segmentation-pointcloud-fusion.md

segmentation_pointcloud_fusion

Purpose

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.

Inner-workings / Algorithms

• 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.

Inputs / Outputs

Input

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]	tier4_perception_msgs::msg::Image	semantic segmentation mask image
input/image_raw[0-7]	sensor_msgs::msg::Image	images for visualization

Output

Name	Type	Description
output	sensor_msgs::msg::PointCloud2	output filtered pointcloud

Parameters

Core Parameters

Name	Type	Description
rois_number	int	the number of input rois

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) References/External links

(Optional) Future extensions / Unimplemented parts