grid_clustering.hpp

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#include <queue>
#include <string>
#include <unordered_map>
#include <vector>
 
#include "clustering/clustering.hpp"
#include "utils/grid_geometry.hpp"
#include "utils/grid_index.hpp"
 
class GridClustering : public Clustering {
public:
  GridClustering(double grid_angle, double grid_radius, double start_augmentation,
                 double radius_augmentation, double fov);
 
  void clustering(const sensor_msgs::msg::PointCloud2::SharedPtr& point_cloud,
                  std::vector<Cluster>* clusters) const override;
 
private:
  GridGeometry grid_geometry_;  
};