ScanClustering.h
Go to the documentation of this file.
1
/*
2
* This file is part of ArmarX.
3
*
4
* ArmarX is free software; you can redistribute it and/or modify
5
* it under the terms of the GNU General Public License version 2 as
6
* published by the Free Software Foundation.
7
*
8
* ArmarX is distributed in the hope that it will be useful, but
9
* WITHOUT ANY WARRANTY; without even the implied warranty of
10
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11
* GNU General Public License for more details.
12
*
13
* You should have received a copy of the GNU General Public License
14
* along with this program. If not, see <http://www.gnu.org/licenses/>.
15
*
16
* @author Fabian Reister ( fabian dot reister at kit dot edu )
17
* @date 2021
18
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
19
* GNU General Public License
20
*/
21
22
#pragma once
23
24
#include <vector>
25
26
#include <RobotAPI/interface/units/LaserScannerUnit.h>
27
28
namespace
armarx::navigation::components::laser_scanner_feature_extraction
29
{
30
namespace
detail
31
{
32
struct
ScanClusteringParams
33
{
34
// Clustering options to decide whether a point belongs to the cluster
35
float
distanceThreshold
;
// [mm]
36
float
angleThreshold
;
// [rad]
37
38
/// Range filter: only consider points that are closer than maxDistance
39
float
maxDistance
;
// [mm]
40
};
41
}
// namespace detail
42
43
class
ScanClustering
44
{
45
public
:
46
using
Params
=
detail::ScanClusteringParams
;
47
using
Clusters
= std::vector<LaserScan>;
48
49
ScanClustering
(
const
Params
& params);
50
51
/**
52
* @brief Performs cluster detection on a full laser scan.
53
*
54
* @param scan A full scan
55
* @return The input scan split into clusters.
56
*/
57
Clusters
detectClusters
(
const
LaserScan& scan);
58
59
protected
:
60
const
LaserScan&
cluster
()
const
;
61
62
bool
add
(
const
LaserScanStep& scanStep);
63
bool
supports
(
const
LaserScanStep& scanStep);
64
65
void
clear
();
66
67
private
:
68
LaserScan scan;
69
70
const
Params
params;
71
};
72
73
}
// namespace armarx::navigation::components::laser_scanner_feature_extraction
armarx::navigation::components::laser_scanner_feature_extraction::detail::ScanClusteringParams
Definition:
ScanClustering.h:32
detail
Definition:
OpenCVUtil.cpp:128
armarx::navigation::components::laser_scanner_feature_extraction::ScanClustering::ScanClustering
ScanClustering(const Params ¶ms)
Definition:
ScanClustering.cpp:10
armarx::navigation::components::laser_scanner_feature_extraction::ScanClustering::detectClusters
Clusters detectClusters(const LaserScan &scan)
Performs cluster detection on a full laser scan.
Definition:
ScanClustering.cpp:33
armarx::navigation::components::laser_scanner_feature_extraction::ScanClustering::cluster
const LaserScan & cluster() const
Definition:
ScanClustering.cpp:59
armarx::navigation::components::laser_scanner_feature_extraction::ScanClustering::clear
void clear()
Definition:
ScanClustering.cpp:65
armarx::navigation::components::laser_scanner_feature_extraction::ScanClustering::supports
bool supports(const LaserScanStep &scanStep)
Definition:
ScanClustering.cpp:71
armarx::navigation::components::laser_scanner_feature_extraction::ScanClustering
Definition:
ScanClustering.h:43
armarx::navigation::components::laser_scanner_feature_extraction::detail::ScanClusteringParams::angleThreshold
float angleThreshold
Definition:
ScanClustering.h:36
armarx::navigation::components::laser_scanner_feature_extraction::ScanClustering::Clusters
std::vector< LaserScan > Clusters
Definition:
ScanClustering.h:47
armarx::navigation::components::laser_scanner_feature_extraction::detail::ScanClusteringParams::distanceThreshold
float distanceThreshold
Definition:
ScanClustering.h:35
armarx::navigation::components::laser_scanner_feature_extraction::ScanClustering::add
bool add(const LaserScanStep &scanStep)
Definition:
ScanClustering.cpp:15
armarx::navigation::components::laser_scanner_feature_extraction
Definition:
ArVizDrawer.cpp:28
armarx::navigation::components::laser_scanner_feature_extraction::detail::ScanClusteringParams::maxDistance
float maxDistance
Range filter: only consider points that are closer than maxDistance.
Definition:
ScanClustering.h:39
armarx
navigation
components
laser_scanner_feature_extraction
ScanClustering.h
Generated on Sat Mar 29 2025 09:17:35 for armarx_documentation by
1.8.17