Autoware.Auto
autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudApproximate Class Reference

Instantiation of PointCloud2 VoxelCloudBase for ApproximateVoxels. More...

#include <voxel_cloud_approximate.hpp>

Inheritance diagram for autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudApproximate:
Collaboration diagram for autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudApproximate:

Public Member Functions

 VoxelCloudApproximate (const voxel_grid::Config &cfg)
 Constructor. More...
 
void insert (const sensor_msgs::msg::PointCloud2 &msg) override
 Inserts points into the voxel grid data structure, overwrites internal header. More...
 
const sensor_msgs::msg::PointCloud2 & get () override
 Get accumulated downsampled points. Internally resets the internal grid. Header is taken from last insert. More...
 
- Public Member Functions inherited from autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudBase
virtual ~VoxelCloudBase ()
 Virtual destructor. More...
 

Additional Inherited Members

- Protected Types inherited from autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudBase
using PointXYZIF = autoware::perception::filters::voxel_grid::PointXYZIF
 

Detailed Description

Instantiation of PointCloud2 VoxelCloudBase for ApproximateVoxels.

Constructor & Destructor Documentation

◆ VoxelCloudApproximate()

autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudApproximate::VoxelCloudApproximate ( const voxel_grid::Config cfg)
explicit

Constructor.

Parameters
[in]cfgConfiguration struct for the voxel grid

Member Function Documentation

◆ get()

const sensor_msgs::msg::PointCloud2 & autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudApproximate::get ( )
overridevirtual

Get accumulated downsampled points. Internally resets the internal grid. Header is taken from last insert.

Returns
The downsampled point cloud

Implements autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudBase.

◆ insert()

void autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudApproximate::insert ( const sensor_msgs::msg::PointCloud2 &  msg)
overridevirtual

Inserts points into the voxel grid data structure, overwrites internal header.

Parameters
[in]msgA point cloud to insert into the voxel grid. Assumed to have the structure XYZI

Implements autoware::perception::filters::voxel_grid_nodes::algorithm::VoxelCloudBase.


The documentation for this class was generated from the following files: