Point Cloud Library (PCL) 1.13.1
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progressive_morphological_filter.hpp
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38
39#ifndef PCL_SEGMENTATION_PROGRESSIVE_MORPHOLOGICAL_FILTER_HPP_
40#define PCL_SEGMENTATION_PROGRESSIVE_MORPHOLOGICAL_FILTER_HPP_
41
42#include <pcl/common/common.h>
43#include <pcl/common/io.h>
44#include <pcl/filters/morphological_filter.h>
45#include <pcl/segmentation/progressive_morphological_filter.h>
46#include <pcl/point_cloud.h>
47#include <pcl/point_types.h>
48
49//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
50template <typename PointT>
52 max_window_size_ (33),
53 slope_ (0.7f),
54 max_distance_ (10.0f),
55 initial_distance_ (0.15f),
56 cell_size_ (1.0f),
57 base_ (2.0f),
58 exponential_ (true)
59{
60}
61
62//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
63template <typename PointT>
65
66//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
67template <typename PointT> void
69{
70 bool segmentation_is_possible = initCompute ();
71 if (!segmentation_is_possible)
72 {
73 deinitCompute ();
74 return;
75 }
76
77 // Compute the series of window sizes and height thresholds
78 std::vector<float> height_thresholds;
79 std::vector<float> window_sizes;
80 int iteration = 0;
81 float window_size = 0.0f;
82 float height_threshold = 0.0f;
83
84 while (window_size < max_window_size_)
85 {
86 // Determine the initial window size.
87 if (exponential_)
88 window_size = cell_size_ * (2.0f * std::pow (base_, iteration) + 1.0f);
89 else
90 window_size = cell_size_ * (2.0f * (iteration+1) * base_ + 1.0f);
91
92 // Calculate the height threshold to be used in the next iteration.
93 if (iteration == 0)
94 height_threshold = initial_distance_;
95 else
96 height_threshold = slope_ * (window_size - window_sizes[iteration-1]) * cell_size_ + initial_distance_;
97
98 // Enforce max distance on height threshold
99 if (height_threshold > max_distance_)
100 height_threshold = max_distance_;
101
102 window_sizes.push_back (window_size);
103 height_thresholds.push_back (height_threshold);
104
105 iteration++;
106 }
107
108 // Ground indices are initially limited to those points in the input cloud we
109 // wish to process
110 ground = *indices_;
111
112 // Progressively filter ground returns using morphological open
113 for (std::size_t i = 0; i < window_sizes.size (); ++i)
114 {
115 PCL_DEBUG (" Iteration %d (height threshold = %f, window size = %f)...",
116 i, height_thresholds[i], window_sizes[i]);
117
118 // Limit filtering to those points currently considered ground returns
120 pcl::copyPointCloud<PointT> (*input_, ground, *cloud);
121
122 // Create new cloud to hold the filtered results. Apply the morphological
123 // opening operation at the current window size.
125 pcl::applyMorphologicalOperator<PointT> (cloud, window_sizes[i], MORPH_OPEN, *cloud_f);
126
127 // Find indices of the points whose difference between the source and
128 // filtered point clouds is less than the current height threshold.
129 Indices pt_indices;
130 for (std::size_t p_idx = 0; p_idx < ground.size (); ++p_idx)
131 {
132 float diff = (*cloud)[p_idx].z - (*cloud_f)[p_idx].z;
133 if (diff < height_thresholds[i])
134 pt_indices.push_back (ground[p_idx]);
135 }
136
137 // Ground is now limited to pt_indices
138 ground.swap (pt_indices);
139
140 PCL_DEBUG ("ground now has %d points\n", ground.size ());
141 }
142
143 deinitCompute ();
144}
145
146#define PCL_INSTANTIATE_ProgressiveMorphologicalFilter(T) template class pcl::ProgressiveMorphologicalFilter<T>;
147
148#endif // PCL_SEGMENTATION_PROGRESSIVE_MORPHOLOGICAL_FILTER_HPP_
149
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
virtual void extract(Indices &ground)
This method launches the segmentation algorithm and returns indices of points determined to be ground...
ProgressiveMorphologicalFilter()
Constructor that sets default values for member variables.
Define standard C methods and C++ classes that are common to all methods.
Defines all the PCL implemented PointT point type structures.
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133