Autoware.Auto
ray_ground_point_classifier.hpp File Reference

This file defines the computational core of the ray ground filter algorithm. More...

#include <cmath>
#include <limits>
#include <vector>
#include "common/types.hpp"
#include "helper_functions/float_comparisons.hpp"
#include "ray_ground_classifier/visibility_control.hpp"
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Classes

struct  autoware::perception::filters::ray_ground_classifier::Config
 A struct that holds configuration parameters for the ground filter. More...
 
class  autoware::perception::filters::ray_ground_classifier::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  autoware::perception::filters::ray_ground_classifier::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...
 

Namespaces

 autoware
 This file defines the lanelet2_map_provider_node class.
 
 autoware::perception
 Perception related algorithms and functionality, such as those acting on 3D lidar data, camera data, radar, or ultrasonic information.
 
 autoware::perception::filters
 Classifiers and operations that act to reduce or organize data. Currently this namespace is strictly for point cloud filters, e.g. voxelgrid and ground filtering, but in the future it may include filtering for images and other functionality.
 
 autoware::perception::filters::ray_ground_classifier
 Resources for the ray ground filter algorithm used for ground filtering in point clouds.
 

Typedefs

using autoware::perception::filters::ray_ground_classifier::Ray = std::vector< PointXYZIFR >
 

Functions

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

Detailed Description

This file defines the computational core of the ray ground filter algorithm.