Hyungtae Lim LimHyungTae

🎯

Focusing on the next paper!

Postdoc at SPARK Lab, MIT (previously earned M.S. and Ph.D. @url-kaist)

LimHyungTae / pcl_filter_passthrough.cpp

Last active March 6, 2025 06:30

ROS Point Cloud Library (PCL) passthrough example code

	//
	// Tutorial Author: [email protected] (임형태)
	#include <iostream>
	#include <pcl/filters/passthrough.h>
	#include <pcl/point_types.h>
	#include <pcl/point_cloud.h>
	#include <string>
	#include <pcl/visualization/pcl_visualizer.h>

	using namespace std;

LimHyungTae / voxel_grid_example.cpp

Last active February 3, 2025 07:42

ROS Point Cloud Library (PCL) Voxelization example code

	//
	// Tutorial Author: [email protected] (임형태)
	#include <iostream>
	#include <pcl/filters/voxel_grid.h>
	#include <pcl/point_types.h>
	#include <pcl/point_cloud.h>
	#include <string>
	#include <pcl/visualization/pcl_visualizer.h>

	using namespace std;

LimHyungTae / sor_example.cpp

Last active September 20, 2021 04:38

ROS Point Cloud Library (PCL) Statistical Outlier Removal example code

	//
	// Tutorial Author: [email protected] (임형태)
	#include <iostream>
	#include <pcl/filters/statistical_outlier_removal.h>
	#include <pcl/point_types.h>
	#include <pcl/io/pcd_io.h>
	#include <pcl/visualization/pcl_visualizer.h>
	#include <pcl/point_cloud.h>

LimHyungTae / remove_unintended_parts.cpp

Last active September 20, 2021 03:11

ROS PCL passthrough snippet

	void remove_unintended_parts(const pcl::PointCloud<pcl::PointXYZI>& src, pcl::PointCloud<pcl::PointXYZI>& dst){
	// 포인트 뒷쪽 부분 찍힌 곳을 지워야 함
	// 로봇 앞쪽에 LiDAR sensor를 부착하면 뒤쪽에 로봇 프레임이 찍히기 때문!
	pcl::PointCloud<pcl::PointXYZI>::Ptr ptr_filtered(new pcl::PointCloud<pcl::PointXYZI>);
	pcl::PassThrough<pcl::PointXYZI> ptfilter;

	*ptr_filtered = src;
	float robot_size = 0.7;
	// 1. Part A
	ptfilter.setInputCloud(ptr_filtered);

LimHyungTae / pcl_voxel_xyzi.cpp

Created September 5, 2020 08:59

What happen to intensity when voxelizing the cloud via PCL library?

	#include <iostream>
	#include <vector>
	#include <cstdlib>
	#include <ctime>
	#include <algorithm>
	#include <string>
	#include <fstream>
	#include <pcl_conversions/pcl_conversions.h>
	#include <pcl/conversions.h>
	#include <pcl/io/pcd_io.h>

LimHyungTae / ptr_pointcloud.cpp

Created September 5, 2020 11:49

	#include <iostream>
	#include <vector>
	#include <cstdlib>
	#include <ctime>
	#include <algorithm>
	#include <string>
	#include <fstream>
	#include <pcl_conversions/pcl_conversions.h>
	#include <pcl/conversions.h>
	#include <pcl/io/pcd_io.h>

LimHyungTae / normal_estimation.cpp

Created November 24, 2020 04:28

Normal vector check in PCL

	#include <pcl/point_types.h>
	#include <pcl/features/normal_3d.h>

	int main(int argc, char **argv)
	{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointXYZ pt;

	pt.x = 0; pt.y = 0; pt.z = 0;
	cloud->points.push_back(pt);

LimHyungTae / pcl_ptr_constptr.cpp

Last active December 23, 2022 09:31

pcl ptr test

	//
	// Tutorial Author: [email protected] (임형태)
	#include <pcl/point_types.h>
	#include <pcl/conversions.h>

	using namespace std;

	template<class T>
	void print_pc(pcl::PointCloud<T> &cloud) {
	int count = 0;

LimHyungTae / KITTI_read_scan_and_label.cpp

Last active May 13, 2021 06:11

Easy-implementation of reading scan and label of SemanticKITTI files in C++

	//
	// Created by Hyungtae Lim on 21. 4. 27..
	//
	#include <chrono>
	#include <iomanip>
	#include <iostream>
	#include <string>


	int main(int argc, const char *argv[]) {

LimHyungTae / KITTI_load_poses.cpp

Last active May 13, 2021 05:56

Method for loading KITTI poses in C++

	#include <iostream>
	#include <vector>
	#include <fstream>
	#include <eigen3/Eigen/Dense>

	using namespace std;

	vector<float> split(string input, char delimiter) {
	vector<float> answer;
	stringstream ss(input);