Autoware.Auto
autoware::perception::filters::ray_ground_classifier Namespace Reference

Resources for the ray ground filter algorithm used for ground filtering in point clouds. More...

Classes

struct  Config
 A struct that holds configuration parameters for the ground filter. More...
 
class  PointXYZIFR
 This is a simplified point view of a ray. The only information needed is height and projected radial distance from the sensor. More...
 
class  RayAggregator
 Used as a prefiltering step for RayGroundClassifier. Aggregates unstructured blobs into rays of points that the RayGroundClassifier can partition. More...
 
class  RayGroundClassifier
 Given a ray, partitions into ground and nonground points. More...
 
class  RayGroundPointClassifier
 Simple stateful implementation of ray ground filter: https://github.com/CPFL/Autoware/blob/develop/ros/src/sensing/filters/packages/ points_preprocessor/nodes/ray_ground_ray_ground_filter/ray_ground_filter.cpp#L187. More...
 

Typedefs

using Ray = std::vector< PointXYZIFR >
 

Functions

float32_t angle_distance_rad (const float32_t th_rad, const float32_t phi_rad)
 th_rad - phi_rad, normalized to +/- pi More...
 
float64_t deg2rad (float64_t degrees)
 
bool8_t operator< (const PointXYZIFR &lhs, const PointXYZIFR &rhs) noexcept
 Comparison operator for default sorting. More...
 

Detailed Description

Resources for the ray ground filter algorithm used for ground filtering in point clouds.

Typedef Documentation

◆ Ray

Function Documentation

◆ angle_distance_rad()

float32_t autoware::perception::filters::ray_ground_classifier::angle_distance_rad ( const float32_t  th_rad,
const float32_t  phi_rad 
)
inline

th_rad - phi_rad, normalized to +/- pi

Parameters
[in]th_radthe reference angle
[in]phi_radthe test angle
Returns
angle from reference angle to test angle

◆ deg2rad()

float64_t autoware::perception::filters::ray_ground_classifier::deg2rad ( float64_t  degrees)
inline

◆ operator<()

bool8_t autoware::perception::filters::ray_ground_classifier::operator< ( const PointXYZIFR lhs,
const PointXYZIFR rhs 
)
inlinenoexcept

Comparison operator for default sorting.

Parameters
[in]lhsLeft hand side of comparison
[in]rhsRight hand side of comparison
Returns
True if lhs < rhs: if lhs.r < rhs.r, if nearly same radius then lhs.z < rhs.z