I’ve noticed that there are two pointcloud ground filters, ray_ground_filter, and ring_ground_filter.
- Where can I find documentation or a research paper on the algorithms each one employs?
- Do we know which one performs better, or are there certain scenarios in which one performs better than the other? It seems like the ring filter is the newer one, so I assume it is the better one?
- For the ring ground filter, does it assume evenly spaced beams? The 32 beam model seems hard-coded, so I’m wondering if the filter would perform differently for a Velodyne VLP-32 or an HDL-32 (which have different angular resolutions and FOVs).
Any help is greatly appreciated!