From 6085d85900b91248632cac63b28de149ece2acd1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Iv=C3=A1n=20del=20Pino?= <idelpino@iri.upc.edu>
Date: Thu, 14 Jul 2022 17:42:22 +0200
Subject: [PATCH] added score threshold
---
cfg/GroundSegmentation.cfg | 1 +
params/iri_ground_segmentation.yaml | 3 ++-
src/ground_segmentation_alg_node.cpp | 8 ++++++++
3 files changed, 11 insertions(+), 1 deletion(-)
diff --git a/cfg/GroundSegmentation.cfg b/cfg/GroundSegmentation.cfg
index fd7f6fa..b559497 100644
--- a/cfg/GroundSegmentation.cfg
+++ b/cfg/GroundSegmentation.cfg
@@ -66,6 +66,7 @@ gen.add("mahalanobis_threshold", double_t, 0, "Max mahalanobis distance for grou
# labeling parameters
gen.add("number_of_references_used_for_labelling", int_t, 0, "used to evaluate each elevation point cloud from different POVs", 4, 0, 100);
gen.add("max_pred_std_dev_for_labelling", double_t, 0, "To give up trying to label ground points if we don't have enough confidence in our predictions", 0.3, 0.01, 1.0);
+gen.add("score_threshold", double_t, 0, "for assigning ground class label: one means maha. dist. equal to zero, zero means mahalanobis dist equal to maha. thres", 0.8, 0.0, 1.0);
gen.add("classify_not_labeled_points_as_obstacles", bool_t, 0, "when a point has no reference satisfying the max_pred_std_dev_for_labelling threshold we can leave as unknown or label it as obstacle", True);
gen.add("ground_threshold_in_not_analyzed_areas", double_t, 0, "when it is not possible to make a local analysis of the data, we will use the lowest point (the one in elevation_cloud) as ground height, and all the points above it and below this threshold will be classified as ground", 0.3, 0.01, 1.0);
gen.add("discard_not_connected_references_for_labelling", bool_t, 0, "to exclude not connected vertices in the roadmap from the labelling step", True);
diff --git a/params/iri_ground_segmentation.yaml b/params/iri_ground_segmentation.yaml
index 60a1b18..c958134 100644
--- a/params/iri_ground_segmentation.yaml
+++ b/params/iri_ground_segmentation.yaml
@@ -38,8 +38,9 @@ iri_ground_segmentation: {
# labeling parameters
number_of_references_used_for_labelling: 0, ## used to evaluate each elevation point cloud from different POVs // NEW!! value of zero enables fast labelling mode!! \m/
max_pred_std_dev_for_labelling: 0.5, ## to give up trying to label ground points if we don't have enough confidence in our predictions
+ score_threshold: 0.275, ## for assigning ground class label: one means maha. dist. equal to zero, zero means mahalanobis dist equal to maha. thres
classify_not_labeled_points_as_obstacles: false, ## when a point has no reference satisfying the max_pred_std_dev_for_labelling threshold we can leave as unknown or label it as obstacle
- ground_threshold_in_not_analyzed_areas: 0.00, ## when it is not possible to make a local analysis of the data, we will use the lowest point (the one in elevation_cloud) as ground height, and
+ ground_threshold_in_not_analyzed_areas: 0.05, ## when it is not possible to make a local analysis of the data, we will use the lowest point (the one in elevation_cloud) as ground height, and
## all the points above it and below this threshold will be classified as ground
discard_not_connected_references_for_labelling: false, ## to exclude not connected vertices in the roadmap from the labelling step
diff --git a/src/ground_segmentation_alg_node.cpp b/src/ground_segmentation_alg_node.cpp
index 4b815e3..4c91eea 100644
--- a/src/ground_segmentation_alg_node.cpp
+++ b/src/ground_segmentation_alg_node.cpp
@@ -132,6 +132,14 @@ GroundSegmentationAlgNode::GroundSegmentationAlgNode(void) :
else
this->alg_.filtering_configuration_.max_pred_std_dev_for_labelling = config_.max_pred_std_dev_for_labelling;
+ if (!this->private_node_handle_.getParam("score_threshold",
+ this->config_.score_threshold))
+ {
+ ROS_WARN("GroundSegmentationAlgNode::GroundSegmentationAlgNode: param 'score_threshold' not found");
+ }
+ else
+ this->alg_.filtering_configuration_.score_threshold = config_.score_threshold;
+
if (!this->private_node_handle_.getParam("classify_not_labeled_points_as_obstacles",
this->config_.classify_not_labeled_points_as_obstacles))
{
--
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