dbscan.cpp

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#include "clustering/dbscan.hpp"
 
DBSCAN::DBSCAN(int min_cluster_size, double neighbours_dist_threshold)
    : min_cluster_size(min_cluster_size), neighbours_dist_threshold(neighbours_dist_threshold) {}
 
void DBSCAN::clustering(const sensor_msgs::msg::PointCloud2::SharedPtr& input_cloud,
                        std::vector<Cluster>* clusters) const {
  // pcl::search::KdTree<pcl::PointXYZI>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZI>);
  // tree->setInputCloud(point_cloud);
  //
  // pcl::EuclideanClusterExtraction<pcl::PointXYZI> ec;
  // ec.setClusterTolerance(neighbours_dist_threshold);
  // ec.setMinClusterSize(min_cluster_size);
  //
  // ec.setSearchMethod(tree);
  // ec.setInputCloud(point_cloud);
  //
  // std::vector<pcl::PointIndices> cluster_indices;
  // ec.extract(cluster_indices);
  //
  // for (const auto& indices : cluster_indices) {
  //   pcl::PointCloud<pcl::PointXYZI>::Ptr cluster(new pcl::PointCloud<pcl::PointXYZI>);
  //   for (const int& index : indices.indices) {
  //     cluster->points.push_back(point_cloud->points[index]);
  //   }
  //   cluster->width = cluster->size();
  //   cluster->height = 1;
  //   cluster->is_dense = true;
  //   clusters->push_back(Cluster(cluster));
  // }
}