Method makeCloudFromIndices

grid_map_pcl/src/PointcloudProcessor.cpp:74–85

}

Pointcloud::Ptr PointcloudProcessor::makeCloudFromIndices(const std::vector<int>& indices, Pointcloud::ConstPtr inputCloud) {
  Pointcloud::Ptr cloud(new Pointcloud());

  cloud->points.reserve(indices.size());
  for (auto index : indices) {
    cloud->points.push_back(inputCloud->points[index]);
  }

  cloud->is_dense = true;

  return cloud;
}

Pointcloud::Ptr PointcloudProcessor::downsampleInputCloud(Pointcloud::ConstPtr inputCloud) const {
  pcl::VoxelGrid<pcl::PointXYZ> voxelGrid;