Point Cloud Library (PCL)  1.9.1-dev
approximate_progressive_morphological_filter.h
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38 
39 #pragma once
40 
41 #include <pcl/pcl_base.h>
42 #include <pcl/search/search.h>
43 #include <pcl/point_cloud.h>
44 #include <pcl/point_types.h>
45 
46 namespace pcl
47 {
48  /** \brief
49  * Implements the Progressive Morphological Filter for segmentation of ground points.
50  * Description can be found in the article
51  * "A Progressive Morphological Filter for Removing Nonground Measurements from
52  * Airborne LIDAR Data"
53  * by K. Zhang, S. Chen, D. Whitman, M. Shyu, J. Yan, and C. Zhang.
54  */
55  template <typename PointT>
57  {
58  public:
59 
61 
66 
67  public:
68 
69  /** \brief Constructor that sets default values for member variables. */
71 
72 
74 
75  /** \brief Get the maximum window size to be used in filtering ground returns. */
76  inline int
77  getMaxWindowSize () const { return (max_window_size_); }
78 
79  /** \brief Set the maximum window size to be used in filtering ground returns. */
80  inline void
81  setMaxWindowSize (int max_window_size) { max_window_size_ = max_window_size; }
82 
83  /** \brief Get the slope value to be used in computing the height threshold. */
84  inline float
85  getSlope () const { return (slope_); }
86 
87  /** \brief Set the slope value to be used in computing the height threshold. */
88  inline void
89  setSlope (float slope) { slope_ = slope; }
90 
91  /** \brief Get the maximum height above the parameterized ground surface to be considered a ground return. */
92  inline float
93  getMaxDistance () const { return (max_distance_); }
94 
95  /** \brief Set the maximum height above the parameterized ground surface to be considered a ground return. */
96  inline void
97  setMaxDistance (float max_distance) { max_distance_ = max_distance; }
98 
99  /** \brief Get the initial height above the parameterized ground surface to be considered a ground return. */
100  inline float
101  getInitialDistance () const { return (initial_distance_); }
102 
103  /** \brief Set the initial height above the parameterized ground surface to be considered a ground return. */
104  inline void
105  setInitialDistance (float initial_distance) { initial_distance_ = initial_distance; }
106 
107  /** \brief Get the cell size. */
108  inline float
109  getCellSize () const { return (cell_size_); }
110 
111  /** \brief Set the cell size. */
112  inline void
113  setCellSize (float cell_size) { cell_size_ = cell_size; }
114 
115  /** \brief Get the base to be used in computing progressive window sizes. */
116  inline float
117  getBase () const { return (base_); }
118 
119  /** \brief Set the base to be used in computing progressive window sizes. */
120  inline void
121  setBase (float base) { base_ = base; }
122 
123  /** \brief Get flag indicating whether or not to exponentially grow window sizes? */
124  inline bool
125  getExponential () const { return (exponential_); }
126 
127  /** \brief Set flag indicating whether or not to exponentially grow window sizes? */
128  inline void
129  setExponential (bool exponential) { exponential_ = exponential; }
130 
131  /** \brief Initialize the scheduler and set the number of threads to use.
132  * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
133  */
134  inline void
135  setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
136 
137  /** \brief This method launches the segmentation algorithm and returns indices of
138  * points determined to be ground returns.
139  * \param[out] ground indices of points determined to be ground returns.
140  */
141  virtual void
142  extract (std::vector<int>& ground);
143 
144  protected:
145 
146  /** \brief Maximum window size to be used in filtering ground returns. */
148 
149  /** \brief Slope value to be used in computing the height threshold. */
150  float slope_;
151 
152  /** \brief Maximum height above the parameterized ground surface to be considered a ground return. */
154 
155  /** \brief Initial height above the parameterized ground surface to be considered a ground return. */
157 
158  /** \brief Cell size. */
159  float cell_size_;
160 
161  /** \brief Base to be used in computing progressive window sizes. */
162  float base_;
163 
164  /** \brief Exponentially grow window sizes? */
166 
167  /** \brief Number of threads to be used. */
168  unsigned int threads_;
169  };
170 }
171 
172 #ifdef PCL_NO_PRECOMPILE
173 #include <pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp>
174 #endif
float max_distance_
Maximum height above the parameterized ground surface to be considered a ground return.
float getSlope() const
Get the slope value to be used in computing the height threshold.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
float getMaxDistance() const
Get the maximum height above the parameterized ground surface to be considered a ground return...
void setInitialDistance(float initial_distance)
Set the initial height above the parameterized ground surface to be considered a ground return...
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
float slope_
Slope value to be used in computing the height threshold.
float getInitialDistance() const
Get the initial height above the parameterized ground surface to be considered a ground return...
void setMaxDistance(float max_distance)
Set the maximum height above the parameterized ground surface to be considered a ground return...
float getBase() const
Get the base to be used in computing progressive window sizes.
int max_window_size_
Maximum window size to be used in filtering ground returns.
Defines all the PCL implemented PointT point type structures.
float initial_distance_
Initial height above the parameterized ground surface to be considered a ground return.
int getMaxWindowSize() const
Get the maximum window size to be used in filtering ground returns.
PCL base class.
Definition: pcl_base.h:69
PointCloud represents the base class in PCL for storing collections of 3D points. ...
void setSlope(float slope)
Set the slope value to be used in computing the height threshold.
void setMaxWindowSize(int max_window_size)
Set the maximum window size to be used in filtering ground returns.
void setBase(float base)
Set the base to be used in computing progressive window sizes.
float base_
Base to be used in computing progressive window sizes.
bool getExponential() const
Get flag indicating whether or not to exponentially grow window sizes?
void setExponential(bool exponential)
Set flag indicating whether or not to exponentially grow window sizes?
#define PCL_EXPORTS
Definition: pcl_macros.h:227
Implements the Progressive Morphological Filter for segmentation of ground points.