added fast labelling mode, to enable it just set the number_of_reference_used_for_labelling to zero

include/kf_based_terrain_analysis.h

@@ -87,6 +87,14 @@ private:
       const std::vector<std::vector<int>> &edges,
       pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pcl_cloud_ptr);
 
+  void fastLabelPointcloudUsingGroundModel(
+      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,
+      const std::vector<std::vector<int>> &edges,
+      pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pcl_cloud_ptr);
+
   void ensureThatConnectionsAreReflectedInBothEnds(
       const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr ground_reference_cloud_ptr,
       std::vector<std::vector<int>> edges);

include/structs_definitions.h

@@ -20,9 +20,11 @@ const int DATA_N_3_Z_VARIANCE = 3;
 
 const int DATA_C_0_RGB_CAST_INTO_FLOAT = 0;
 const int DATA_C_1_ID_CLASS = 1;
-const int DATA_C_2_CAR_PROB = 2;
+const int DATA_C_2_INDEX_OF_GROUND_REF_THAT_MADE_THE_LABEL = 2;
 const int DATA_C_3_ORIGINAL_INDEX = 3;
 
+const int DATA_C_2_CAR_PROB = 2; // TODO: remove this
+
 const int GRND_REF_DATA_C_0_RGB_CAST_INTO_FLOAT = 0;
 const int GRND_REF_DATA_C_1_ROLL = 1;
 const int GRND_REF_DATA_C_2_PITCH = 2;