A large value enhances the prediction stability for ground surface. suitable for rough surface or multiple lidar configuration. | +| `gnd_grid_buffer_size` | uint16 | 4 | Number of grids using to estimate local ground slope,
applied only for elevation_grid_mode | +| `low_priority_region_x` | float | -20.0 | The non-zero x threshold in back side from which small objects detection is low priority [m] | +| `elevation_grid_mode` | bool | true | Elevation grid scan mode option | +| `use_recheck_ground_cluster` | bool | true | Enable recheck ground cluster | ## Assumptions / Known limits