The node segmentation_pointcloud_fusion is a package for filtering pointcloud that are belong to less interesting region which is defined by semantic or instance segmentation by 2D image segmentation model.
- The pointclouds are projected onto the semantic/instance segmentation mask image which is the output from 2D segmentation neural network.
- The pointclouds are belong to segment such as road, sidewalk, building, vegetation, sky ... are considered as less important points for autonomous driving and could be removed.
| Name | Type | Description |
|---|---|---|
input |
sensor_msgs::msg::PointCloud2 |
input pointcloud |
input/camera_info[0-7] |
sensor_msgs::msg::CameraInfo |
camera information to project 3d points onto image planes |
input/rois[0-7] |
sensor_msgs::msg::Image |
A gray-scale image of semantic segmentation mask, the pixel value is semantic class id |
input/image_raw[0-7] |
sensor_msgs::msg::Image |
images for visualization |
| Name | Type | Description |
|---|---|---|
output |
sensor_msgs::msg::PointCloud2 |
output filtered pointcloud |
{{ json_to_markdown("perception/image_projection_based_fusion/schema/segmentation_pointcloud_fusion.schema.json") }}