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Package Summary
| Tags | No category tags. |
| Version | 0.44.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-25 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The ROS 2 autoware_ground_segmentation package
Additional Links
No additional links.
Maintainers
- amc-nu
- Yukihiro Saito
- Dai Nguyen
- Yoshi Ri
Authors
- Open Perception
- Julius Kammerl
- William Woodall
autoware_ground_segmentation
Purpose
The autoware_ground_segmentation is a node that remove the ground points from the input pointcloud.
Inner-workings / Algorithms
Detail description of each ground segmentation algorithm is in the following links.
| Filter Name | Description | Detail |
|---|---|---|
| ray_ground_filter | A method of removing the ground based on the geometrical relationship between points lined up on radiation | link |
| scan_ground_filter | Almost the same method as ray_ground_filter, but with slightly improved performance |
link |
| ransac_ground_filter | A method of removing the ground by approximating the ground to a plane | link |
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
~/input/points |
sensor_msgs::msg::PointCloud2 |
reference points |
~/input/indices |
pcl_msgs::msg::Indices |
reference indices |
Output
| Name | Type | Description |
|---|---|---|
~/output/points |
sensor_msgs::msg::PointCloud2 |
filtered points |
Parameters
Node Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
input_frame |
string | ” “ | input frame id |
output_frame |
string | ” “ | output frame id |
max_queue_size |
int | 5 | max queue size of input/output topics |
use_indices |
bool | false | flag to use pointcloud indices |
latched_indices |
bool | false | flag to latch pointcloud indices |
approximate_sync |
bool | false | flag to use approximate sync option |
Assumptions / Known limits
autoware::pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.
References/External links
[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp
CHANGELOG
Changelog for package autoware_ground_segmentation
0.44.0 (2025-04-18)
- Merge remote-tracking branch 'origin/main' into humble
- refactor(ground_segmentation): rework parameter (#8988)
- perf(autoware_pointcloud_preprocessor): introduce managed
transform buffer with implicitly defined listener type
(#9197)
- feat(autoware_universe_utils): rework managed transform buffer
- feat(autoware_pointcloud_preprocessor): integrate Managed TF Buffer into pointcloud densifier
- chore: update repos
* chore(managed_transform_buffer): fix version ---------Co-authored-by: Kenzo Lobos-Tsunekawa <<kenzo.lobos@tier4.jp>>
- Contributors: Amadeusz Szymko, Prakash Kannaiah, Ryohsuke Mitsudome
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- chore: refine maintainer list
(#10110)
- chore: remove Miura from maintainer
* chore: add Taekjin-san to perception_utils package maintainer ---------
- Contributors: Fumiya Watanabe, Shunsuke Miura, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_ground_segmentation): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (#9878) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_ground_segmentation
- fix(autoware_ground_segmentation): fix bugprone-branch-clone (#9648) fix: bugprone-branch-clone
- Contributors: Fumiya Watanabe, Vishal Chauhan, kobayu858
0.40.0 (2024-12-12)
- Merge branch 'main' into release-0.40.0
- Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
- fix: fix ticket links in CHANGELOG.rst (#9588)
- chore(package.xml): bump version to 0.39.0
(#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
- fix: fix ticket links in CHANGELOG.rst (#9588)
- fix(cpplint): include what you use - perception (#9569)
- fix(autoware_ground_segmentation): remove unused function (#9536)
- fix(autoware_ground_segmentation): fix
clang-diagnostic-inconsistent-missing-override
(#9517)
- fix: clang-diagnostic-inconsistent-missing-override
* fix: pre-commit error ---------
- feat(autoware_ground_segmentation): grid data structure revision
for efficiency improvement
(#9297)
- fix: replace point index to data index
- feat: Use emplace_back instead of push_back for adding gnd_grids in node.cpp
- fix: prep for non-sorted grid process
- feat: Add Cell class and Grid class for grid-based segmentation
- refactor: Add Cell and Grid classes for grid-based segmentation
- feat: initialize new grid
* refactor: Update Grid class initialization to use radians for azimuth size refactor: Update Grid class initialization to use radians for azimuth size refactor: Update Grid class initialization to use radians for azimuth size
- refactor: Fix calculation of azimuth index in Grid class
- feat: implement grid based segmentation, temporary logic
- refactor: idx position convert methods
- refactor: Update Grid class initialization to use radians for azimuth size
- feat: reconnect grids filled
- feat: grid initialization
* refactor: Update Grid class initialization and reset methods, implement a segmentation logic refactor: Update Grid class initialization and reset methods, implement a segmentation logic refactor: replace original methods
- feat: add time_keeper
* refactor: add time keeper in grid class refactor: remove previous scan ground grid
- refactor: optimize grid boundary calculations and use squared values for radius comparisons
- fix: use pointer for prev cell
- refactor: remove time keeper called too many times
- fix: radial idx estimation fix
* refactor: optimize ground bin average calculation fix: ground bin logic fix
- refactor: make grid ground filter separate
* refactor: remove unused code fix: azimuth grid index converter bug * fix: segmentation logic determination fix fix: cell connection bug fix
- refactor: optimize pseudoArcTan2 function
- refactor: update grid radial calculation
- refactor: contain input cloud ptr
- refactor: separate ground initialization
- refactor: Remove unused code and optimize grid radial calculation
- refactor: Inline functions for improved performance
- feat: various azimuth interval per radial distance
* refactor: Fix bug in grid ground filter segmentation logic and cell connection Remove unused code and optimize grid radial calculation
- fix: add missing offset calculation
* refactor: Improve grid ground filter segmentation logic and cell connection Optimize grid radial calculation and remove unused code
- refactor: Remove debug print statements and optimize grid initialization
- refactor: Update grid radial limit to 200.0m
- refactor: Update grid size to 0.5m for improved ground segmentation
- refactor: Improve grid ground filter segmentation logic
- refactor: Optimize grid ground filter segmentation logic
- refactor: Update logic order for fast segmentation
- fix: resolve cppcheck issue
- fix: pseudo atan2 fix for even distribution of azimuth
- fix: remove unused next_grid_idx_ update
- fix: introduce pseudo tangent to match result of pseudo arc tangent
- style(pre-commit): autofix
- fix: limit gradient
- fix: bring previous average when the ground bin is empty
- fix: back to constant azimuth interval grid
- perf: remove division for efficiency
- perf: remove division for efficiency
- perf: contain radius and height to avoid double calculation
- perf: optimize grid distance calculation for efficiency
- style(pre-commit): autofix
- perf: using isEmpty for efficiency
- chore: initialization fix
- perf: initial ground cell is integrated into the classify method for efficiency
- perf: refactor grid initialization for efficiency
- perf: optimize grid cell linking for efficiency
* Revert "perf: initial ground cell is integrated into the classify method for efficiency" This reverts commit a4ab70b630f966d3e2827a07a0ec27079ecc78d2.
- fix: fix pseudo atan2 bug
- feat: various azimuth interval by range
- perf: optimize pseudoArcTan2 function for efficiency
- style(pre-commit): autofix
- fix: avoid zero division on the slope estimation
* fix: limit recursive search refactor: improve efficiency of recursiveSearch function Fix function parameter type in GridGroundFilter
- refactor: add comments about unclassified case
- chore: add comment to explain methods
- refactor: remove unnecessary include statement
- refactor: cast point_list size to int in getPointNum method
* refactor: add index check in getCell method ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- 0.39.0
- update changelog
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Taekjin LEE, Yutaka Kondo, kobayu858
0.39.0 (2024-11-25)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Yutaka Kondo
0.38.0 (2024-11-08)
- unify package.xml version to 0.37.0
- feat(autoware_ground_segmentation): implementing linear least
square fitting for local gradient calculation
(#9116)
* refactor: calculate local ground gradient in
classifyPointCloudGridScan Calculate the local ground gradient by
fitting a line to the ground grids in the classifyPointCloudGridScan
function. This improves the accuracy of the gradient calculation and
ensures more precise extrapolation of the ground height.
- refactor: calculate local ground gradient in classifyPointCloudGridScan
- refactor: update ground gradient calculation in classifyPointCloudGridScan function
- style(pre-commit): autofix
- chore: rename gradient variables
- refactor: initialize all the member of the struct GridCenter
* refactor: fix ground gradient calculation in checkContinuousGndGrid function ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- fix(autoware_ground_segmentation): fix scan ground filter logic
(#9084)
* refactor: initialize gnd_grids in
ScanGroundFilterComponent::initializeFirstGndGrids Initialize
gnd_grids vector in the
ScanGroundFilterComponent::initializeFirstGndGrids function to
ensure it is empty and has the correct capacity. This improves the
efficiency of the function and ensures accurate grid initialization.
* refactor: initialize gnd_grids vector in initializeFirstGndGrids
function Initialize the gnd_grids vector in the
initializeFirstGndGrids function to ensure it is empty and has the
correct capacity. This improves the efficiency of the function and
ensures accurate grid initialization.
* refactor: improve efficiency and accuracy of grid initialization
Initialize the gnd_grids vector in the initializeFirstGndGrids
function to ensure it is empty and has the correct capacity. This
refactor improves the efficiency of the function and ensures
accurate grid initialization.
* refactor: improve efficiency of checkDiscontinuousGndGrid
function Refactor the checkDiscontinuousGndGrid function in node.cpp
to improve its efficiency. The changes include optimizing the
conditional statements and reducing unnecessary calculations.
- refactor: improve efficiency of checkDiscontinuousGndGrid function
- fix: add missing condition
- style(pre-commit): autofix
- refactor: fix height_max initialization in node.hpp
- fix: bring back inequality sign
* fix: parameters from float to double following the guideline https://docs.ros.org/en/foxy/Concepts/About-ROS-2-Parameters.html#overview * refactor: fix logic description comment ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- chore(autoware_ground_segmentation): scan ground filter
refactoring
(#9061)
- chore: Add comment classification logic for point cloud grid scan
- chore: renamed horizontal angle to azimuth angle
- chore: rename offset to data_index
* chore: rename ground_cluster to centroid_bin chore: Refactor recheckGroundCluster function in scan_ground_filter
- chore: rename too short variables
- refactor: set input to be const
- refactor: update functions to be const
- chore: reorder params
- refactor: Add ScanGroundGrid class for managing grid data
- refactor: Update grid parameters and calculations in ScanGroundGrid class
- refactor: remove unused methods
- refactor: classification description
- refactor: initialize members in ScanGroundGrid class
- refactor: remove unused value
- chore: reduce scope
* refactor: align structure between convertPointcloud and convertPointcloudGridScan ---------
- feat(ground_segmentation): add time_keeper
(#8585)
- add time_keeper
- add timekeeper option
- add autoware_universe_utils
- fix topic name
- add scope and timekeeper
- remove debug code
* remove some timekeeper and mod block comment ---------
- fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (#8678)
- fix(ground-segmentation): missing ament_index_cpp dependency (#8587)
- fix(autoware_ground_segmentation): fix unusedFunction (#8566) fix:unusedFunction
- fix(ground_segmentation): missing default parameters ERROR (#8538) fix(ground_segmentation): remove unused params
- fix(autoware_ground_segmentation): fix unreadVariable
(#8353)
- fix:unreadVariable
* fix:unreadVariable ---------
- perf(autoware_pointcloud_preprocessor): lazy & managed TF
listeners
(#8174)
- perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners
- fix(autoware_pointcloud_preprocessor): param names & reverse frames transform logic
- fix(autoware_ground_segmentation): add missing TF listener
- feat(autoware_ground_segmentation): change to static TF buffer
- refactor(autoware_pointcloud_preprocessor): move StaticTransformListener to universe utils
- perf(autoware_universe_utils): skip redundant transform
- fix(autoware_universe_utils): change checks order
* doc(autoware_universe_utils): add docstring ---------
- fix(autoware_ground_segmentation): fix uninitMemberVar (#8336) fix:uninitMemberVar
- fix(autoware_ground_segmentation): fix functionConst (#8291) fix:functionConst
- refactor(ground_segmentation)!: add package name prefix of
autoware_
(#8135)
- refactor(ground_segmentation): add package name prefix of autoware_
* fix: update prefix cmake ---------
- Contributors: Amadeusz Szymko, Masaki Baba, Rein Appeldoorn, Taekjin LEE, Yutaka Kondo, badai nguyen, kobayu858
0.26.0 (2024-04-03)
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| libopencv-dev |
| yaml-cpp |
Dependant Packages
| Name | Deps |
|---|---|
| tier4_perception_launch |
Launch files
- launch/ray_ground_filter.launch.xml
-
- ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ray_ground_filter.param.yaml]
- input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
- launch/ransac_ground_filter.launch.xml
-
- ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
- input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
- launch/scan_ground_filter.launch.xml
-
- ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/scan_ground_filter.param.yaml]
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
- input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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