grid_removal.hpp

Go to the documentation of this file.

#pragma once
#include <algorithm>
#include <cmath>
#include <cstring>
#include <limits>
#include <queue>
#include <string>
#include <unordered_map>
#include <vector>
 
#include "utils/grid_geometry.hpp"
#include "utils/grid_index.hpp"
#include "wall_removal/wall_removal.hpp"
 
class GridWallRemoval : public WallRemoval {
public:
  GridWallRemoval(double angle, double radius, double start_augmentation,
                  double radius_augmentation, double fov, int max_points_per_cluster);
 
  void remove_walls(const sensor_msgs::msg::PointCloud2::SharedPtr& point_cloud,
                    sensor_msgs::msg::PointCloud2::SharedPtr& output_cloud) override;
 
private:
  std::vector<int> occlusion_bins_;  // Bins for each slice that are the last to be considered
  GridGeometry grid_geometry_;       // Grid geometry for grid calculations
  int max_points_per_cluster_;  // Maximum number of points allowed per each grid to be considered
                                // non-wall
};