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autoware::perception::filters::ray_ground_classifier::Config Struct Reference

A struct that holds configuration parameters for the ground filter. More...

#include <ray_ground_point_classifier.hpp>

Collaboration diagram for autoware::perception::filters::ray_ground_classifier::Config:

Public Member Functions

 Config (const float32_t sensor_height_m, const float32_t max_local_slope_deg, const float32_t max_global_slope_deg, const float32_t nonground_retro_thresh_deg, const float32_t min_height_thresh_m, const float32_t max_global_height_thresh_m, const float32_t max_last_local_ground_thresh_m, const float32_t max_provisional_ground_distance_m)
 Constructor. More...
 
float32_t get_sensor_height () const
 Get height of sensor off of ground, in meters. More...
 

Public Attributes

const float32_t m_ground_z_m
 Get z value (meters) of the ground in sensor frame, -sensor_height. More...
 
const float32_t m_max_local_slope
 Get maximum allowed slope between two nearby points that are both ground, the value is a nondimensionalized ratio, rise / run. More...
 
const float32_t m_max_global_slope
 Get maximum allowed slope between a ground point and the sensor, the value is a nondimensionalized ratio, rise / run. More...
 
const float32_t m_nonground_retro_thresh
 Get minimum slope at which vertical structure is assumed, the value is a nondimensionalized ratio, rise / run. More...
 
const float32_t m_min_height_thresh_m
 Get minimum value for local height threshold. More...
 
const float32_t m_max_global_height_thresh_m
 The maximum value for global height threshold. More...
 
const float32_t m_max_last_local_ground_thresh_m
 The maximum value for local heigh threshold. More...
 
const float32_t m_max_provisional_ground_distance_m
 The maximum influence distance for provisional ground point label. More...
 

Detailed Description

A struct that holds configuration parameters for the ground filter.

Constructor & Destructor Documentation

◆ Config()

autoware::perception::filters::ray_ground_classifier::Config::Config ( const float32_t  sensor_height_m,
const float32_t  max_local_slope_deg,
const float32_t  max_global_slope_deg,
const float32_t  nonground_retro_thresh_deg,
const float32_t  min_height_thresh_m,
const float32_t  max_global_height_thresh_m,
const float32_t  max_last_local_ground_thresh_m,
const float32_t  max_provisional_ground_distance_m 
)

Constructor.

Parameters
[in]sensor_height_mHow high the sensor is off the ground
[in]max_local_slope_degMaximum permissible slope for two ground points within reclass_threshold
[in]max_global_slope_degMaximum permissible slope from base footprint of sensor
[in]nonground_retro_thresh_degHow steep consecutive points need to be to retroactively annotate a point as nonground
[in]min_height_thresh_mLocal height threshold can be no less than this
[in]max_global_height_thresh_mGlobal height threshold can be no more than this
[in]max_last_local_ground_thresh_mSaturation threshold for locality wrt last ground point (for classifying as ground from nonground)
[in]max_provisional_ground_distance_mMax radial distance until provisional ground is not influenced by next points throw std::runtime_error If any of the configuration parameters are inconsistent (e.g. angles are outside of (0, 90), min_* > max_*, etc.)

Member Function Documentation

◆ get_sensor_height()

float32_t autoware::perception::filters::ray_ground_classifier::Config::get_sensor_height ( ) const

Get height of sensor off of ground, in meters.

Returns
The value in meters

Member Data Documentation

◆ m_ground_z_m

const float32_t autoware::perception::filters::ray_ground_classifier::Config::m_ground_z_m

Get z value (meters) of the ground in sensor frame, -sensor_height.

◆ m_max_global_height_thresh_m

const float32_t autoware::perception::filters::ray_ground_classifier::Config::m_max_global_height_thresh_m

The maximum value for global height threshold.

◆ m_max_global_slope

const float32_t autoware::perception::filters::ray_ground_classifier::Config::m_max_global_slope

Get maximum allowed slope between a ground point and the sensor, the value is a nondimensionalized ratio, rise / run.

◆ m_max_last_local_ground_thresh_m

const float32_t autoware::perception::filters::ray_ground_classifier::Config::m_max_last_local_ground_thresh_m

The maximum value for local heigh threshold.

◆ m_max_local_slope

const float32_t autoware::perception::filters::ray_ground_classifier::Config::m_max_local_slope

Get maximum allowed slope between two nearby points that are both ground, the value is a nondimensionalized ratio, rise / run.

◆ m_max_provisional_ground_distance_m

const float32_t autoware::perception::filters::ray_ground_classifier::Config::m_max_provisional_ground_distance_m

The maximum influence distance for provisional ground point label.

◆ m_min_height_thresh_m

const float32_t autoware::perception::filters::ray_ground_classifier::Config::m_min_height_thresh_m

Get minimum value for local height threshold.

◆ m_nonground_retro_thresh

const float32_t autoware::perception::filters::ray_ground_classifier::Config::m_nonground_retro_thresh

Get minimum slope at which vertical structure is assumed, the value is a nondimensionalized ratio, rise / run.


The documentation for this struct was generated from the following files: