How to implement PCL Filters on Lidar data?

[kavinat]

Hi, I managed to capture the data successfully through this algorithm. Now I want to implement PCL Filters (Morphological filter for ground recognition etc) on the data I have captured. How can I achieve that? I tried initializing a localized pointer in my algorithm, copy the data (x,y,z) into it and make it work but to no use. I am not able to get the visualizer window itself.

`
boost::shared_ptr<pcl::PointCloud> FLasers ( new pcl::PointCloud); capture >> lasers; if (lasers.empty()) { continue; }

    *FLasers = lasers;

    //  filtering object
    pcl::ProgressiveMorphologicalFilter<pcl::PointXYZ> pmf;
    pmf.setInputCloud(FLasers);
    pmf.setMaxWindowSize(20);
    pmf.setSlope(0.1f);
    pmf.setInitialDistance(0.5f);
    pmf.setMaxDistance(3.0f);
    pmf.extract(ground->indices);

    // Extraction of filtering object
    pcl::ExtractIndices<pcl::PointXYZ> extract;
    extract.setInputCloud(FLasers);
    extract.setIndices(ground);
    extract.filter(*cloud_filtered);

    for (int j = 0; j <cloud_filtered->points.size(); j++)
    {

     buffer.push_back(cv::Vec3f(cloud_filtered->points[j].x,cloud_filtered->points[j].y,cloud_filtered->points[j].z));

    }
    FLasers->clear();
    lasers.clear();
    cloud_filtered->clear();
    `

[UnaNancyOwen]

The VelodyneCapture class is unrelated with PCL. If you have question about PCL, Please post to PCL users forum. If you want to use PCL with Velodyne sensors, I think that it is better to use I/O features (pcl::HDLGrabber or pcl::VLPGrabber) of PCL.