Class JumpDistanceSegmentation

Inheritance Relationships

Base Type

Derived Type

Class Documentation

class JumpDistanceSegmentation : public laser_segmentation::Segmentation

Classic jump distance segmentation algorithm.

Subclassed by laser_segmentation::JumpDistanceSegmentationMerge

Public Functions

JumpDistanceSegmentation() = default

Construct a new Jump Distance Segmentation object.

~JumpDistanceSegmentation() override = default

Destroy the Jump Distance Segmentation object.

virtual void initialize_segmentation(double distance, double angle_resolution, double noise_reduction, std::string method = "") override

Initialize the segmentation algorithm.

Parameters:

  • distance – The maximum distance between two consecutive points to be considered part of the same segment.

  • angle_resolution – The minimum angle between two consecutive points.

  • noise_reduction – Parameter for noise reduction (if applicable).

  • method – The method to be used for segmentation.

virtual void perform_segmentation(const std::vector<slg::Point2D> points, std::vector<slg::Segment2D> &segments) override

Perform the segmentation of the given list of points into a list of segments using Jump Distance Clustering.

Parameters:

  • points – The list of points to be segmented.

  • segments – The resulting list of segments.

Protected Functions

bool is_jump_between(const slg::Point2D point1, const slg::Point2D point2)

Checks if two adjacent points are close to each other.

Parameters:

  • point1 – First point

  • point2 – Second point

Returns:

true If the points are close to each other

Returns:

false If the points are not close to each other

bool is_jump_between(const slg::Segment2D segment1, const slg::Segment2D segment2)

Checks if two adjacent segments are close to each other. The order is important.

Parameters:

  • segment1 – First segment

  • segment2 – Second segment

Returns:

true If the segments are close to each other

Returns:

false If the segments are not close to each other

double calculate_lee_threshold(const slg::Point2D point1, const slg::Point2D point2)

Calculate jump distance using Lee method (Lee, 2001).

Parameters:

  • point1 – First point

  • point2 – Second point

Returns:

double The jump distance

double calculate_diet_threshold(const slg::Point2D point1, const slg::Point2D point2)

Calculate jump distance using Dietmayer method (Dietmayer, et al., 2001).

Parameters:

  • point1 – First point

  • point2 – Second point

Returns:

double The jump distance

double calculate_santos_threshold(const slg::Point2D point1, const slg::Point2D point2)

Calculate jump distance using Santos method (Santos, et al., 2003).

Parameters:

  • point1 – First point

  • point2 – Second point

Returns:

double The jump distance

Protected Attributes

double jump_distance_

The jump distance above which a new segment is created.

double angle_resolution_

The angle resolution of the lidar.

double noise_reduction_

Parameter for noise reduction.

std::string threshold_method_

Method to calculate a dynamic jump distance threshold.