GroundFilter Class Reference

Public Member Functions
	GroundFilter ()

Private Member Functions
void	FilterGround (const pcl::PointCloud< velodyne_pointcloud::PointXYZIR >::ConstPtr &in_cloud_msg, pcl::PointCloud< velodyne_pointcloud::PointXYZIR > &out_groundless_points, pcl::PointCloud< velodyne_pointcloud::PointXYZIR > &out_ground_points)
void	InitDepthMap (int in_width)
void	InitLabelArray (int in_model)
void	InitRadiusTable (int in_model)
void	VelodyneCallback (const pcl::PointCloud< velodyne_pointcloud::PointXYZIR >::ConstPtr &in_cloud_msg)

Private Attributes
Label	class_label_ [64]
const int	DEFAULT_HOR_RES = 2000
ros::Duration	elap_time_
bool	floor_removal_
ros::Publisher	ground_points_pub_
std::string	ground_topic
ros::Publisher	groundless_points_pub_
int	horizontal_res_
cv::Mat	index_map_
double	max_slope_
std::string	no_ground_topic
ros::NodeHandle	node_handle_
std::string	point_topic_
ros::Subscriber	points_node_sub_
double	radius_table_ [64]
double	sensor_height_
int	sensor_model_
ros::Time	t1_
ros::Time	t2_
int	vertical_res_
double	vertical_thres_

Detailed Description

Definition at line 23 of file ring_ground_filter.cpp.

Constructor & Destructor Documentation

GroundFilter()

GroundFilter::GroundFilter

(

)

Definition at line 69 of file ring_ground_filter.cpp.

Member Function Documentation

FilterGround()

void GroundFilter::FilterGround ( const pcl::PointCloud< velodyne_pointcloud::PointXYZIR >::ConstPtr &  in_cloud_msg, pcl::PointCloud< velodyne_pointcloud::PointXYZIR > &  out_groundless_points, pcl::PointCloud< velodyne_pointcloud::PointXYZIR > &  out_ground_points  )

private

Definition at line 198 of file ring_ground_filter.cpp.

InitDepthMap()

void GroundFilter::InitDepthMap ( int  in_width )

private

Definition at line 192 of file ring_ground_filter.cpp.

InitLabelArray()

void GroundFilter::InitLabelArray ( int  in_model )

private

Definition at line 118 of file ring_ground_filter.cpp.

InitRadiusTable()

void GroundFilter::InitRadiusTable ( int  in_model )

private

Definition at line 126 of file ring_ground_filter.cpp.

VelodyneCallback()

void GroundFilter::VelodyneCallback ( const pcl::PointCloud< velodyne_pointcloud::PointXYZIR >::ConstPtr &  in_cloud_msg )

private

Definition at line 317 of file ring_ground_filter.cpp.

Member Data Documentation

class_label_

Label GroundFilter::class_label_[64]

private

Definition at line 47 of file ring_ground_filter.cpp.

DEFAULT_HOR_RES

const int GroundFilter::DEFAULT_HOR_RES = 2000

private

Definition at line 57 of file ring_ground_filter.cpp.

elap_time_

ros::Duration GroundFilter::elap_time_

private

Definition at line 55 of file ring_ground_filter.cpp.

floor_removal_

bool GroundFilter::floor_removal_

private

Definition at line 42 of file ring_ground_filter.cpp.

ground_points_pub_

ros::Publisher GroundFilter::ground_points_pub_

private

Definition at line 34 of file ring_ground_filter.cpp.

ground_topic

std::string GroundFilter::ground_topic

private

Definition at line 37 of file ring_ground_filter.cpp.

groundless_points_pub_

ros::Publisher GroundFilter::groundless_points_pub_

private

Definition at line 33 of file ring_ground_filter.cpp.

horizontal_res_

int GroundFilter::horizontal_res_

private

Definition at line 45 of file ring_ground_filter.cpp.

index_map_

cv::Mat GroundFilter::index_map_

private

Definition at line 46 of file ring_ground_filter.cpp.

max_slope_

double GroundFilter::max_slope_

private

Definition at line 40 of file ring_ground_filter.cpp.

no_ground_topic

std::string GroundFilter::no_ground_topic

private

Definition at line 37 of file ring_ground_filter.cpp.

node_handle_

ros::NodeHandle GroundFilter::node_handle_

private

Definition at line 31 of file ring_ground_filter.cpp.

point_topic_

std::string GroundFilter::point_topic_

private

Definition at line 36 of file ring_ground_filter.cpp.

points_node_sub_

ros::Subscriber GroundFilter::points_node_sub_

private

Definition at line 32 of file ring_ground_filter.cpp.

radius_table_

double GroundFilter::radius_table_[64]

private

Definition at line 48 of file ring_ground_filter.cpp.

sensor_height_

double GroundFilter::sensor_height_

private

Definition at line 39 of file ring_ground_filter.cpp.

sensor_model_

int GroundFilter::sensor_model_

private

Definition at line 38 of file ring_ground_filter.cpp.

t1_

ros::Time GroundFilter::t1_

private

Definition at line 53 of file ring_ground_filter.cpp.

t2_

ros::Time GroundFilter::t2_

private

Definition at line 54 of file ring_ground_filter.cpp.

vertical_res_

int GroundFilter::vertical_res_

private

Definition at line 44 of file ring_ground_filter.cpp.

vertical_thres_

double GroundFilter::vertical_thres_

private

Definition at line 41 of file ring_ground_filter.cpp.

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The documentation for this class was generated from the following file:

• ring_ground_filter.cpp