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fix: ground segmentation recheck condition relax #1617

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fix: ground segmentation recheck condition relax #1617

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a8612b2
fix: relax recheck threshold
technolojin Oct 30, 2024
3beadf2
fix: bug fix for an average process
technolojin Oct 31, 2024
8208cf2
chore: update recheck threshold for ground cluster classification
technolojin Oct 31, 2024
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10 changes: 6 additions & 4 deletions perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -257,8 +257,8 @@ void ScanGroundFilterComponent::checkContinuousGndGrid(
gnd_buff_z_mean += it->avg_height;
}

gnd_buff_radius /= static_cast<float>(gnd_grid_buffer_size_ - 1);
gnd_buff_z_mean /= static_cast<float>(gnd_grid_buffer_size_ - 1);
gnd_buff_radius /= static_cast<float>(gnd_grid_buffer_size_);
gnd_buff_z_mean /= static_cast<float>(gnd_grid_buffer_size_);

float tmp_delta_mean_z = gnd_grids_list.back().avg_height - gnd_buff_z_mean;
float tmp_delta_radius = gnd_grids_list.back().radius - gnd_buff_radius;
Expand Down Expand Up @@ -404,9 +404,11 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan(
// move to new grid
if (p->grid_id > prev_p->grid_id && ground_cluster.getAverageRadius() > 0.0) {
// check if the prev grid have ground point cloud
if (use_recheck_ground_cluster_) {
const bool is_recheck_area = ground_cluster.getAverageRadius() > grid_mode_switch_radius_;
if (use_recheck_ground_cluster_ && is_recheck_area) {
recheckGroundCluster(
ground_cluster, non_ground_height_threshold_, use_lowest_point_, out_no_ground_indices);
ground_cluster, non_ground_height_threshold_, use_lowest_point_,
out_no_ground_indices);
}
curr_gnd_grid.radius = ground_cluster.getAverageRadius();
curr_gnd_grid.avg_height = ground_cluster.getAverageHeight();
Expand Down
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