ground_segmentation::GridCell< PointT > Struct Template Reference

Represents one discretized 3D voxel in the spatial grid. More...

#include <ground_detection_types.hpp>

Public Member Functions
	GridCell ()

Public Attributes
int	x
int	y
int	z
bool	expanded
bool	in_queue
bool	explored
TerrainType	terrain_type
PrimitiveType	primitive_type
Eigen::Vector4d	centroid
pcl::PointIndices::Ptr	inliers
Eigen::Matrix3d	eigenvectors
Eigen::Vector3d	eigenvalues
pcl::PointCloud< PointT >::Ptr	points
double	slope
Eigen::Vector3d	normal

Detailed Description

template<typename PointT>
struct ground_segmentation::GridCell< PointT >

Represents one discretized 3D voxel in the spatial grid.

Each cell stores:

• Raw points assigned to the voxel
• PCA eigenvalues/eigenvectors
• Estimated surface normal
• Plane fitting inliers
• Terrain classification

Cells are classified using geometric consistency, slope, and region growing.

Template Parameters

PointT

PCL point type

Definition at line 95 of file ground_detection_types.hpp.

Constructor & Destructor Documentation

GridCell()

template<typename PointT >

ground_segmentation::GridCell< PointT >::GridCell ( )

inline

Definition at line 118 of file ground_detection_types.hpp.

  : points(new pcl::PointCloud<PointT>),
    inliers(new pcl::PointIndices)
  {
    x = 0;
    y = 0;
    z = 0;
    in_queue = false;
    expanded = false;
    explored = false;
    slope = std::numeric_limits<double>::quiet_NaN();
  }

References ground_segmentation::GridCell< PointT >::expanded, ground_segmentation::GridCell< PointT >::explored, ground_segmentation::GridCell< PointT >::in_queue, ground_segmentation::GridCell< PointT >::slope, ground_segmentation::GridCell< PointT >::x, ground_segmentation::GridCell< PointT >::y, and ground_segmentation::GridCell< PointT >::z.

Member Data Documentation

centroid

template<typename PointT >

Eigen::Vector4d ground_segmentation::GridCell< PointT >::centroid

Definition at line 105 of file ground_detection_types.hpp.

Referenced by ground_segmentation::PointCloudGrid< PointT >::classifySparsityNormalDist(), ground_segmentation::PointCloudGrid< PointT >::expandGrid(), ground_segmentation::PointCloudGrid< PointT >::getGroundCells(), and ground_segmentation::PointCloudGrid< PointT >::pointIsGroundWrtCell().

eigenvalues

template<typename PointT >

Eigen::Vector3d ground_segmentation::GridCell< PointT >::eigenvalues

Definition at line 108 of file ground_detection_types.hpp.

Referenced by ground_segmentation::PointCloudGrid< PointT >::getGroundCells().

eigenvectors

template<typename PointT >

Eigen::Matrix3d ground_segmentation::GridCell< PointT >::eigenvectors

Definition at line 107 of file ground_detection_types.hpp.

Referenced by ground_segmentation::PointCloudGrid< PointT >::getGroundCells().

expanded

template<typename PointT >

bool ground_segmentation::GridCell< PointT >::expanded

Definition at line 100 of file ground_detection_types.hpp.

Referenced by ground_segmentation::PointCloudGrid< PointT >::expandGrid(), ground_segmentation::PointCloudGrid< PointT >::getGroundCells(), and ground_segmentation::GridCell< PointT >::GridCell().

explored

template<typename PointT >

bool ground_segmentation::GridCell< PointT >::explored

Definition at line 102 of file ground_detection_types.hpp.

Referenced by ground_segmentation::GridCell< PointT >::GridCell().

in_queue

template<typename PointT >

bool ground_segmentation::GridCell< PointT >::in_queue

Definition at line 101 of file ground_detection_types.hpp.

Referenced by ground_segmentation::PointCloudGrid< PointT >::expandGrid(), ground_segmentation::PointCloudGrid< PointT >::getGroundCells(), and ground_segmentation::GridCell< PointT >::GridCell().

inliers

template<typename PointT >

pcl::PointIndices::Ptr ground_segmentation::GridCell< PointT >::inliers

Definition at line 106 of file ground_detection_types.hpp.

Referenced by ground_segmentation::PointCloudGrid< PointT >::fitGroundPlane(), and ground_segmentation::PointCloudGrid< PointT >::segmentPoints().

normal

template<typename PointT >

Eigen::Vector3d ground_segmentation::GridCell< PointT >::normal

Normal of the plane

Definition at line 116 of file ground_detection_types.hpp.

Referenced by ground_segmentation::PointCloudGrid< PointT >::classifySparsityNormalDist(), ground_segmentation::PointCloudGrid< PointT >::getGroundCells(), and ground_segmentation::PointCloudGrid< PointT >::pointIsGroundWrtCell().

points

template<typename PointT >

pcl::PointCloud<PointT>::Ptr ground_segmentation::GridCell< PointT >::points

The points in the Grid Cell

Definition at line 110 of file ground_detection_types.hpp.

Referenced by ground_segmentation::PointCloudGrid< PointT >::addPoint(), ground_segmentation::PointCloudGrid< PointT >::classifySparsityBoundingBox(), ground_segmentation::PointCloudGrid< PointT >::classifySparsityNormalDist(), ground_segmentation::PointCloudGrid< PointT >::expandGrid(), ground_segmentation::PointCloudGrid< PointT >::fitGroundPlane(), ground_segmentation::PointCloudGrid< PointT >::getGroundCells(), ground_segmentation::PointCloudGrid< PointT >::getNeighbors(), and ground_segmentation::PointCloudGrid< PointT >::segmentPoints().

primitive_type

template<typename PointT >

PrimitiveType ground_segmentation::GridCell< PointT >::primitive_type

Definition at line 104 of file ground_detection_types.hpp.

Referenced by ground_segmentation::PointCloudGrid< PointT >::getGroundCells(), and ground_segmentation::PointCloudGrid< PointT >::segmentPoints().

slope

template<typename PointT >

double ground_segmentation::GridCell< PointT >::slope

slope of the plane

Definition at line 113 of file ground_detection_types.hpp.

Referenced by ground_segmentation::PointCloudGrid< PointT >::fitGroundPlane(), ground_segmentation::PointCloudGrid< PointT >::getGroundCells(), and ground_segmentation::GridCell< PointT >::GridCell().

terrain_type

template<typename PointT >

TerrainType ground_segmentation::GridCell< PointT >::terrain_type

Definition at line 103 of file ground_detection_types.hpp.

Referenced by ground_segmentation::PointCloudGrid< PointT >::expandGrid(), ground_segmentation::PointCloudGrid< PointT >::getGroundCells(), ground_segmentation::PointCloudGrid< PointT >::getNeighbors(), and ground_segmentation::PointCloudGrid< PointT >::segmentPoints().

x

template<typename PointT >

int ground_segmentation::GridCell< PointT >::x

Definition at line 97 of file ground_detection_types.hpp.

Referenced by ground_segmentation::PointCloudGrid< PointT >::addPoint(), ground_segmentation::PointCloudGrid< PointT >::getNeighbors(), and ground_segmentation::GridCell< PointT >::GridCell().

y

template<typename PointT >

int ground_segmentation::GridCell< PointT >::y

Definition at line 98 of file ground_detection_types.hpp.

Referenced by ground_segmentation::PointCloudGrid< PointT >::addPoint(), ground_segmentation::PointCloudGrid< PointT >::getNeighbors(), and ground_segmentation::GridCell< PointT >::GridCell().

z

template<typename PointT >

int ground_segmentation::GridCell< PointT >::z

Definition at line 99 of file ground_detection_types.hpp.

Referenced by ground_segmentation::PointCloudGrid< PointT >::addPoint(), ground_segmentation::PointCloudGrid< PointT >::getNeighbors(), and ground_segmentation::GridCell< PointT >::GridCell().

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

• /home/runner/work/ground_segmentation/ground_segmentation/include/ground_detection_types.hpp