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]#
- create a 3D voxel grid over the input pointcloud data
- calculate centroid in each voxel
- all the points are approximated with their centroid
Extended Algorithm#
- create a 3D voxel grid over the input pointcloud data
- calculate centroid in each voxel
- 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#
(Optional) References/External links#
[1] https://pointclouds.org/documentation/tutorials/voxel_grid.html