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Iván del Pino
kf_based_terrain_analysis
Commits
02b07d1c
Commit
02b07d1c
authored
3 years ago
by
Iván del Pino
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Plain Diff
overhanging obstacle class added
parent
3c20d568
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include/kf_based_terrain_analysis.h
+9
-0
9 additions, 0 deletions
include/kf_based_terrain_analysis.h
include/structs_definitions.h
+5
-0
5 additions, 0 deletions
include/structs_definitions.h
src/kf_based_terrain_analysis.cpp
+247
-106
247 additions, 106 deletions
src/kf_based_terrain_analysis.cpp
with
261 additions
and
106 deletions
include/kf_based_terrain_analysis.h
+
9
−
0
View file @
02b07d1c
...
@@ -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
);
...
...
This diff is collapsed.
Click to expand it.
include/structs_definitions.h
+
5
−
0
View file @
02b07d1c
...
@@ -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
;
...
...
This diff is collapsed.
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src/kf_based_terrain_analysis.cpp
+
247
−
106
View file @
02b07d1c
This diff is collapsed.
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