label process changed, now start debuggin

include/kf_based_terrain_analysis.h

@@ -61,8 +61,7 @@ private:
                          pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr ground_reference_cloud_ptr,
                          pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr elevation_cloud_ptr,
                          pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud_ptr, std::vector<std::vector<int>> &edges,
-                         std::vector<std::vector<kf_based_terrain_analysis_lib::Edge>> &discarded_edges,
-                         pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr virtual_obstacles_cloud_ptr);
+                         std::vector<std::vector<kf_based_terrain_analysis_lib::Edge>> &discarded_edges);
 
   void extractPointsInROI(const kf_based_terrain_analysis_lib::SensorConfiguration lidar_configuration,
                           const kf_based_terrain_analysis_lib::FilteringConfiguration filtering_configuration,
@@ -79,14 +78,17 @@ private:
                               pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr elevation_cloud_ptr,
                               pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud_ptr,
                               std::vector<std::vector<int>> &edges,
-                              std::vector<std::vector<kf_based_terrain_analysis_lib::Edge>> &discarded_edges,
-                              pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr virtual_obstacles_cloud_ptr);
+                              std::vector<std::vector<kf_based_terrain_analysis_lib::Edge>> &discarded_edges);
 
   void createDenseGroundCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr ground_reference_cloud_ptr,
                               const kf_based_terrain_analysis_lib::SensorConfiguration lidar_configuration,
                               pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pcl_dense_cloud_ptr);
 
-
+  void labelPointcloudUsingGroundModel(const kf_based_terrain_analysis_lib::FilteringConfiguration filtering_configuration,
+                                       const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr elevation_cloud_ptr,
+                                       const std::vector<std::vector<int> > &correspondence_indexes,
+                                       const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr ground_reference_cloud_ptr,
+                                       pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pcl_cloud_ptr);
 
   void ensureThatConnectionsAreReflectedInBothEnds(
       const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr ground_reference_cloud_ptr,