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

#include <pcl/segmentation/progressive_morphological_filter.h>

Inheritance diagram for pcl::ProgressiveMorphologicalFilter< PointT >:

Collaboration diagram for pcl::ProgressiveMorphologicalFilter< PointT >:

Public Types
using	PointCloud = pcl::PointCloud<PointT>
Public Types inherited from pcl::PCLBase< PointT >
using	PointCloud = pcl::PointCloud<PointT>
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr
using	PointIndicesPtr = PointIndices::Ptr
using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	ProgressiveMorphologicalFilter ()
	Constructor that sets default values for member variables.
	~ProgressiveMorphologicalFilter () override
int	getMaxWindowSize () const
	Get the maximum window size to be used in filtering ground returns.
void	setMaxWindowSize (int max_window_size)
	Set the maximum window size to be used in filtering ground returns.
float	getSlope () const
	Get the slope value to be used in computing the height threshold.
void	setSlope (float slope)
	Set the slope value to be used in computing the height threshold.
float	getMaxDistance () const
	Get the maximum 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	getInitialDistance () const
	Get the initial 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.
float	getCellSize () const
	Get the cell size.
void	setCellSize (float cell_size)
	Set the cell size.
float	getBase () const
	Get the base to be used in computing progressive window sizes.
void	setBase (float base)
	Set the 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?
virtual void	extract (Indices &ground)
	This method launches the segmentation algorithm and returns indices of points determined to be ground returns.
Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()=default
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Attributes
int	max_window_size_ {33}
	Maximum window size to be used in filtering ground returns.
float	slope_ {0.7f}
	Slope value to be used in computing the height threshold.
float	max_distance_ {10.0f}
	Maximum height above the parameterized ground surface to be considered a ground return.
float	initial_distance_ {0.15f}
	Initial height above the parameterized ground surface to be considered a ground return.
float	cell_size_ {1.0f}
	Cell size.
float	base_ {2.0f}
	Base to be used in computing progressive window sizes.
bool	exponential_ {true}
	Exponentially grow window sizes?
Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

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

Detailed Description

template<typename PointT>
class pcl::ProgressiveMorphologicalFilter< 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 55 of file progressive_morphological_filter.h.

Member Typedef Documentation

◆ PointCloud

template<typename PointT>

using pcl::ProgressiveMorphologicalFilter< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 59 of file progressive_morphological_filter.h.

Constructor & Destructor Documentation

◆ ProgressiveMorphologicalFilter()

template<typename PointT>

pcl::ProgressiveMorphologicalFilter< PointT >::ProgressiveMorphologicalFilter ( )

default

Constructor that sets default values for member variables.

◆ ~ProgressiveMorphologicalFilter()

template<typename PointT>

pcl::ProgressiveMorphologicalFilter< PointT >::~ProgressiveMorphologicalFilter ( )

overridedefault

Member Function Documentation

◆ extract()

template<typename PointT>

void pcl::ProgressiveMorphologicalFilter< PointT >::extract ( Indices & ground )

virtual

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

Parameters

[out] ground indices of points determined to be ground returns.

Definition at line 59 of file progressive_morphological_filter.hpp.

References pcl::applyMorphologicalOperator(), base_, cell_size_, pcl::copyPointCloud(), pcl::PCLBase< PointT >::deinitCompute(), exponential_, pcl::PCLBase< PointT >::indices_, pcl::PCLBase< PointT >::initCompute(), initial_distance_, pcl::PCLBase< PointT >::input_, max_distance_, max_window_size_, pcl::MORPH_OPEN, and slope_.

◆ getBase()

template<typename PointT>

float pcl::ProgressiveMorphologicalFilter< PointT >::getBase ( ) const

inline

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

Definition at line 116 of file progressive_morphological_filter.h.

References base_.

◆ getCellSize()

template<typename PointT>

float pcl::ProgressiveMorphologicalFilter< PointT >::getCellSize ( ) const

inline

Get the cell size.

Definition at line 108 of file progressive_morphological_filter.h.

References cell_size_.

◆ getExponential()

template<typename PointT>

bool pcl::ProgressiveMorphologicalFilter< PointT >::getExponential ( ) const

inline

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

Definition at line 124 of file progressive_morphological_filter.h.

References exponential_.

◆ getInitialDistance()

template<typename PointT>

float pcl::ProgressiveMorphologicalFilter< PointT >::getInitialDistance ( ) const

inline

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

Definition at line 100 of file progressive_morphological_filter.h.

References initial_distance_.

◆ getMaxDistance()

template<typename PointT>

float pcl::ProgressiveMorphologicalFilter< PointT >::getMaxDistance ( ) const

inline

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

Definition at line 92 of file progressive_morphological_filter.h.

References max_distance_.

◆ getMaxWindowSize()

template<typename PointT>

int pcl::ProgressiveMorphologicalFilter< PointT >::getMaxWindowSize ( ) const

inline

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

Definition at line 76 of file progressive_morphological_filter.h.

References max_window_size_.

◆ getSlope()

template<typename PointT>

float pcl::ProgressiveMorphologicalFilter< PointT >::getSlope ( ) const

inline

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

Definition at line 84 of file progressive_morphological_filter.h.

References slope_.

◆ setBase()

template<typename PointT>

void pcl::ProgressiveMorphologicalFilter< PointT >::setBase ( float base )

inline

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

Definition at line 120 of file progressive_morphological_filter.h.

References base_.

◆ setCellSize()

template<typename PointT>

void pcl::ProgressiveMorphologicalFilter< PointT >::setCellSize ( float cell_size )

inline

Set the cell size.

Definition at line 112 of file progressive_morphological_filter.h.

References cell_size_.

◆ setExponential()

template<typename PointT>

void pcl::ProgressiveMorphologicalFilter< PointT >::setExponential ( bool exponential )

inline

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

Definition at line 128 of file progressive_morphological_filter.h.

References exponential_.

◆ setInitialDistance()

template<typename PointT>

void pcl::ProgressiveMorphologicalFilter< PointT >::setInitialDistance ( float initial_distance )

inline

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

Definition at line 104 of file progressive_morphological_filter.h.

References initial_distance_.

◆ setMaxDistance()

template<typename PointT>

void pcl::ProgressiveMorphologicalFilter< PointT >::setMaxDistance ( float max_distance )

inline

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

Definition at line 96 of file progressive_morphological_filter.h.

References max_distance_.

◆ setMaxWindowSize()

template<typename PointT>

void pcl::ProgressiveMorphologicalFilter< PointT >::setMaxWindowSize ( int max_window_size )

inline

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

Definition at line 80 of file progressive_morphological_filter.h.

References max_window_size_.

◆ setSlope()

template<typename PointT>

void pcl::ProgressiveMorphologicalFilter< PointT >::setSlope ( float slope )

inline

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

Definition at line 88 of file progressive_morphological_filter.h.

References slope_.

Member Data Documentation

◆ base_

template<typename PointT>

float pcl::ProgressiveMorphologicalFilter< PointT >::base_ {2.0f}

protected

Base to be used in computing progressive window sizes.

Definition at line 155 of file progressive_morphological_filter.h.

Referenced by extract(), getBase(), and setBase().

◆ cell_size_

template<typename PointT>

float pcl::ProgressiveMorphologicalFilter< PointT >::cell_size_ {1.0f}

protected

Cell size.

Definition at line 152 of file progressive_morphological_filter.h.

Referenced by extract(), getCellSize(), and setCellSize().

◆ exponential_

template<typename PointT>

bool pcl::ProgressiveMorphologicalFilter< PointT >::exponential_ {true}

protected

Exponentially grow window sizes?

Definition at line 158 of file progressive_morphological_filter.h.

Referenced by extract(), getExponential(), and setExponential().

◆ initial_distance_

template<typename PointT>

float pcl::ProgressiveMorphologicalFilter< PointT >::initial_distance_ {0.15f}

protected

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

Definition at line 149 of file progressive_morphological_filter.h.

Referenced by extract(), getInitialDistance(), and setInitialDistance().

◆ max_distance_

template<typename PointT>

float pcl::ProgressiveMorphologicalFilter< PointT >::max_distance_ {10.0f}

protected

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

Definition at line 146 of file progressive_morphological_filter.h.

Referenced by extract(), getMaxDistance(), and setMaxDistance().

◆ max_window_size_

template<typename PointT>

int pcl::ProgressiveMorphologicalFilter< PointT >::max_window_size_ {33}

protected

Maximum window size to be used in filtering ground returns.

Definition at line 140 of file progressive_morphological_filter.h.

Referenced by extract(), getMaxWindowSize(), and setMaxWindowSize().

◆ slope_

template<typename PointT>

float pcl::ProgressiveMorphologicalFilter< PointT >::slope_ {0.7f}

protected

Slope value to be used in computing the height threshold.

Definition at line 143 of file progressive_morphological_filter.h.

Referenced by extract(), getSlope(), and setSlope().

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

pcl/segmentation/progressive_morphological_filter.h
pcl/segmentation/impl/progressive_morphological_filter.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ PointCloud

Constructor & Destructor Documentation

◆ ProgressiveMorphologicalFilter()

◆ ~ProgressiveMorphologicalFilter()

Member Function Documentation

◆ extract()

◆ getBase()

◆ getCellSize()

◆ getExponential()

◆ getInitialDistance()

◆ getMaxDistance()

◆ getMaxWindowSize()

◆ getSlope()

◆ setBase()

◆ setCellSize()

◆ setExponential()

◆ setInitialDistance()

◆ setMaxDistance()

◆ setMaxWindowSize()

◆ setSlope()

Member Data Documentation

◆ base_

◆ cell_size_

◆ exponential_

◆ initial_distance_

◆ max_distance_

◆ max_window_size_

◆ slope_