ground_segmentation::GridConfig Struct Reference

Configuration parameters controlling segmentation behavior. More...

#include <ground_detection_types.hpp>

Public Member Functions
	GridConfig ()

Public Attributes
double	cellSizeX
double	cellSizeY
double	cellSizeZ
double	slopeThresholdDegrees
double	groundInlierThreshold
double	centroidSearchRadius
double	distToGround
double	maxGroundHeightDeviation
uint16_t	processing_phase

Detailed Description

Configuration parameters controlling segmentation behavior.

Contains grid resolution, geometric thresholds, slope limits, and processing phase control.

Important relationships: groundInlierThreshold < cellSizeZ slopeThresholdDegrees determines traversability angle limit

Definition at line 187 of file ground_detection_types.hpp.

Constructor & Destructor Documentation

GridConfig()

ground_segmentation::GridConfig::GridConfig ( )

inline

Definition at line 201 of file ground_detection_types.hpp.

  {
    cellSizeX = 2;
    cellSizeY = 2;
    cellSizeZ = 10;
    slopeThresholdDegrees = 30;
    groundInlierThreshold = 0.1;
    centroidSearchRadius = 5.0;
    maxGroundHeightDeviation = 0.3;
    distToGround = 0.0;
    processing_phase = 1;
  }

References cellSizeX, cellSizeY, cellSizeZ, centroidSearchRadius, distToGround, groundInlierThreshold, maxGroundHeightDeviation, processing_phase, and slopeThresholdDegrees.

Member Data Documentation

cellSizeX

double ground_segmentation::GridConfig::cellSizeX

Definition at line 189 of file ground_detection_types.hpp.

Referenced by GridConfig().

cellSizeY

double ground_segmentation::GridConfig::cellSizeY

Definition at line 190 of file ground_detection_types.hpp.

Referenced by GridConfig().

cellSizeZ

double ground_segmentation::GridConfig::cellSizeZ

Definition at line 191 of file ground_detection_types.hpp.

Referenced by GridConfig().

centroidSearchRadius

double ground_segmentation::GridConfig::centroidSearchRadius

Definition at line 195 of file ground_detection_types.hpp.

Referenced by GridConfig().

distToGround

double ground_segmentation::GridConfig::distToGround

Definition at line 196 of file ground_detection_types.hpp.

Referenced by GridConfig(), and ground_segmentation::PointCloudGrid< PointT >::setDistToGround().

groundInlierThreshold

double ground_segmentation::GridConfig::groundInlierThreshold

Definition at line 194 of file ground_detection_types.hpp.

Referenced by GridConfig().

maxGroundHeightDeviation

double ground_segmentation::GridConfig::maxGroundHeightDeviation

Definition at line 197 of file ground_detection_types.hpp.

Referenced by GridConfig().

processing_phase

uint16_t ground_segmentation::GridConfig::processing_phase

Definition at line 199 of file ground_detection_types.hpp.

Referenced by GridConfig().

slopeThresholdDegrees

double ground_segmentation::GridConfig::slopeThresholdDegrees

Definition at line 193 of file ground_detection_types.hpp.

Referenced by GridConfig().

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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