| 202 | } |
| 203 | |
| 204 | void resetParameters() { |
| 205 | laserCloudIn->clear(); |
| 206 | groundCloud->clear(); |
| 207 | segmentedCloud->clear(); |
| 208 | segmentedCloudPure->clear(); |
| 209 | outlierCloud->clear(); |
| 210 | |
| 211 | rangeMat = cv::Mat(N_SCAN, Horizon_SCAN, CV_32F, cv::Scalar::all(FLT_MAX)); |
| 212 | groundMat = cv::Mat(N_SCAN, Horizon_SCAN, CV_8S, cv::Scalar::all(0)); |
| 213 | labelMat = cv::Mat(N_SCAN, Horizon_SCAN, CV_32S, cv::Scalar::all(0)); |
| 214 | labelCount = 1; |
| 215 | |
| 216 | std::fill(fullCloud->points.begin(), fullCloud->points.end(), nanPoint); |
| 217 | std::fill(fullInfoCloud->points.begin(), fullInfoCloud->points.end(), nanPoint); |
| 218 | } |
| 219 | |
| 220 | void getValidSegments(pcl::PointCloud<PointXYZ>& output) { |
| 221 | pcl::copyPointCloud(*segmentedCloudPure, output); |