1. Input Point Clouds: The ROS node accepts two types of input point clouds:
XYZI Point Cloud (Topic: “lidar_points”):This is used for interfacing with LiDAR sensors.
XYZIRGBL Point Cloud (Topic: “ground_truth_lidar_points”):This is used for training. To generate this input, follow the instructions in the semantickitti2bag repository.
XYZIRGBL Point Cloud (Topic: “ground_truth_lidar_points”):This is used for training. To generate this input, follow the instructions in the semantickitti2bag repository (https://github.com/amslabtech/semantickitti2bag).
2. Algorithm Settings:The settings of the algorithm are in the params/iri_ground_segmentation.yaml file. Here, you can adjust all the parameters described in the paper. Additionally, you can select whether to use the shallow neural network, which network to load, and whether to generate a dataset for training a new network (and assign it a filename).
