#include <ray_ground_filter.h>

Classes
struct	PointRH

Public Member Functions
	RayGroundFilter ()

void	Run ()

Private Types
typedef std::vector< PointRH >	PointCloudRH

Private Member Functions
void	ClassifyPointCloud (const std::vector< PointCloudRH > &in_radial_ordered_clouds, const size_t in_point_count, std::vector< void * > out_ground_ptrs, std::vector< void > *out_no_ground_ptrs)

void	CloudCallback (const sensor_msgs::PointCloud2ConstPtr &in_sensor_cloud)

void	ConvertAndTrim (const sensor_msgs::PointCloud2::Ptr in_transformed_cloud, const double in_clip_height, double in_min_distance, std::vector< PointCloudRH > out_radial_ordered_clouds, std::vector< void > *out_no_ground_ptrs)

void	filterROSMsg (const sensor_msgs::PointCloud2ConstPtr in_origin_cloud, const std::vector< void * > &in_selector, const sensor_msgs::PointCloud2::Ptr out_filtered_msg)

void	publish (ros::Publisher pub, const sensor_msgs::PointCloud2ConstPtr in_sensor_cloud, const std::vector< void * > &in_selector)

bool	TransformPointCloud (const std::string &in_target_frame, const sensor_msgs::PointCloud2::ConstPtr &in_cloud_ptr, const sensor_msgs::PointCloud2::Ptr &out_cloud_ptr)

void	update_config_params (const autoware_config_msgs::ConfigRayGroundFilter::ConstPtr &param)

Private Attributes
std::string	base_frame_

double	clipping_height_

double	concentric_divider_distance_

size_t	concentric_dividers_num_

ros::Subscriber	config_node_sub_

double	general_max_slope_

ros::Publisher	ground_points_pub_

ros::Publisher	groundless_points_pub_

std::string	input_point_topic_

double	local_max_slope_

double	min_height_threshold_

double	min_point_distance_

ros::NodeHandle	node_handle_

ros::Subscriber	points_node_sub_

double	radial_divider_angle_

size_t	radial_dividers_num_

double	reclass_distance_threshold_

tf2_ros::Buffer	tf_buffer_

tf2_ros::TransformListener	tf_listener_

Friends
class	RayGroundFilter_callback_Test

Detailed Description

Definition at line 38 of file ray_ground_filter.h.

Member Typedef Documentation

◆ PointCloudRH

typedef std::vector<PointRH> RayGroundFilter::PointCloudRH

private

Definition at line 76 of file ray_ground_filter.h.

Constructor & Destructor Documentation

◆ RayGroundFilter()

RayGroundFilter::RayGroundFilter ( )

Definition at line 418 of file ray_ground_filter.cpp.

Member Function Documentation

◆ ClassifyPointCloud()

void RayGroundFilter::ClassifyPointCloud	(	const std::vector< PointCloudRH > &	in_radial_ordered_clouds,
		const size_t	in_point_count,
		std::vector< void * > *	out_ground_ptrs,
		std::vector< void * > *	out_no_ground_ptrs
	)

private

Classifies Points in the PointCoud as Ground and Not Ground

Parameters

in_radial_ordered_clouds	Vector of an Ordered PointsCloud ordered by radial distance from the origin
in_point_count	Total number of lidar point. This is used to reserve the output's vector memory
out_ground_indices	Returns the indices of the points classified as ground in the original PointCloud
out_no_ground_indices	Returns the indices of the points classified as not ground in the original PointCloud

Classifies Points in the PointCoud as Ground and Not Ground

Parameters

in_radial_ordered_clouds	Vector of an Ordered PointsCloud ordered by radial distance from the origin
in_point_count	Total number of lidar point. This is used to reserve the output's vector memory
out_ground_ptrs	Returns the original adress of the points classified as ground in the original PointCloud
out_no_ground_ptrs	Returns the original adress of the points classified as not ground in the original PointCloud

Definition at line 151 of file ray_ground_filter.cpp.

◆ CloudCallback()

void RayGroundFilter::CloudCallback ( const sensor_msgs::PointCloud2ConstPtr & in_sensor_cloud )

private

Definition at line 396 of file ray_ground_filter.cpp.

◆ ConvertAndTrim()

void RayGroundFilter::ConvertAndTrim	(	const sensor_msgs::PointCloud2::Ptr	in_transformed_cloud,
		const double	in_clip_height,
		double	in_min_distance,
		std::vector< PointCloudRH > *	out_radial_ordered_clouds,
		std::vector< void * > *	out_no_ground_ptrs
	)

private

Convert the sensor_msgs::PointCloud2 into PointCloudRH and filter out the points too high or too close

Parameters

in_transformed_cloud	Input Point Cloud to be organized in radial segments
in_clip_height	Maximum allowed height in the cloud
in_min_distance	Minimum valid distance, points closer than this will be removed.
out_radial_ordered_clouds	Vector of Points Clouds, each element will contain the points ordered
out_no_ground_ptrs	Returns the pointers to the points filtered out as no ground

Definition at line 266 of file ray_ground_filter.cpp.

◆ filterROSMsg()

void RayGroundFilter::filterROSMsg	(	const sensor_msgs::PointCloud2ConstPtr	in_origin_cloud,
		const std::vector< void * > &	in_selector,
		const sensor_msgs::PointCloud2::Ptr	out_filtered_msg
	)

private

Extract the points pointed by in_selector from in_radial_ordered_clouds to copy them in out_no_ground_ptrs

Parameters

in_origin_cloud	The original cloud from which we want to copy the points
in_selector	The pointers to the input cloud's binary blob. No checks are done so be carefull
out_filtered_msg	Returns a cloud comprised of the selected points from the origin cloud

Definition at line 102 of file ray_ground_filter.cpp.

◆ publish()

void RayGroundFilter::publish	(	ros::Publisher	pub,
		const sensor_msgs::PointCloud2ConstPtr	in_sensor_cloud,
		const std::vector< void * > &	in_selector
	)

private

Extract the points pointed by in_selector from in_radial_ordered_clouds to copy them in out_no_ground_ptrs

Parameters

pub	The ROS publisher on which to output the point cloud
in_sensor_cloud	The input point cloud from which to select the points to publish
in_selector	The pointers to the input cloud's binary blob. No checks are done so be carefull

Definition at line 87 of file ray_ground_filter.cpp.

◆ Run()

void RayGroundFilter::Run ( )

Definition at line 425 of file ray_ground_filter.cpp.

◆ TransformPointCloud()

bool RayGroundFilter::TransformPointCloud	(	const std::string &	in_target_frame,
		const sensor_msgs::PointCloud2::ConstPtr &	in_cloud_ptr,
		const sensor_msgs::PointCloud2::Ptr &	out_cloud_ptr
	)

private

Output transformed PointCloud from in_cloud_ptr->header.frame_id to in_target_frame

Parameters

in_target_frame	Coordinate system to perform transform
in_cloud_ptr	PointCloud to perform transform
out_cloud_ptr	Resulting transformed PointCloud

Return values

true	transform successed
false	transform faild

Definition at line 53 of file ray_ground_filter.cpp.

◆ update_config_params()

void RayGroundFilter::update_config_params ( const autoware_config_msgs::ConfigRayGroundFilter::ConstPtr & param )

private

Definition at line 32 of file ray_ground_filter.cpp.

Friends And Related Function Documentation

◆ RayGroundFilter_callback_Test

friend class RayGroundFilter_callback_Test

friend

Definition at line 139 of file ray_ground_filter.h.

Member Data Documentation

◆ base_frame_

std::string RayGroundFilter::base_frame_

private

Definition at line 51 of file ray_ground_filter.h.

◆ clipping_height_

double RayGroundFilter::clipping_height_

private

Definition at line 58 of file ray_ground_filter.h.

◆ concentric_divider_distance_

double RayGroundFilter::concentric_divider_distance_

private

Definition at line 56 of file ray_ground_filter.h.

◆ concentric_dividers_num_

size_t RayGroundFilter::concentric_dividers_num_

private

Definition at line 63 of file ray_ground_filter.h.

◆ config_node_sub_

ros::Subscriber RayGroundFilter::config_node_sub_

private

Definition at line 43 of file ray_ground_filter.h.

◆ general_max_slope_

double RayGroundFilter::general_max_slope_

private

Definition at line 53 of file ray_ground_filter.h.

◆ ground_points_pub_

ros::Publisher RayGroundFilter::ground_points_pub_

private

Definition at line 45 of file ray_ground_filter.h.

◆ groundless_points_pub_

ros::Publisher RayGroundFilter::groundless_points_pub_

private

Definition at line 44 of file ray_ground_filter.h.

◆ input_point_topic_

std::string RayGroundFilter::input_point_topic_

private

Definition at line 50 of file ray_ground_filter.h.

◆ local_max_slope_

double RayGroundFilter::local_max_slope_

private

Definition at line 54 of file ray_ground_filter.h.

◆ min_height_threshold_

double RayGroundFilter::min_height_threshold_

private

Definition at line 57 of file ray_ground_filter.h.

◆ min_point_distance_

double RayGroundFilter::min_point_distance_

private

Definition at line 59 of file ray_ground_filter.h.

◆ node_handle_

ros::NodeHandle RayGroundFilter::node_handle_

private

Definition at line 41 of file ray_ground_filter.h.

◆ points_node_sub_

ros::Subscriber RayGroundFilter::points_node_sub_

private

Definition at line 42 of file ray_ground_filter.h.

◆ radial_divider_angle_

double RayGroundFilter::radial_divider_angle_

private

Definition at line 55 of file ray_ground_filter.h.

◆ radial_dividers_num_

size_t RayGroundFilter::radial_dividers_num_

private

Definition at line 62 of file ray_ground_filter.h.

◆ reclass_distance_threshold_

double RayGroundFilter::reclass_distance_threshold_

private

Definition at line 60 of file ray_ground_filter.h.

◆ tf_buffer_

tf2_ros::Buffer RayGroundFilter::tf_buffer_

private

Definition at line 47 of file ray_ground_filter.h.

◆ tf_listener_

tf2_ros::TransformListener RayGroundFilter::tf_listener_

private

Definition at line 48 of file ray_ground_filter.h.

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

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ PointCloudRH

Constructor & Destructor Documentation

◆ RayGroundFilter()

Member Function Documentation

◆ ClassifyPointCloud()

◆ CloudCallback()

◆ ConvertAndTrim()

◆ filterROSMsg()

◆ publish()

◆ Run()

◆ TransformPointCloud()

◆ update_config_params()

Friends And Related Function Documentation

◆ RayGroundFilter_callback_Test

Member Data Documentation

◆ base_frame_

◆ clipping_height_

◆ concentric_divider_distance_

◆ concentric_dividers_num_

◆ config_node_sub_

◆ general_max_slope_

◆ ground_points_pub_

◆ groundless_points_pub_

◆ input_point_topic_

◆ local_max_slope_

◆ min_height_threshold_

◆ min_point_distance_

◆ node_handle_

◆ points_node_sub_

◆ radial_divider_angle_

◆ radial_dividers_num_

◆ reclass_distance_threshold_

◆ tf_buffer_

◆ tf_listener_