I am testing the octomap_server and I used the sample data from http://vimeo.com/1451349?pg=embed&sec=1451349, which is a pcap file collected from a velodyne 64 laser.
Judged from the video and the pointcloud display in rviz, the ground surface is obviously contained in the data set. In my testing, the base_frame_id is set to "base_footprint" which is exactly located at the ground surface; filter_ground is also set to "true". But the generated octomap never filters the ground... and this is the output from the node.
[INFO] [1329732147.087671086] class OctomapServer starts
[INFO] [1329732147.103789973] filter_ground 1
[WARN][1329732208.260183596] No plane found in cloud.
[WARN][1329732208.260282727] No ground plane found in scan
Thanks for any help.
hi, Hornung,
After some debugging, I found the reason for the above filtering issue.
Check the sequence of the following lines in the function OctomapServer::insertCloudCallback of OctomapServer.cpp,
pass.setInputCloud(pc.makeShared());
......
pcl::transformPointCloud(pc, pc, sensorToBase);
pass.filter(pc);
filterGroundPlane(pc, pc_ground, pc_nonground);
......
Since the inputcloud for pass is allocated at the very beginning, so the actual "pc" passed to filterGroundPlane is the old one before transformPointCloud.
So I moved pass.setInputCloud(pc.makeShared()) to right after the line of transformPointCloud, and the ground filtering now works as expected.
The same change should also apply to the case when m_filterGroundPlane=false.
regards
Thanks a lot! That must have sneaked in during some recent refactoring. I had assumed makeShared simply returns a Ptr to the cloud, while the docs clearly state: "Copy the cloud to the heap and return a smart pointer. [...] The changes of the returned cloud are not mirrored back to this one"
AHornung (Feb 24)editoctomap_server uses PCL with pcl::SACMODEL_PERPENDICULAR_PLANE to detect and segment the ground plane, which has quite a few parameters to tune. Right now it should work best with stereo data from the PR2, laser data from the Velodyne might need different parameters.
Best have a look at OctomapServer::filterGroundPlane and the PCL documentation on which parameters to tune, ground_filter/distance and ground_filter/angle should be the first ones to try. You can also do a rough filterung just based on height with ground_filter/plane_distance.
Otherwise run rxconsole with setting octomap_server's log level to debug to see what is going on.
Asked: Feb 21
Seen: 64 times
Last updated: Feb 23
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