Class FloorAnalyzer

Class Documentation

class FloorAnalyzer

Class that provides tools for different analysis over pointclouds to extract the floor surfaces.

Public Functions

FloorAnalyzer()

Constructor for FloorAnalyzer.

~FloorAnalyzer()
void perform_floor_segmentation(const std::vector<situational_graphs_msgs::msg::PlaneData> &current_x_vert_planes, const std::vector<situational_graphs_msgs::msg::PlaneData> &current_y_vert_planes, std::vector<situational_graphs_msgs::msg::PlaneData> &floor_plane_candidates_vec)

Splits current data into multiples floors nodes if available.

Parameters:

  • current_x_vert_planes –

  • current_y_vert_planes –

  • floor_plane_candidates_vec –