ground_segmentation Namespace Reference

Classes
struct	GridCell
	Represents one discretized 3D voxel in the spatial grid. More...
struct	GridConfig
	Configuration parameters controlling segmentation behavior. More...
struct	Index3D
	Integer 3D grid index used as key in hash map. More...
struct	PCLPointCloudAdaptor
	nanoflann adaptor for PCL point clouds. More...
struct	Point
	Simple 3D point representation (double precision). More...
class	PointCloudGrid
	Core grid-based ground segmentation algorithm. More...
class	ProcessCloudProcessor

Enumerations
enum	TerrainType { UNDEFINED , UNKNOWN , GROUND , OBSTACLE }
	Semantic classification label assigned to a grid cell. More...
enum	PrimitiveType { LINE , PLANE , NOISE }
	Geometric primitive classification based on local PCA. More...

Enumeration Type Documentation

PrimitiveType

enum ground_segmentation::PrimitiveType

Geometric primitive classification based on local PCA.

LINE - Strong linear structure (e.g., edge, curb) PLANE - Planar surface (candidate ground) NOISE - Irregular or scattered structure

Enumerator
LINE
PLANE
NOISE

Definition at line 70 of file ground_detection_types.hpp.

{
  LINE,
  PLANE,
  NOISE
};

TerrainType

enum ground_segmentation::TerrainType

Semantic classification label assigned to a grid cell.

UNDEFINED - Not processed yet UNKNOWN - Insufficient evidence GROUND - Traversable ground surface OBSTACLE - Non-traversable object or structure

Enumerator
UNDEFINED
UNKNOWN
GROUND
OBSTACLE

Definition at line 53 of file ground_detection_types.hpp.

{
  UNDEFINED,
  UNKNOWN,
  GROUND,
  OBSTACLE
};