ground_surface_utilities Namespace Reference

Classes
struct	SplineDrawParameters
	Struct containing parameters for drawing a pointcloud representation of a B-Spline model. More...

Functions
std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > >	convertSplineToPointcloud (const Eigen::Matrix< float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > &controlGrid, const SplineDrawParameters &splineDrawParams, const double pointcloudMaxRange, const float *xzCellOrigin, const float *xzCellSize, const float *minMaxAzimuthAngle, const float *extrinsics, const float *quadraticParams, const float baseline)
	Generate a pointcloud representation of a b-spline ground surface model for visualization. More...
sensor_msgs::PointCloud2	eigenToPointcloud (const std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f >> &input, const std::string &frame_id)
	Convert an eigen representation of a pointcloud to a ROS sensor_msgs::PointCloud2 format. More...
Eigen::Matrix< uint8_t, 3, 1 >	groundSurfaceClassToPixelColor (const uint8_t value)
	Look up table to convert a ground surface class value into into a color for visualization (out-of-bounds -> blue, obstacle -> red, free-space -> green) More...

Function Documentation

convertSplineToPointcloud()

std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > ground_surface_utilities::convertSplineToPointcloud	(	const Eigen::Matrix< float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > &	controlGrid,
		const SplineDrawParameters &	splineDrawParams,
		const double	pointcloudMaxRange,
		const float *	xzCellOrigin,
		const float *	xzCellSize,
		const float *	minMaxAzimuthAngle,
		const float *	extrinsics,
		const float *	quadraticParams,
		const float	baseline
	)

Generate a pointcloud representation of a b-spline ground surface model for visualization.

Parameters

controlGrid	Control points grid used to determine interpolated spline values
splineDrawParams	Parameters for drawing a pointcloud representation of a B-Spline model
pointcloudMaxRange	Max range to draw spline model to from camera frame
xzCellOrigin	X,Z cell origin of the spline fitting algorithm in meters
xzCellSize	Size of the X,Z plane containing the spline fit in meters
minMaxAzimuthAngle	Min and max limit to the spline fitting angle in radians, for visualization purposes
extrinsics	Extrinsic transform for stereo pointcloud used during B-Spline modelling
quadraticParams	parameters for the quadratic data transformation prior to spline fitting
baseline	Stereo camera baseline in meters

Returns

Eigen representation of spline pointcloud at regularly sample x/z intervals

Definition at line 200 of file ground_surface_utilities.cpp.

eigenToPointcloud()

sensor_msgs::PointCloud2 ground_surface_utilities::eigenToPointcloud	(	const std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f >> &	input,
		const std::string &	frame_id
	)

Convert an eigen representation of a pointcloud to a ROS sensor_msgs::PointCloud2 format.

Parameters

input	Pointcloud to convert between eigen and sensor_msg format
frame_id	Base frame ID for resulting sensor_msg

Returns

Pointcloud in sensor_msg format

Definition at line 181 of file ground_surface_utilities.cpp.

groundSurfaceClassToPixelColor()

Eigen::Matrix< uint8_t, 3, 1 > ground_surface_utilities::groundSurfaceClassToPixelColor

(

const uint8_t

value

)

Look up table to convert a ground surface class value into into a color for visualization (out-of-bounds -> blue, obstacle -> red, free-space -> green)

Parameters

value

Raw pixel value resulting from ground surface modeling operation on camera

Returns

RGB value corresponding to the class of the value argument

Definition at line 168 of file ground_surface_utilities.cpp.