tier4_pcl_extensions

Purpose

The tier4_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

(Optional) References/External links

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

(Optional) Future extensions / Unimplemented parts