Abstract class for ground removal from a point cloud. More...

#include <ground_removal.hpp>

Inheritance diagram for GroundRemoval:

Collaboration diagram for GroundRemoval:

Public Member Functions
virtual 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 =0
	Perform ground removal on the input point cloud.

Detailed Description

Abstract class for ground removal from a point cloud.

This class defines an interface for ground removal algorithms from a point cloud. Inherit from this class to implement specific ground removal algorithms.

Definition at line 23 of file ground_removal.hpp.

Member Function Documentation

◆ ground_removal()

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

pure virtual

Perform ground removal on the input point cloud.

This pure virtual function must be implemented by derived classes.

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.

Implemented in Himmelsbach, and RANSAC.

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

src/perception/include/ground_removal/ground_removal.hpp

Public Member Functions

Detailed Description

Member Function Documentation

◆ ground_removal()