Noground Filter 설명

Outlier_removal: Point Outlier Remove Filter

• PCL 라이브러리에서 제공하는 기본 함수 Reference: https://pcl.readthedocs.io/projects/tutorials/en/latest/statistical_outlier.html
• MKZ Hesai 데이터의 노이즈를 제거하기 위해 코드 추가 sensing/preprocessor/pointcloud/pointcloud_preprocessor/src/ground_filter/ray_ground_filter_nodelet.cpp

ConvertXYZIToRTZColor(
current_sensor_cloud_ptr, organized_points, radial_division_indices, radial_ordered_clouds);
 
pcl::PointIndices ground_indices, no_ground_indices;
 
ClassifyPointCloud(radial_ordered_clouds, ground_indices, no_ground_indices);
 
pcl::PointCloud<PointType_>::Ptr ground_cloud_ptr(new pcl::PointCloud<PointType_>);
pcl::PointCloud<PointType_>::Ptr no_ground_cloud_ptr(new pcl::PointCloud<PointType_>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr radials_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);
 
ExtractPointsIndices(
current_sensor_cloud_ptr, ground_indices, ground_cloud_ptr, no_ground_cloud_ptr);
 
pcl::PointCloud<pcl::PointXYZ>::Ptr outlier_remove_cloud_ptr(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr outlier_cloud_ptr(new pcl::PointCloud<pcl::PointXYZ>);
 
pcl::StatisticalOutlierRemoval<pcl::PointXYZ> outlier_removal;
outlier_removal.setInputCloud(no_ground_cloud_ptr);
outlier_removal.setMeanK(5); 
outlier_removal.setStddevMulThresh(2.0);
outlier_removal.setNegative(false);
outlier_removal.filter (*outlier_remove_cloud_ptr);

• AAP 0.9 기준 Noground 노드에서 출력된 output topic은 control, occupancy grid map의 input data로 활용됨