GridWallRemoval Class Reference

Wall removal implementation using a grid-based approach. More...

#include <grid_removal.hpp>

Inheritance diagram for GridWallRemoval:

Collaboration diagram for GridWallRemoval:

Public Member Functions
	GridWallRemoval (double angle, double radius, double start_augmentation, double radius_augmentation, double fov, int max_points_per_cluster)
	Constructor for GridWallRemoval.
void	remove_walls (const sensor_msgs::msg::PointCloud2::SharedPtr &point_cloud, sensor_msgs::msg::PointCloud2::SharedPtr &output_cloud) override
	Removes walls from the input point cloud using a grid-based approach.

Private Attributes
std::vector< int >	occlusion_bins_
GridGeometry	grid_geometry_
int	max_points_per_cluster_

Detailed Description

Wall removal implementation using a grid-based approach.

Definition at line 21 of file grid_removal.hpp.

Constructor & Destructor Documentation

GridWallRemoval()

GridWallRemoval::GridWallRemoval	(	double	angle,
		double	radius,
		double	start_augmentation,
		double	radius_augmentation,
		double	fov,
		int	max_points_per_cluster
	)

Constructor for GridWallRemoval.

Parameters

angle	Angular resolution
radius	Base radial bin size
start_augmentation	Distance at which augmentation starts
radius_augmentation	Bin size increase per bin
fov	Field of view
max_points_per_cluster	Maximum number of points allowed per each grid to be considered

Definition at line 3 of file grid_removal.cpp.

Member Function Documentation

remove_walls()

void GridWallRemoval::remove_walls ( const sensor_msgs::msg::PointCloud2::SharedPtr &  point_cloud, sensor_msgs::msg::PointCloud2::SharedPtr &  output_cloud  )

overridevirtual

Removes walls from the input point cloud using a grid-based approach.

Parameters

point_cloud	The input point cloud
output_cloud	The output point cloud with walls and big objects removed

Implements WallRemoval.

Definition at line 10 of file grid_removal.cpp.

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Member Data Documentation

grid_geometry_

GridGeometry GridWallRemoval::grid_geometry_

private

Definition at line 47 of file grid_removal.hpp.

max_points_per_cluster_

int GridWallRemoval::max_points_per_cluster_

private

Definition at line 48 of file grid_removal.hpp.

occlusion_bins_

std::vector<int> GridWallRemoval::occlusion_bins_

private

Definition at line 46 of file grid_removal.hpp.

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

• src/perception/include/wall_removal/grid_removal.hpp
• src/perception/src/wall_removal/grid_removal.cpp