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ApolloAuto / apollo

An open autonomous driving platform
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lidar ground detector is not used? #8429

Open boundles opened 5 years ago

boundles commented 5 years ago

Hi, lidar ground detector is not used now, right?

ghost commented 5 years ago

what do you mean by lidar ground detector? which kind of lidar you are referring to?

natashadsouza commented 5 years ago

@boundles could you give us some more details regarding your question or should we assume you have resolved your request?

owphoo commented 5 years ago

@natashadsouza in modules/perception/lidar/lib/segmentation/cnnseg/cnn_segmentation.cc 

ground_detector_->Detect(ground_detector_options, lidar_frame_ref_);
invokes
bool SpatioTemporalGroundDetector::Detect(const GroundDetectorOptions& options,
                                          LidarFrame* frame)

I found the input size of frame->cloud aways equals to output size, it does nothing. So ground detector is not used?

SeanZhang777 commented 4 years ago

@natashadsouza in modules/perception/lidar/lib/segmentation/cnnseg/cnn_segmentation.cc

ground_detector_->Detect(ground_detector_options, lidar_frame_ref_);
invokes
bool SpatioTemporalGroundDetector::Detect(const GroundDetectorOptions& options,
                                          LidarFrame* frame)

I found the input size of frame->cloud aways equals to output size, it does nothing. So ground detector is not used?

I think the ground detector only labels the non-gound points and adds non_ground_indices to the lidar frame. So the cloud size is not changed.