Class containing parameters for the ground surface modeling and obstacle detection application which may be running on the specifically commissioned MultiSenses. More...

#include <MultiSenseTypes.hh>

Public Member Functions
	GroundSurfaceParams ()
	Default constructor. More...

Public Attributes
int	ground_surface_number_of_levels_x
	This argument specifies how many levels of spline interpolation are to be performed in the x dimension (i.e. More...

int	ground_surface_number_of_levels_z
	This argument specifies how many levels of spline interpolation are to be performed in the z dimension (i.e. More...

int	ground_surface_base_model
	The model to apply to the raw pointcloud data before modeling with a B-Spline. More...

float	ground_surface_pointcloud_grid_size
	This is the size of grid dimension that the poiontcloud is binned into along the X/Z plane. More...

int	ground_surface_min_points_per_grid
	This is the minimum number of pointcloud points which ust be within a binned grid cell in oder for that cell to be used in the spline computation. More...

int	ground_surface_pointcloud_decimation
	The decimation factor for the disparity image when generating the pointcloud. More...

float	ground_surface_pointcloud_max_range_m
	The max pointcloud range (along the z dimension / optical axis) after applying external transform, a useful parameter to remove noisy points far from the camera. More...

float	ground_surface_pointcloud_min_range_m
	The min pointcloud range (along the z dimension / optical axis) after applying external transform, a useful parameter to remove noisy points close to the camera. More...

float	ground_surface_pointcloud_max_width_m
	The max pointcloud width (along the x dimension) after applying external transform. More...

float	ground_surface_pointcloud_min_width_m
	The min pointcloud width (along the x dimension) after applying external transform. More...

float	ground_surface_pointcloud_max_height_m
	The max pointcloud height (along the y dimension) after applying external transform, a useful parameter to remove noisy points in the sky. More...

float	ground_surface_pointcloud_min_height_m
	The min pointcloud height (along the y dimension) after applying external transform, a useful parameter to remove noisy points in the ground. More...

float	ground_surface_obstacle_height_thresh_m
	This is the height threshold, in meters, that a cluster of points must be above the initial ground surface model fit in order to be classified as an obstacle. More...

float	ground_surface_obstacle_percentage_thresh
	The percentage of points in a cell cluster that must be above the height threshold in order to classify the cell as an obstacle. More...

int	ground_surface_max_fitting_iterations
	The maximum number of iterations to undertake in the spline fit and obstacle detection loop. More...

float	ground_surface_adjacent_cell_search_size_m
	The size of the neighborhood to search around an obstacle cell for the lowest/minimum cell centroid height during the iterative spline fit and obstacle detection loop. More...

Detailed Description

Class containing parameters for the ground surface modeling and obstacle detection application which may be running on the specifically commissioned MultiSenses.

Example code to set a device's ground surface parameters:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
crl::multisense::Channel* channel;
channel = crl::multisense::Channel::Create("10.66.171.21");
 
channel->setMtu(7200);
 
//
// Create a instance of GroundSurfaceParams to store the device's params
crl::multisense::system::GroundSurfaceParams params;
 
//
// Set the parameter values
params.ground_surface_number_of_levels_x = 4;
params.ground_surface_number_of_levels_z = 4;
params.ground_surface_base_model = 1;
params.ground_surface_pointcloud_grid_size = 0.5;
params.ground_surface_min_points_per_grid = 10;
params.ground_surface_pointcloud_decimation = 1;
params.ground_surface_pointcloud_max_range_m = 30.0;
params.ground_surface_pointcloud_min_range_m = 0.5;
params.ground_surface_pointcloud_max_width_m = 25.0;
params.ground_surface_pointcloud_min_width_ = -25.0;
params.ground_surface_pointcloud_max_height_m = 10.0;
params.ground_surface_pointcloud_min_height_ = -10.0;
params.ground_surface_obstacle_height_thresh_m = 2.0;
params.ground_surface_obstacle_percentage_thresh = 0.5;
params.ground_surface_max_fitting_iterations = 10;
params.ground_surface_adjacent_cell_search_size_m = 1.5;
 
//
// Send the new external calibration to the device
crl::multisense::Status status = channel->setGroundSurfaceParams(params));
 
//
// Check to see if the new network configuration was received
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to set the devices's ground surface params");
}
 
//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);

Definition at line 3706 of file MultiSenseTypes.hh.

Constructor & Destructor Documentation

◆ GroundSurfaceParams()

crl::multisense::system::GroundSurfaceParams::GroundSurfaceParams ( )

inline

Default constructor.

Definition at line 3782 of file MultiSenseTypes.hh.

Member Data Documentation

◆ ground_surface_adjacent_cell_search_size_m

float crl::multisense::system::GroundSurfaceParams::ground_surface_adjacent_cell_search_size_m

The size of the neighborhood to search around an obstacle cell for the lowest/minimum cell centroid height during the iterative spline fit and obstacle detection loop.

Definition at line 3779 of file MultiSenseTypes.hh.

◆ ground_surface_base_model

int crl::multisense::system::GroundSurfaceParams::ground_surface_base_model

The model to apply to the raw pointcloud data before modeling with a B-Spline.

The Mean model is a good default as simplyassumes the world is a plane about the mean height of the pointcloud (after applying the external transform). If the mounting height of the camera is set appropriately in the external transform, and the world is generally flat, then Zero is a good choice. TheQuadratic model is useful when the extent of the pointcloud is trending upwards or downwards (i.e. while using forwards-facing camera mounted on a vehicle driving through a valley).

Definition at line 3727 of file MultiSenseTypes.hh.

◆ ground_surface_max_fitting_iterations

int crl::multisense::system::GroundSurfaceParams::ground_surface_max_fitting_iterations

The maximum number of iterations to undertake in the spline fit and obstacle detection loop.

This loop will exit early if no new obstacle cells are found from one interation to the next.

Definition at line 3775 of file MultiSenseTypes.hh.

◆ ground_surface_min_points_per_grid

int crl::multisense::system::GroundSurfaceParams::ground_surface_min_points_per_grid

This is the minimum number of pointcloud points which ust be within a binned grid cell in oder for that cell to be used in the spline computation.

This threshold helps to reduce the effect of spurious 3D points on spline modeling.

Definition at line 3737 of file MultiSenseTypes.hh.

◆ ground_surface_number_of_levels_x

int crl::multisense::system::GroundSurfaceParams::ground_surface_number_of_levels_x

This argument specifies how many levels of spline interpolation are to be performed in the x dimension (i.e.

along the left to right horizontal dimension in front of the camera' FOV). The ultimate size of the grid of spline control points is approximately 2^number_of_levels by 2^number_of_levels. Keep in mind that each interpolated point draws from a 4x4 support region in the grid of spline control points.

Definition at line 3713 of file MultiSenseTypes.hh.

◆ ground_surface_number_of_levels_z

int crl::multisense::system::GroundSurfaceParams::ground_surface_number_of_levels_z

This argument specifies how many levels of spline interpolation are to be performed in the z dimension (i.e.

along the optical axis, or depth towards/away from the camera). The ultimate size of the grid of spline control points is approximately 2^number_of_levels by 2^number_of_levels. Keep in mind that each interpolated point draws from a 4x4 support region in the grid of spline control points.

Definition at line 3719 of file MultiSenseTypes.hh.

◆ ground_surface_obstacle_height_thresh_m

float crl::multisense::system::GroundSurfaceParams::ground_surface_obstacle_height_thresh_m

This is the height threshold, in meters, that a cluster of points must be above the initial ground surface model fit in order to be classified as an obstacle.

Definition at line 3766 of file MultiSenseTypes.hh.

◆ ground_surface_obstacle_percentage_thresh

float crl::multisense::system::GroundSurfaceParams::ground_surface_obstacle_percentage_thresh

The percentage of points in a cell cluster that must be above the height threshold in order to classify the cell as an obstacle.

For example, obstacle_percentage_thresh=0.5 requires at least half of the points in the binned cell to be above the height threshold.

Definition at line 3771 of file MultiSenseTypes.hh.

◆ ground_surface_pointcloud_decimation

int crl::multisense::system::GroundSurfaceParams::ground_surface_pointcloud_decimation

The decimation factor for the disparity image when generating the pointcloud.

Definition at line 3740 of file MultiSenseTypes.hh.

◆ ground_surface_pointcloud_grid_size

float crl::multisense::system::GroundSurfaceParams::ground_surface_pointcloud_grid_size

This is the size of grid dimension that the poiontcloud is binned into along the X/Z plane.

A larger grid size means a means a coarser binned pointcloud and faster processing times, while a smaller grid size means a finer binned pointcloud.

Definition at line 3732 of file MultiSenseTypes.hh.

◆ ground_surface_pointcloud_max_height_m

float crl::multisense::system::GroundSurfaceParams::ground_surface_pointcloud_max_height_m

The max pointcloud height (along the y dimension) after applying external transform, a useful parameter to remove noisy points in the sky.

Definition at line 3758 of file MultiSenseTypes.hh.

◆ ground_surface_pointcloud_max_range_m

float crl::multisense::system::GroundSurfaceParams::ground_surface_pointcloud_max_range_m

The max pointcloud range (along the z dimension / optical axis) after applying external transform, a useful parameter to remove noisy points far from the camera.

Definition at line 3744 of file MultiSenseTypes.hh.

◆ ground_surface_pointcloud_max_width_m

float crl::multisense::system::GroundSurfaceParams::ground_surface_pointcloud_max_width_m

The max pointcloud width (along the x dimension) after applying external transform.

Definition at line 3751 of file MultiSenseTypes.hh.

◆ ground_surface_pointcloud_min_height_m

float crl::multisense::system::GroundSurfaceParams::ground_surface_pointcloud_min_height_m

The min pointcloud height (along the y dimension) after applying external transform, a useful parameter to remove noisy points in the ground.

Definition at line 3762 of file MultiSenseTypes.hh.

◆ ground_surface_pointcloud_min_range_m

float crl::multisense::system::GroundSurfaceParams::ground_surface_pointcloud_min_range_m

The min pointcloud range (along the z dimension / optical axis) after applying external transform, a useful parameter to remove noisy points close to the camera.

Definition at line 3748 of file MultiSenseTypes.hh.

◆ ground_surface_pointcloud_min_width_m

float crl::multisense::system::GroundSurfaceParams::ground_surface_pointcloud_min_width_m

The min pointcloud width (along the x dimension) after applying external transform.

Definition at line 3754 of file MultiSenseTypes.hh.

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

/home/malvarado/crl/LibMultiSense/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh

Public Member Functions

Public Attributes