spatio_temporal_ground_detector.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <string>
#include <vector>
#include <utility>
#include <limits>
#include <list>
 
#include "modules/perception/common/algorithm/i_lib/pc/i_ground.h"
#include "modules/perception/common/lidar/scene_manager/ground_service/ground_service.h"
#include "modules/perception/common/lidar/scene_manager/scene_manager.h"
#include "modules/perception/pointcloud_ground_detection/interface/base_ground_detector.h"
 
namespace apollo {
namespace perception {
namespace lidar {
 
class SpatioTemporalGroundDetector : public BaseGroundDetector {
 public:
  SpatioTemporalGroundDetector() = default;
  ~SpatioTemporalGroundDetector() {
    if (pfdetector_ != nullptr) {
      delete pfdetector_;
    }
    if (param_ != nullptr) {
      delete param_;
    }
  }
  bool Init(const GroundDetectorInitOptions& options =
                GroundDetectorInitOptions()) override;
  bool Detect(const GroundDetectorOptions& options, LidarFrame* frame) override;
  std::string Name() const override { return "SpatioTemporalGroundDetector"; }
 
 private:
  algorithm::PlaneFitGroundDetectorParam* param_ = nullptr;
  algorithm::PlaneFitGroundDetector* pfdetector_ = nullptr;
  std::vector<float> data_;
  std::vector<float> ground_height_signed_;
  std::vector<int> point_indices_temp_;
  std::vector<std::pair<int, int>> point_attribute_;
 
  bool use_roi_ = true;
  bool use_ground_service_ = false;
  bool use_semantic_ground_ = false;
  float ground_thres_ = 0.25f;
  float near_range_dist_ = 15.0;
  float near_range_ground_thres_ = 0.10;
  float middle_range_dist_ = 15.0;
  float middle_range_ground_thres_ = 0.10;
  int grid_size_ = 256;
 
  float ori_sample_z_lower_ = -3.0;
  float ori_sample_z_upper_ = -1.0;
  float parsing_height_buffer_ = 0.2;
  bool debug_output_ = false;
  bool single_ground_detect_ = true;
 
  size_t default_point_size_ = 320000;
  Eigen::Vector3d cloud_center_ = Eigen::Vector3d(0.0, 0.0, 0.0);
  GroundServiceContent ground_service_content_;
 
  // average ground z
  std::list<float> origin_ground_z_array_;
  const size_t ground_z_average_frame = 5;
};  // class SpatioTemporalGroundDetector
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo