Updates for lab4

Author: heethesh

cuboid_detection/launch/ground_plane_segmentation.launch

@@ -3,7 +3,7 @@
 
     <!-- Play rosbag file -->
     <include file="$(find cuboid_detection)/launch/play_rosbag.launch">
-        <arg name="filename" value="2019-03-23-22-32-55.bag" />
+        <arg name="filename" value="2019-04-09-15-43-49.bag" />
     </include>
 
     <!-- Run a VoxelGrid filter to clean NaNs and downsample the data -->

cuboid_detection/launch/play_rosbag.launch

@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
 
-    <arg name="filename" default="2019-03-23-22-32-55.bag" />
+    <arg name="filename" default="2019-04-09-15-43-49.bag" />
 
     <!-- Play rosbag file -->
     <node 

cuboid_detection/src/ground_plane_segmentation.cpp

@@ -44,17 +44,26 @@ void callback(const sensor_msgs::PointCloud2ConstPtr& input)
 {
     // Convert the sensor_msgs/PointCloud2 data to pcl/PointCloud
     pcl::PCLPointCloud2::Ptr cloud_ptr(new pcl::PCLPointCloud2);
+    pcl::PCLPointCloud2::Ptr cloud_filtered_ptr_z(new pcl::PCLPointCloud2);
     pcl::PCLPointCloud2::Ptr cloud_filtered_ptr(new pcl::PCLPointCloud2);
     pcl_conversions::toPCL(*input, *cloud_ptr);
     if (debug) std::cerr << "PointCloud before filtering: " << cloud_ptr->width << " " << cloud_ptr->height << " data points." << std::endl;
 
     // Filter the points in z-axis
+    pcl::PassThrough<pcl::PCLPointCloud2> pass_z;
+    pass_z.setInputCloud(cloud_ptr);
+    pass_z.setFilterFieldName("z");
+    pass_z.setFilterLimits(0.0, 0.9);
+    pass_z.filter(*cloud_filtered_ptr_z);
+    if (debug) std::cerr << "PointCloud after filtering: " << cloud_filtered_ptr_z->width << " " << cloud_filtered_ptr->height << " data points." << std::endl;
+
+    // Filter the points in y-axis
     pcl::PassThrough<pcl::PCLPointCloud2> pass;
-    pass.setInputCloud(cloud_ptr);
-    pass.setFilterFieldName("z");
-    pass.setFilterLimits(0.0, 0.9);
+    pass.setInputCloud(cloud_filtered_ptr_z);
+    pass.setFilterFieldName("x");
+    pass.setFilterLimits(-0.2, 0.2);
     pass.filter(*cloud_filtered_ptr);
-    if (debug) std::cerr << "PointCloud after filtering: " << cloud_filtered_ptr->width << " " << cloud_filtered_ptr->height << " data points." << std::endl;
+    if (debug) std::cerr << "PointCloud after filtering in x-axis: " << cloud_filtered_ptr->width << " " << cloud_filtered_ptr->height << " data points." << std::endl;
 
     // Downsample the points
     pcl::PCLPointCloud2::Ptr voxel_ptr(new pcl::PCLPointCloud2);