Struct PatchworkConfig 

pub struct PatchworkConfig {

    pub sensor_height: f32,
    pub zone_radii: Vec<f32>,
    pub num_rings_per_zone: Vec<usize>,
    pub num_sectors_per_zone: Vec<usize>,
    pub max_range: f32,
    pub min_points_per_patch: usize,
    pub num_seed_points: usize,
    pub seed_selection_threshold: f32,
    pub dist_threshold: f32,
    pub num_iterations: usize,
    pub uprightness_threshold: f32,
    pub flatness_threshold: f32,
    pub elevation_threshold: f32,
}

Configuration for the Patchwork++ ground segmentation algorithm.

Fields

sensor_height: f32

Height of the LiDAR sensor above the expected ground plane (meters).

zone_radii: Vec<f32>

Concentric zone boundary radii in meters, length = num_zones + 1. Each adjacent pair defines one zone (inner_radius, outer_radius].

num_rings_per_zone: Vec<usize>

Number of concentric rings per zone (length = num_zones).

num_sectors_per_zone: Vec<usize>

Number of angular sectors per zone (length = num_zones).

max_range: f32

Maximum sensing range (meters); points beyond are treated as non-ground.

min_points_per_patch: usize

Minimum number of points required in a patch to attempt ground fitting.

num_seed_points: usize

Minimum number of seed points used in the initial PCA fit.

seed_selection_threshold: f32

A point is a seed candidate if its z is within this distance of the patch’s minimum z value.

dist_threshold: f32

Inlier distance threshold (meters) used when refining the plane fit.

num_iterations: usize

Number of refit iterations of the R-GPF inner loop.

uprightness_threshold: f32

Minimum |n_z| required for a patch’s plane to count as ground (cos of maximum allowed slope; 0.707 ≈ 45°).

flatness_threshold: f32

Maximum allowed flatness ratio = lambda_min / (lambda_0 + lambda_1 + lambda_min); smaller means the patch must be flatter.

elevation_threshold: f32

Maximum signed deviation of the patch mean z from -sensor_height (meters). Patches sitting unreasonably high or low are rejected.

Trait Implementations

impl Clone for PatchworkConfig

fn clone(&self) -> PatchworkConfig

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for PatchworkConfig

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for PatchworkConfig

fn default() -> Self

Returns the “default value” for a type.