Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Attributes
pcl::ApproximateProgressiveMorphologicalFilter< PointT > Class Template Reference

Implements the Progressive Morphological Filter for segmentation of ground points. More...

#include <pcl/segmentation/approximate_progressive_morphological_filter.h>

+ Inheritance diagram for pcl::ApproximateProgressiveMorphologicalFilter< PointT >:

Public Types

typedef pcl::PointCloud< PointTPointCloud
 
- Public Types inherited from pcl::PCLBase< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 ApproximateProgressiveMorphologicalFilter ()
 Constructor that sets default values for member variables. More...
 
virtual ~ApproximateProgressiveMorphologicalFilter ()
 
int getMaxWindowSize () const
 Get the maximum window size to be used in filtering ground returns. More...
 
void setMaxWindowSize (int max_window_size)
 Set the maximum window size to be used in filtering ground returns. More...
 
float getSlope () const
 Get the slope value to be used in computing the height threshold. More...
 
void setSlope (float slope)
 Set the slope value to be used in computing the height threshold. More...
 
float getMaxDistance () const
 Get the maximum height above the parameterized ground surface to be considered a ground return. More...
 
void setMaxDistance (float max_distance)
 Set the maximum height above the parameterized ground surface to be considered a ground return. More...
 
float getInitialDistance () const
 Get the initial height above the parameterized ground surface to be considered a ground return. More...
 
void setInitialDistance (float initial_distance)
 Set the initial height above the parameterized ground surface to be considered a ground return. More...
 
float getCellSize () const
 Get the cell size. More...
 
void setCellSize (float cell_size)
 Set the cell size. More...
 
float getBase () const
 Get the base to be used in computing progressive window sizes. More...
 
void setBase (float base)
 Set the base to be used in computing progressive window sizes. More...
 
bool getExponential () const
 Get flag indicating whether or not to exponentially grow window sizes? More...
 
void setExponential (bool exponential)
 Set flag indicating whether or not to exponentially grow window sizes? More...
 
void setNumberOfThreads (unsigned int nr_threads=0)
 Initialize the scheduler and set the number of threads to use. More...
 
virtual void extract (std::vector< int > &ground)
 This method launches the segmentation algorithm and returns indices of points determined to be ground returns. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointToperator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Attributes

int max_window_size_
 Maximum window size to be used in filtering ground returns. More...
 
float slope_
 Slope value to be used in computing the height threshold. More...
 
float max_distance_
 Maximum height above the parameterized ground surface to be considered a ground return. More...
 
float initial_distance_
 Initial height above the parameterized ground surface to be considered a ground return. More...
 
float cell_size_
 Cell size. More...
 
float base_
 Base to be used in computing progressive window sizes. More...
 
bool exponential_
 Exponentially grow window sizes? More...
 
unsigned int threads_
 Number of threads to be used. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Additional Inherited Members

- Protected Member Functions inherited from pcl::PCLBase< PointT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Detailed Description

template<typename PointT>
class pcl::ApproximateProgressiveMorphologicalFilter< PointT >

Implements the Progressive Morphological Filter for segmentation of ground points.

Description can be found in the article "A Progressive Morphological Filter for Removing Nonground Measurements from Airborne LIDAR Data" by K. Zhang, S. Chen, D. Whitman, M. Shyu, J. Yan, and C. Zhang.

Definition at line 57 of file approximate_progressive_morphological_filter.h.

Member Typedef Documentation

Constructor & Destructor Documentation

Constructor that sets default values for member variables.

Definition at line 52 of file approximate_progressive_morphological_filter.hpp.

Member Function Documentation

template<typename PointT >
void pcl::ApproximateProgressiveMorphologicalFilter< PointT >::extract ( std::vector< int > &  ground)
virtual

This method launches the segmentation algorithm and returns indices of points determined to be ground returns.

Parameters
[out]groundindices of points determined to be ground returns.

Definition at line 72 of file approximate_progressive_morphological_filter.hpp.

References pcl::PointCloud< T >::points.

template<typename PointT >
float pcl::ApproximateProgressiveMorphologicalFilter< PointT >::getBase ( ) const
inline

Get the base to be used in computing progressive window sizes.

Definition at line 118 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
float pcl::ApproximateProgressiveMorphologicalFilter< PointT >::getCellSize ( ) const
inline

Get the cell size.

Definition at line 110 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
bool pcl::ApproximateProgressiveMorphologicalFilter< PointT >::getExponential ( ) const
inline

Get flag indicating whether or not to exponentially grow window sizes?

Definition at line 126 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
float pcl::ApproximateProgressiveMorphologicalFilter< PointT >::getInitialDistance ( ) const
inline

Get the initial height above the parameterized ground surface to be considered a ground return.

Definition at line 102 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
float pcl::ApproximateProgressiveMorphologicalFilter< PointT >::getMaxDistance ( ) const
inline

Get the maximum height above the parameterized ground surface to be considered a ground return.

Definition at line 94 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
int pcl::ApproximateProgressiveMorphologicalFilter< PointT >::getMaxWindowSize ( ) const
inline

Get the maximum window size to be used in filtering ground returns.

Definition at line 78 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
float pcl::ApproximateProgressiveMorphologicalFilter< PointT >::getSlope ( ) const
inline

Get the slope value to be used in computing the height threshold.

Definition at line 86 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
void pcl::ApproximateProgressiveMorphologicalFilter< PointT >::setBase ( float  base)
inline

Set the base to be used in computing progressive window sizes.

Definition at line 122 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
void pcl::ApproximateProgressiveMorphologicalFilter< PointT >::setCellSize ( float  cell_size)
inline

Set the cell size.

Definition at line 114 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
void pcl::ApproximateProgressiveMorphologicalFilter< PointT >::setExponential ( bool  exponential)
inline

Set flag indicating whether or not to exponentially grow window sizes?

Definition at line 130 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
void pcl::ApproximateProgressiveMorphologicalFilter< PointT >::setInitialDistance ( float  initial_distance)
inline

Set the initial height above the parameterized ground surface to be considered a ground return.

Definition at line 106 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
void pcl::ApproximateProgressiveMorphologicalFilter< PointT >::setMaxDistance ( float  max_distance)
inline

Set the maximum height above the parameterized ground surface to be considered a ground return.

Definition at line 98 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
void pcl::ApproximateProgressiveMorphologicalFilter< PointT >::setMaxWindowSize ( int  max_window_size)
inline

Set the maximum window size to be used in filtering ground returns.

Definition at line 82 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
void pcl::ApproximateProgressiveMorphologicalFilter< PointT >::setNumberOfThreads ( unsigned int  nr_threads = 0)
inline

Initialize the scheduler and set the number of threads to use.

Parameters
nr_threadsthe number of hardware threads to use (0 sets the value back to automatic)

Definition at line 136 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
void pcl::ApproximateProgressiveMorphologicalFilter< PointT >::setSlope ( float  slope)
inline

Set the slope value to be used in computing the height threshold.

Definition at line 90 of file approximate_progressive_morphological_filter.h.

Member Data Documentation

template<typename PointT >
float pcl::ApproximateProgressiveMorphologicalFilter< PointT >::base_
protected

Base to be used in computing progressive window sizes.

Definition at line 163 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
float pcl::ApproximateProgressiveMorphologicalFilter< PointT >::cell_size_
protected

Cell size.

Definition at line 160 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
bool pcl::ApproximateProgressiveMorphologicalFilter< PointT >::exponential_
protected

Exponentially grow window sizes?

Definition at line 166 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
float pcl::ApproximateProgressiveMorphologicalFilter< PointT >::initial_distance_
protected

Initial height above the parameterized ground surface to be considered a ground return.

Definition at line 157 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
float pcl::ApproximateProgressiveMorphologicalFilter< PointT >::max_distance_
protected

Maximum height above the parameterized ground surface to be considered a ground return.

Definition at line 154 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
int pcl::ApproximateProgressiveMorphologicalFilter< PointT >::max_window_size_
protected

Maximum window size to be used in filtering ground returns.

Definition at line 148 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
float pcl::ApproximateProgressiveMorphologicalFilter< PointT >::slope_
protected

Slope value to be used in computing the height threshold.

Definition at line 151 of file approximate_progressive_morphological_filter.h.

template<typename PointT >
unsigned int pcl::ApproximateProgressiveMorphologicalFilter< PointT >::threads_
protected

Number of threads to be used.

Definition at line 169 of file approximate_progressive_morphological_filter.h.


The documentation for this class was generated from the following files: