Ground removal using the RANSAC algorithm. More...

#include <ransac.hpp>

Inheritance diagram for RANSAC:

Collaboration diagram for RANSAC:

Public Member Functions
	RANSAC (const double epsilon, const int n_tries)
	Constructor for the RANSAC ground removal algorithm.

	RANSAC ()=default
	Default constructor.

void	ground_removal (const sensor_msgs::msg::PointCloud2::SharedPtr &trimmed_point_cloud, sensor_msgs::msg::PointCloud2::SharedPtr &ground_removed_point_cloud, GroundGrid &ground_grid) const override
	Perform ground removal using the RANSAC algorithm.

Private Attributes
double	epsilon
	Epsilon threshold for ground removal.

int	n_tries
	Number of RANSAC iterations.

Detailed Description

Ground removal using the RANSAC algorithm.

This class implements the GroundRemoval interface and performs ground removal on a point cloud using the Random Sample Consensus (RANSAC) algorithm.

Definition at line 12 of file ransac.hpp.

Constructor & Destructor Documentation

◆ RANSAC() [1/2]

RANSAC::RANSAC	(	const double	epsilon,
		const int	n_tries
	)

Constructor for the RANSAC ground removal algorithm.

Parameters

epsilon	Epsilon threshold for ground removal.
n_tries	Number of RANSAC iterations.

Definition at line 6 of file ransac.cpp.

◆ RANSAC() [2/2]

RANSAC::RANSAC ( )

default

Default constructor.

This constructor is provided as a default constructor.

Member Function Documentation

◆ ground_removal()

void RANSAC::ground_removal	(	const sensor_msgs::msg::PointCloud2::SharedPtr &	trimmed_point_cloud,
		sensor_msgs::msg::PointCloud2::SharedPtr &	ground_removed_point_cloud,
		GroundGrid &	ground_grid
	)		const

overridevirtual

Perform ground removal using the RANSAC algorithm.

This function implements the ground removal using the RANSAC algorithm on the provided point cloud.

Parameters

point_cloud	The input point cloud to be processed.
ground_removed_point_cloud	The resulting point cloud after ground removal.
ground_grid	The ground grid to be updated during ground removal.

Implements GroundRemoval.

Definition at line 8 of file ransac.cpp.

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Member Data Documentation

◆ epsilon

double RANSAC::epsilon

private

Epsilon threshold for ground removal.

Definition at line 43 of file ransac.hpp.

◆ n_tries

int RANSAC::n_tries

private

Number of RANSAC iterations.

Definition at line 44 of file ransac.hpp.

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

src/perception/include/ground_removal/ransac.hpp
src/perception/src/ground_removal/ransac.cpp

Public Member Functions

Private Attributes