Parameters Configure

[April-den]

Hi, Developers,
I recently reviewed the program and encountered an issue regarding the segmentation parameters. While I couldn't find where the segmenting parameters are explicitly set in the code, I did come across the file cfg/GroundGrid.cfg. However, the default values in this file seem to be quite different from those mentioned in your published paper.
I tried adjusting the parameters based on the paper, but there are still some parameters for which I couldn't find references. When I ran the program with my changes, points on the curb were not classified correctly but other points were perfectly classified. When I ran the program without changing any parameters (using the original settings), the curb points were classified correctly. I suspect this might be because I didn't configure all the parameters correctly.
Could you please clarify where the segmentation parameters are set? Alternatively, if the default settings (e.g., where max_ring=0 and points with label > 0 are ignored) are the intended configuration, could you confirm that as well?
Thank you for your help!

[April-den]

Here are what I observed

[Nussknacker]

Hi @April-den,
Thank you for sharing your observations.
The parameter handling is done using dynamic reconfigure (https://wiki.ros.org/dynamic_reconfigure). You can view and change the parameters during run-time using rqt. The default values set in cfg/GroundGrid.cfg are the correct values to reproduce the results of the paper.
The max_ring parameter is not described in the paper because it is not necessary for the sensor of the KITTI data. It is needed for sensors that have lasers pointing upwards and thus never hitting the ground, for example, the Velodyne VLS128. These lasers need to be excluded from the ground detection, otherwise ceilings might be detected as ground.
The default value for the max_ring field is 256 and not 0.