PTK Lidar Ground Point Classification

Introduction

Collaboration diagram for PTK Lidar Ground Point Classification:

Data Structures
struct	PTK_Lidar_GpcConfig
	Lidar GPC configuration parameters. More...

Functions
uint32_t	PTK_Lidar_getGpcScratchMemSize ()
	Get the size of the scratch memory needed to be used in PTK_Lidar_performGPC() API. More...
uint32_t	PTK_Lidar_getEstNormScratchMemSize ()
	Get the size of the scratch memory needed to be used in PTK_Lidar_estimatePointNormals() API. More...
int32_t	PTK_Lidar_performGPC (PTK_PointCloud *pc, const PTK_LidarMeta *meta, const PTK_Lidar_GpcConfig *config, uint8_t *scratchMem, PTK_PointCloud *normals)
	Process the input point cloud and classify the points as ground or not. More...
int32_t	PTK_Lidar_estimatePointNormals (PTK_PointCloud *__restrict src, const PTK_LidarMeta *meta, uint8_t *scratchMem, PTK_PointCloud *__restrict normals)
	Estimate the normal vectors for each point of the given cloud and write them to the normals cloud at matching indices. This requires normals to have been initialized as a point cloud with the same configuration as cloud. More...
void	PTK_Lidar_shiftToRootENU (PTK_PointCloud *src, const PTK_LidarMeta *meta, const PTK_RigidTransform *M_ego_lidar, PTK_Position *referenceRoot, PTK_Point *translateENU)
	This transforms the given point cloud (which is assumed to have been motion distortion corrected) from its current LiDAR coordinate system to the reference ENU coordinate system defined by the position given. It also writes the matching translation vector out to be reused by the caller if necessary. More...

Function Documentation

PTK_Lidar_getGpcScratchMemSize()

uint32_t PTK_Lidar_getGpcScratchMemSize

(

)

Get the size of the scratch memory needed to be used in PTK_Lidar_performGPC() API.

Returns

Size in bytes for the scratch memory.

PTK_Lidar_getEstNormScratchMemSize()

uint32_t PTK_Lidar_getEstNormScratchMemSize

(

)

Get the size of the scratch memory needed to be used in PTK_Lidar_estimatePointNormals() API.

Returns

Size in bytes for the scratch memory.

PTK_Lidar_performGPC()

int32_t PTK_Lidar_performGPC	(	PTK_PointCloud *	pc,
		const PTK_LidarMeta *	meta,
		const PTK_Lidar_GpcConfig *	config,
		uint8_t *	scratchMem,
		PTK_PointCloud *	normals
	)

Process the input point cloud and classify the points as ground or not.

Parameters

[in]	pc	The input LiDAR point cloud.
[in]	meta	The input LiDAR metadata.
[in]	config	Algorithm configuration.
[in]	scratchMem	Scratch memory buffer. The size of this memory should match the value returned by PTK_Lidar_getGpcScratchMemSize() API.
[out]	normals	Normal vectors written as points here.

Returns

• PTK_ALG_RET_SUCCESS, if successful.
• < error code, otherwise.

PTK_Lidar_estimatePointNormals()

int32_t PTK_Lidar_estimatePointNormals	(	PTK_PointCloud *__restrict	src,
		const PTK_LidarMeta *	meta,
		uint8_t *	scratchMem,
		PTK_PointCloud *__restrict	normals
	)

Estimate the normal vectors for each point of the given cloud and write them to the normals cloud at matching indices. This requires normals to have been initialized as a point cloud with the same configuration as cloud.

Parameters

[in]	src	The input LiDAR point cloud.
[in]	meta	The input LiDAR metadata.
[in]	scratchMem	Scratch memory buffer. The size of this memory should match the value returned by PTK_Lidar_getEstNormScratchMemSize() API.
[out]	normals	Normal vectors written as points here.

Returns

• PTK_ALG_RET_SUCCESS, if successful.
• < error code, otherwise.

PTK_Lidar_shiftToRootENU()

void PTK_Lidar_shiftToRootENU	(	PTK_PointCloud *	src,
		const PTK_LidarMeta *	meta,
		const PTK_RigidTransform *	M_ego_lidar,
		PTK_Position *	referenceRoot,
		PTK_Point *	translateENU
	)

This transforms the given point cloud (which is assumed to have been motion distortion corrected) from its current LiDAR coordinate system to the reference ENU coordinate system defined by the position given. It also writes the matching translation vector out to be reused by the caller if necessary.

Parameters

[in,out]	src	The point cloud to shift.
[in]	meta	The LiDAR metadata.
[in]	M_ego_lidar	The calibrated transformation matrix from LiDAR coordinates to ego coordinates.
[out]	referenceRoot	The reference point that defines the ENU coordinate system where we do local processing.
[out]	translateENU	The translation vector from the lidar's ENU frame to the reference ENU frame is stored here for later reuse.