Python example, How to get indices of ground points?

[barzanisar]

Hey @seungjae24 and @LimHyungTae,

In your python example,

ground      = PatchworkPLUSPLUS.getGround()
nonground   = PatchworkPLUSPLUS.getNonground()

These lines return ground and nonground points. How can we get their indices in the original input point cloud? I need the indices so that I can get their corresponding intensities.

Thanks in advance for your help!

[LimHyungTae]

If the real-time issue is not your interest, we'd like to recommend the following directions:

1. Register raw point cloud to k-D tree
2. Given estimated ground points, if distance btw a point from est. ground and the closest point from k-D tree is lower than epsilon (i.e. < 0.0001), label the corresponding point of raw cloud as the est. ground

[LimHyungTae]

Or please refer to label generator in Patchwork v1: https://github.com/LimHyungTae/patchwork/tree/main/include%2Flabel_generator

[barzanisar]

I made a PR which stores the point index in the PointXYZ and has getter functions which simply return the indices of points.

[seungjae24]

Thank you for contributing on our work. You PR will be reviewed soon!

[seungjae24]

This issue has been solved. @barzanisar 's PR #32 is merged to the master branch.
If you need specific indices of ground or nonground points, please check the examples.