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‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(groundgrid)
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# use c++17
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SET(CMAKE_CXX_STANDARD 17)
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######################################
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## Find catkin macros and libraries ##
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######################################
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find_package(catkin REQUIRED COMPONENTS
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dynamic_reconfigure
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nodelet
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roscpp
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geometry_msgs
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pcl_ros
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pcl_conversions
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grid_map_core
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grid_map_ros
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grid_map_cv
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grid_map_filters
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grid_map_loader
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grid_map_msgs
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grid_map_rviz_plugin
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grid_map_visualization
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cv_bridge
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image_transport
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std_msgs
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sensor_msgs
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nav_msgs
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tf2
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tf2_ros
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tf2_msgs
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message_generation
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)
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################################
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## include common CMake setup ##
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################################
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find_package(OpenCV REQUIRED)
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find_package(PCL REQUIRED COMPONENTS common)
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find_package(Eigen3 REQUIRED)
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#######################################
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## dynamic_reconfigure configuration ##
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#######################################
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generate_dynamic_reconfigure_options(
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cfg/GroundGrid.cfg
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)
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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add_service_files(
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FILES
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NextCloud.srv
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)
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## Generate added messages and services with any dependencies listed here
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generate_messages(
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DEPENDENCIES
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std_msgs
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)
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###################################
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## catkin specific configuration ##
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###################################
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES ${PROJECT_NAME}_lib
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CATKIN_DEPENDS
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dynamic_reconfigure
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nodelet
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(SYSTEM
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${catkin_INCLUDE_DIRS}
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include
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)
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#####################################################
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## Build library, node and nodelet of this package ##
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#####################################################
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## Declare a cpp library
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add_library(${PROJECT_NAME}_lib
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src/GroundGrid.cpp
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)
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## Add cmake target dependencies of the executable/library
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## as an example, message headers may need to be generated before nodes
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add_dependencies(${PROJECT_NAME}_lib
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${PROJECT_NAME}_gencfg
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)
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## Specify libraries to link a library or executable target against
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target_link_libraries(${PROJECT_NAME}_lib
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${catkin_LIBRARIES}
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)
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## Declare a cpp library
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add_library(${PROJECT_NAME}_groundsegmentation_lib
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src/GroundSegmentation.cpp
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)
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## Add cmake target dependencies of the executable/library
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## as an example, message headers may need to be generated before nodes
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add_dependencies(${PROJECT_NAME}_groundsegmentation_lib
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${PROJECT_NAME}_gencfg
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)
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## Specify libraries to link a library or executable target against
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target_link_libraries(${PROJECT_NAME}_groundsegmentation_lib
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${catkin_LIBRARIES}
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)
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## determines target name as lib[name].so, here: libfub_dummy_nodelet.so
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## the library path in nodelet_plugins.xml refers to this file
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add_library(${PROJECT_NAME}_nodelet
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src/GroundGridNodelet.cpp
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)
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add_dependencies(${PROJECT_NAME}_nodelet
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${PROJECT_NAME}_gencfg
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${catkin_EXPORTED_TARGETS}
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${PROJECT_NAME}_lib
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${PROJECT_NAME}_groundsegmentation_lib
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)
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target_link_libraries(${PROJECT_NAME}_nodelet
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${catkin_LIBRARIES}
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${PROJECT_NAME}_lib
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${PROJECT_NAME}_groundsegmentation_lib
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)
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## Declare a cpp executable
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add_executable(${PROJECT_NAME}_node
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src/GroundGridNode.cpp
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)
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add_dependencies(${PROJECT_NAME}_node
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${PROJECT_NAME}_nodelet
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)
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target_link_libraries(${PROJECT_NAME}_node
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${catkin_LIBRARIES}
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)
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#############
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## Install ##
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#############
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## Mark executables and/or libraries for installation
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install(
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TARGETS
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${PROJECT_NAME}_lib
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${PROJECT_NAME}_groundsegmentation_lib
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${PROJECT_NAME}_node
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${PROJECT_NAME}_nodelet
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)
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## Mark other files for installation (e.g. launch and bag files, etc.)
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install(
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DIRECTORY launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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install(
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FILES nodelet_plugins.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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‎LICENSE‎

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Copyright 2023 Dahlem Center for Machine Learning and Robotics, Freie Universität Berlin
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎README.md‎

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# Source code for the article "GroundGrid: LiDAR Point Cloud Ground Segmentation and Terrain Estimation"
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This repository contains the source code for the article "GroundGrid: LiDAR Point Cloud Ground Segmentation and Terrain Estimation" published in the IEEE Robotics and Automation Letters ([DOI: 10.1109/LRA.2023.3333233](https://doi.org/10.1109/lra.2023.3333233)).
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<p align="center">
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<img src="/res/img/teaser.gif" alt="Ground segmentation results"/>
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</p>
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# Dependencies
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- ROS Noetic Ninjemys
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- catkin
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- roscpp
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- geometry_msgs
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- sensor_msgs
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- std_msgs
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- message_generation
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- message_runtime
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- velodyne_pointcloud
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- nodelet
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- dynamic_reconfigure
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- grid_map_core
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- grid_map_ros
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- grid_map_cv
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- grid_map_loader
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- grid_map_msgs
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- grid_map_rviz_plugin
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- grid_map_visualization
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- cv_bridge
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- pcl_ros
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# Build
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```
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catkin build -DCMAKE_BUILD_TYPE=Release groundgrid
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```
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# Launch
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## Playback
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```
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roslaunch groundgrid KITTIPlayback.launch directory:=/path/to/the/SemanticKITTI/dataset sequence:=0
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```
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The launch file opens a RViz window which displays the segmentation results:
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<p align="center">
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<img src="/res/img/rviz.png" alt="SemanticKitti playback Rviz window"/>
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</p>
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## Ground Segmentation Evaluation
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```
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roslaunch groundgrid KITTIEvaluate.launch directory:=/path/to/the/SemanticKITTI/dataset sequence:=0
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```
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This launch file evaluates the ground segmentation performance of GroundGrid and displays the results every 500 processed clouds.
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The final results are displayed upon receiving Ctrl+C in the terminal:
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```
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Stats
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Received 4540 point clouds. KITTI sequence 00.
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label nonground % ground % nonground total
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unlabeled 88.74% 11.26% 6512861 7339364
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outlier 42.51% 57.49% 121616 286056
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car 94.42% 5.58% 43078880 45622648
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bicycle 89.85% 10.15% 200919 223610
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motorcycle 95.39% 4.61% 500522 524684
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truck 97.61% 2.39% 416124 426308
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other-vehicle 96.34% 3.66% 1199946 1245564
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person 95.95% 4.05% 68227 71104
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bicyclist 100.00% 0.00% 5 5
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motorcyclist 0.00% 100.00% 0 8
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road 0.07% 99.93% 68465 95649669
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parking 0.45% 99.55% 37828 8450594
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sidewalk 0.91% 99.09% 716154 78601664
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other-ground 6.43% 93.57% 192 2985
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building 97.33% 2.67% 117586234 120810401
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fence 88.91% 11.09% 15821127 17793867
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other-structure 89.92% 10.08% 713791 793778
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lane-marking 0.16% 99.84% 171 109456
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vegetation 93.43% 6.57% 121595505 130139604
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trunk 97.88% 2.12% 4495649 4592878
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terrain 6.68% 93.32% 1939107 29038187
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pole 98.14% 1.86% 1819715 1854290
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traffic-sign 99.87% 0.13% 248254 248565
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other-object 89.59% 10.41% 4577201 5109077
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moving-car 96.48% 3.52% 245225 254183
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moving-bicyclist 98.23% 1.77% 155263 158054
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moving-person 96.51% 3.49% 85024 88099
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moving-motorcyclist 94.68% 5.32% 2011 2124
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moving-bus 98.26% 1.74% 902 918
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moving-other-vehicle 94.24% 5.76% 34090 36175
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Precision 96.05% 209090638 8607231
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Recall 98.70% 209090638 2761917
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F1 97.35% 8607231 2761917
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Accuracy 97.24% 400339747 411708895
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IoUg 94.84%
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```
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‎cfg/GroundGrid.cfg‎

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#!/usr/bin/env python
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PACKAGE = "groundgrid"
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from dynamic_reconfigure.parameter_generator_catkin import *
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gen = ParameterGenerator()
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gen.add("point_count_cell_variance_threshold", int_t, 0, "if a cell has at least this much points, the variance of just that cell is used instead of the variance of 3x3 or 5x5 patch", 10, 0, 30)
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gen.add("max_ring", int_t, 0, "maximum velodyne ring for ground detection consideration", 256, 0, 256)
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gen.add("groundpatch_detection_minimum_threshold", double_t, 0, "if the ground patch layer at a cell is below this value, a cell without the minimum point count can be classified as ground", 0.01, 0, 1.0)
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gen.add("distance_factor", double_t, 0, "compensates for the geometric dilution of the point density with the distance", 0.0001, 0, 0.01)
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gen.add("minimum_distance_factor", double_t, 0, "minimum value for the distance factor", 0.0005, 0, 0.01)
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gen.add("miminum_point_height_threshold", double_t, 0, "Points lower than ground height + threshold are considered ground points", 0.3, 0, 1)
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gen.add("minimum_point_height_obstacle_threshold", double_t, 0, "Points lower than ground height + threshold are considered ground points [m]", 0.1, 0, .2)
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gen.add("outlier_tolerance", double_t, 0, "Outlier detection tolerance [m]", 0.1, -.5, .5)
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gen.add("ground_patch_detection_minimum_point_count_threshold", double_t, 0, "Minimum point count for ground patch detection in percent of expected point count", 0.25, 0.01, 1.0)
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gen.add("patch_size_change_distance", double_t, 0, "Distance from the center from which on the patch size is increased [m]", 20, 0, 50)
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gen.add("occupied_cells_decrease_factor", double_t, 0, "Occupied cells decrease factor [100/x %]", 5.0, 1.0, 100.0)
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gen.add("occupied_cells_point_count_factor", double_t, 0, "Occupied cells point count factor [100/x %]", 20, 1, 50)
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gen.add("min_outlier_detection_ground_confidence", double_t, 0, "Minimum ground confidence to consider lower points an outlier (5x5 patch)", 1.25, 0, 5)
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gen.add("thread_count", int_t, 0, "Maximum number of threads", 8, 1, 64)
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exit(gen.generate(PACKAGE, "groundgrid", "GroundGrid"))

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