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Commit 02b07d1c authored by Iván del Pino's avatar Iván del Pino
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overhanging obstacle class added

parent 3c20d568
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...@@ -41,6 +41,11 @@ private: ...@@ -41,6 +41,11 @@ private:
const std::vector<std::vector<int> > &correspondence_indexes, const std::vector<std::vector<int> > &correspondence_indexes,
const kf_based_terrain_analysis_lib::FilteringConfiguration filtering_configuration); const kf_based_terrain_analysis_lib::FilteringConfiguration filtering_configuration);
bool checkObstacleInVertex(const pcl::PointXYZRGBNormal vertex,
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr points_in_ROI,
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud_ptr,
const std::vector<std::vector<int> > &correspondence_indexes);
void initizalizeShadowAreaGroundReferencePoint( void initizalizeShadowAreaGroundReferencePoint(
const kf_based_terrain_analysis_lib::SensorConfiguration lidar_configuration, const kf_based_terrain_analysis_lib::SensorConfiguration lidar_configuration,
const kf_based_terrain_analysis_lib::FilteringConfiguration filtering_configuration, float x, float y, const kf_based_terrain_analysis_lib::FilteringConfiguration filtering_configuration, float x, float y,
...@@ -99,6 +104,10 @@ private: ...@@ -99,6 +104,10 @@ private:
float mahalanobisDistance(const pcl::PointXYZRGBNormal reference, const pcl::PointXYZRGBNormal point_to_evaluate, float mahalanobisDistance(const pcl::PointXYZRGBNormal reference, const pcl::PointXYZRGBNormal point_to_evaluate,
float &predicted_std_dev); float &predicted_std_dev);
float mahalanobisDistance(const pcl::PointXYZRGBNormal reference_in_sensor_frame,
const pcl::PointXYZRGBNormal point_in_sensor_frame, float &predicted_std_dev,
bool &observation_z_is_below_prediction);
float euclideanDistance(const pcl::PointXYZRGBNormal reference_in_sensor_frame, float euclideanDistance(const pcl::PointXYZRGBNormal reference_in_sensor_frame,
const pcl::PointXYZRGBNormal point_in_sensor_frame); const pcl::PointXYZRGBNormal point_in_sensor_frame);
......
...@@ -72,6 +72,7 @@ const int TERRAIN = 72; ...@@ -72,6 +72,7 @@ const int TERRAIN = 72;
//Custom labels not present in Kitti semantic //Custom labels not present in Kitti semantic
const int CLASS_GROUND = 46; const int CLASS_GROUND = 46;
const int CLASS_OBSTACLE = 100; const int CLASS_OBSTACLE = 100;
const int CLASS_OVERHANGING_OBSTACLE = 15;
const int CLASS_DISCONTINUITY = 58; const int CLASS_DISCONTINUITY = 58;
const int CLASS_VIRTUAL_OBSTACLE_TOO_MUCH_UNCERTAINTY = 24; const int CLASS_VIRTUAL_OBSTACLE_TOO_MUCH_UNCERTAINTY = 24;
const int CLASS_VIRTUAL_OBSTACLE_TOO_MUCH_MAHALANOBIS_DISTANCE = 26; const int CLASS_VIRTUAL_OBSTACLE_TOO_MUCH_MAHALANOBIS_DISTANCE = 26;
...@@ -94,6 +95,10 @@ const uint8_t R_CLASS_OBSTACLE = 0; ...@@ -94,6 +95,10 @@ const uint8_t R_CLASS_OBSTACLE = 0;
const uint8_t G_CLASS_OBSTACLE = 255; const uint8_t G_CLASS_OBSTACLE = 255;
const uint8_t B_CLASS_OBSTACLE = 0; const uint8_t B_CLASS_OBSTACLE = 0;
const uint8_t R_CLASS_OVERHANGING_OBSTACLE = 0;
const uint8_t G_CLASS_OVERHANGING_OBSTACLE = 255;
const uint8_t B_CLASS_OVERHANGING_OBSTACLE = 255;
const uint8_t R_CLASS_OUTLIER = 255; const uint8_t R_CLASS_OUTLIER = 255;
const uint8_t G_CLASS_OUTLIER = 255; const uint8_t G_CLASS_OUTLIER = 255;
const uint8_t B_CLASS_OUTLIER = 0; const uint8_t B_CLASS_OUTLIER = 0;
......
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