Grid-based clustering algorithm implementation. More...

#include <grid_clustering.hpp>

Inheritance diagram for GridClustering:

Collaboration diagram for GridClustering:

Public Member Functions
	GridClustering (double grid_angle, double grid_radius, double start_augmentation, double radius_augmentation, double fov)
	Constructor for the GridClustering algorithm.

void	clustering (const sensor_msgs::msg::PointCloud2::SharedPtr &point_cloud, std::vector< Cluster > *clusters) const override
	Clusters the input point cloud into groups using the GridClustering algorithm.

Private Attributes
GridGeometry	grid_geometry_
	Geometry of the grid used for clustering.

Detailed Description

Grid-based clustering algorithm implementation.

implementation.

The GridClustering class is a concrete implementation of the Clustering interface, using a grid-based algorithm to cluster point clouds based on spatial partitioning.

Definition at line 18 of file grid_clustering.hpp.

Constructor & Destructor Documentation

◆ GridClustering()

GridClustering::GridClustering	(	double	grid_angle,
		double	grid_radius,
		double	start_augmentation,
		double	radius_augmentation,
		double	fov
	)

Constructor for the GridClustering algorithm.

Parameters

grid_width	Width of each grid cell.
max_points_per_cluster	Maximum number of points allowed in each cluster.
min_points_per_cluster	Minimum number of points required to form a cluster.

Definition at line 3 of file grid_clustering.cpp.

Member Function Documentation

◆ clustering()

void GridClustering::clustering	(	const sensor_msgs::msg::PointCloud2::SharedPtr &	point_cloud,
		std::vector< Cluster > *	clusters
	)		const

overridevirtual

Clusters the input point cloud into groups using the GridClustering algorithm.

This function implements the clustering method from the Clustering interface.

Parameters

point_cloud	A shared pointer to a point cloud of type pcl::PointCloud<pcl::PointXYZI>.
clusters	A pointer to a vector of shared pointers to point clouds to store the resulting clusters.

Implements Clustering.

Definition at line 7 of file grid_clustering.cpp.

Here is the call graph for this function:

Member Data Documentation

◆ grid_geometry_

GridGeometry GridClustering::grid_geometry_

private

Geometry of the grid used for clustering.

Definition at line 43 of file grid_clustering.hpp.

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

src/perception/include/clustering/grid_clustering.hpp
src/perception/src/clustering/grid_clustering.cpp

Public Member Functions