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autoware_pcl_extensions#

Purpose#

The autoware_pcl_extensions is a pcl extension library. The voxel grid filter in this package works with a different algorithm than the original one.

Inner-workings / Algorithms#

Original Algorithm [1]#

  1. create a 3D voxel grid over the input pointcloud data
  2. calculate centroid in each voxel
  3. all the points are approximated with their centroid

Extended Algorithm#

  1. create a 3D voxel grid over the input pointcloud data
  2. calculate centroid in each voxel
  3. all the points are approximated with the closest point to their centroid

Inputs / Outputs#

Parameters#

Assumptions / Known limits#

(Optional) Error detection and handling#

(Optional) Performance characterization#

[1] https://pointclouds.org/documentation/tutorials/voxel_grid.html

(Optional) Future extensions / Unimplemented parts#