Himmelsbach Class Reference

Ground removal using the Himmelsbach algorithm. More...

#include <himmelsbach.hpp>

Inheritance diagram for Himmelsbach:

Collaboration diagram for Himmelsbach:

Public Member Functions
	Himmelsbach (const double grid_angle, const double max_slope, const double initial_alpha, const double alpha_augmentation_m, const double start_augmentation, TrimmingParameters trim_params)
	Constructor for Himmelsbach ground removal.
	Himmelsbach ()=default
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 on a point cloud.

Private Member Functions
void	process_slice (const sensor_msgs::msg::PointCloud2::SharedPtr &trimmed_point_cloud, sensor_msgs::msg::PointCloud2::SharedPtr &ground_removed_point_cloud, size_t slice_idx, GroundGrid &ground_grid) const
	Process a single slice for ground removal.
void	split_point_cloud (const sensor_msgs::msg::PointCloud2::SharedPtr &input_cloud) const
	Split the input point cloud into slices and rings.

Private Attributes
double	grid_angle_
double	max_slope_
double	initial_alpha_
double	alpha_augmentation_m_
double	start_augmentation_
TrimmingParameters	trim_params_
std::shared_ptr< std::vector< Slice > >	slices_

Detailed Description

Ground removal using the Himmelsbach algorithm.

Implements GroundRemoval interface for LiDAR point clouds.

Definition at line 32 of file himmelsbach.hpp.

Constructor & Destructor Documentation

Himmelsbach() [1/2]

Himmelsbach::Himmelsbach	(	const double	grid_angle,
		const double	max_slope,
		const double	initial_alpha,
		const double	alpha_augmentation_m,
		const double	start_augmentation,
		TrimmingParameters	trim_params
	)

Constructor for Himmelsbach ground removal.

Parameters

grid_angle	Angle increment for slicing the point cloud.
max_slope	Maximum slope angle to consider a point as ground.
initial_alpha	Initial distance threshold for ground classification.
alpha_augmentation_m	Increase of alpha by meter.
start_augmentation	Range at which distance threshold starts to increase.
trim_params	Parameters for trimming the point cloud.

Definition at line 3 of file himmelsbach.cpp.

Himmelsbach() [2/2]

Himmelsbach::Himmelsbach ( )

default

Member Function Documentation

ground_removal()

void Himmelsbach::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 on a point cloud.

Parameters

trimmed_point_cloud	Input point cloud (trimmed).
ground_removed_point_cloud	Output point cloud with ground removed.
plane	Plane information (not estimated by Himmelsbach, set to default).
split_params	Parameters for slicing the point cloud.

Implements GroundRemoval.

Definition at line 17 of file himmelsbach.cpp.

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process_slice()

void Himmelsbach::process_slice ( const sensor_msgs::msg::PointCloud2::SharedPtr &  trimmed_point_cloud, sensor_msgs::msg::PointCloud2::SharedPtr &  ground_removed_point_cloud, size_t  slice_idx, GroundGrid &  ground_grid  ) const

private

Process a single slice for ground removal.

Parameters

trimmed_point_cloud	Input point cloud (trimmed).
ground_removed_point_cloud	Output point cloud with ground removed.
slice_idx	Index of the slice to process.
ground_grid	Ground grid to update with ground heights.

Definition at line 50 of file himmelsbach.cpp.

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split_point_cloud()

void Himmelsbach::split_point_cloud ( const sensor_msgs::msg::PointCloud2::SharedPtr &  input_cloud ) const

private

Split the input point cloud into slices and rings.

It will populate the slices_ member.

Parameters

input_cloud

Input point cloud to be split.

Definition at line 182 of file himmelsbach.cpp.

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Member Data Documentation

alpha_augmentation_m_

double Himmelsbach::alpha_augmentation_m_

private

Definition at line 64 of file himmelsbach.hpp.

grid_angle_

double Himmelsbach::grid_angle_

private

Definition at line 61 of file himmelsbach.hpp.

initial_alpha_

double Himmelsbach::initial_alpha_

private

Definition at line 63 of file himmelsbach.hpp.

max_slope_

double Himmelsbach::max_slope_

private

Definition at line 62 of file himmelsbach.hpp.

slices_

std::shared_ptr<std::vector<Slice> > Himmelsbach::slices_

private

Definition at line 68 of file himmelsbach.hpp.

start_augmentation_

double Himmelsbach::start_augmentation_

private

Definition at line 65 of file himmelsbach.hpp.

trim_params_

TrimmingParameters Himmelsbach::trim_params_

private

Definition at line 66 of file himmelsbach.hpp.

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

• src/perception/include/ground_removal/himmelsbach.hpp
• src/perception/src/ground_removal/himmelsbach.cpp