fix(ransac_ground_filter): change to pointXYZI

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

Author: badai-nguyen

perception/ground_segmentation/include/ground_segmentation/ransac_ground_filter_nodelet.hpp

@@ -56,7 +56,7 @@ struct RGB
 
 class RANSACGroundFilterComponent : public pointcloud_preprocessor::Filter
 {
-  using PointType = pcl::PointXYZ;
+  using PointType = pcl::PointXYZI;
 
 protected:
   void filter(

perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp

@@ -198,11 +198,11 @@ void RANSACGroundFilterComponent::extractPointsIndices(
 Eigen::Affine3d RANSACGroundFilterComponent::getPlaneAffine(
   const pcl::PointCloud<PointType> segment_ground_cloud, const Eigen::Vector3d & plane_normal)
 {
-  pcl::CentroidPoint<pcl::PointXYZ> centroid;
+  pcl::CentroidPoint<PointType> centroid;
   for (const auto p : segment_ground_cloud.points) {
     centroid.add(p);
   }
-  pcl::PointXYZ centroid_point;
+  PointType centroid_point;
   centroid.get(centroid_point);
   Eigen::Translation<double, 3> trans(centroid_point.x, centroid_point.y, centroid_point.z);
   const ground_segmentation::PlaneBasis basis = getPlaneBasis(plane_normal);