| 70 | id)) |
| 71 | |
| 72 | void PointT2XYZI(pcl::PointCloud<PointXYZILID> &src, pcl::PointCloud<pcl::PointXYZI>::Ptr dst) { |
| 73 | dst->points.clear(); |
| 74 | for (const auto &pt : src.points) { |
| 75 | pcl::PointXYZI pt_xyzi; |
| 76 | pt_xyzi.x = pt.x; |
| 77 | pt_xyzi.y = pt.y; |
| 78 | pt_xyzi.z = pt.z; |
| 79 | pt_xyzi.intensity = pt.intensity; |
| 80 | dst->points.push_back(pt_xyzi); |
| 81 | } |
| 82 | } |
| 83 | std::vector<int> outlier_classes = {UNLABELED, OUTLIER}; |
| 84 | std::vector<int> ground_classes = |
| 85 | {ROAD, PARKING, SIDEWALKR, OTHER_GROUND, LANE_MARKING, VEGETATION, TERRAIN}; |