Function findClusters

sloam/src/segmentation/test_inference.cpp:16–50

using CloudT = pcl::PointCloud<PointT>;

void findClusters(const CloudT::Ptr pc){
    pcl::PointCloud<pcl::Label> euclidean_labels;
    std::vector<pcl::PointIndices> label_indices;

    pcl::EuclideanClusterComparator<PointT, pcl::Label>::Ptr
        euclidean_cluster_comparator(new pcl::EuclideanClusterComparator<PointT, pcl::Label>());

    std::cout << pc->points.size() << std::endl;
    std::cout << pc->width << std::endl;
    std::cout << pc->height << std::endl;

    euclidean_cluster_comparator->setInputCloud(pc);
    euclidean_cluster_comparator->setDistanceThreshold(0.5, false);

    pcl::OrganizedConnectedComponentSegmentation<PointT, pcl::Label>
        euclidean_segmentation(euclidean_cluster_comparator);
    euclidean_segmentation.setInputCloud(pc);
    euclidean_segmentation.segment(euclidean_labels, label_indices);

    pcl::PCDWriter writer;
    std::cout << "NUM CLUSTERS: " << label_indices.size() << std::endl;
    for (size_t i = 0; i < label_indices.size (); i++){
      if (label_indices.at(i).indices.size () > 100){
        std::cout << "LABEL INDICES SIZE: " << label_indices.at(i).indices.size() << std::endl;
     
        CloudT cluster;
        pcl::copyPointCloud(*pc, label_indices.at(i).indices, cluster);
        // clusters.push_back(cluster);
        std::stringstream ss;
        ss << "/opt/bags/inf/pcds/realcc/" << "cloud_cluster_" << i << ".pcd";
        writer.write<PointT> (ss.str (), cluster, false);
      }
    }

}

int main(int argc, char* argv[])
{