Point Cloud Library (PCL)  1.14.1-dev
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 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
50 template <typename PointT>
52 
53 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
54 template <typename PointT>
56 
57 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
58 template <typename PointT> void
60 {
61  bool segmentation_is_possible = initCompute ();
62  if (!segmentation_is_possible)
63  {
64  deinitCompute ();
65  return;
66  }
67 
68  // Compute the series of window sizes and height thresholds
69  std::vector<float> height_thresholds;
70  std::vector<float> window_sizes;
71  int iteration = 0;
72  float window_size = 0.0f;
73  float height_threshold = 0.0f;
74 
75  while (window_size < max_window_size_)
76  {
77  // Determine the initial window size.
78  if (exponential_)
79  window_size = cell_size_ * (2.0f * std::pow (base_, iteration) + 1.0f);
80  else
81  window_size = cell_size_ * (2.0f * (iteration+1) * base_ + 1.0f);
82 
83  // Calculate the height threshold to be used in the next iteration.
84  if (iteration == 0)
85  height_threshold = initial_distance_;
86  else
87  height_threshold = slope_ * (window_size - window_sizes[iteration-1]) * cell_size_ + initial_distance_;
88 
89  // Enforce max distance on height threshold
90  if (height_threshold > max_distance_)
91  height_threshold = max_distance_;
92 
93  window_sizes.push_back (window_size);
94  height_thresholds.push_back (height_threshold);
95 
96  iteration++;
97  }
98 
99  // Ground indices are initially limited to those points in the input cloud we
100  // wish to process
101  ground = *indices_;
102 
103  // Progressively filter ground returns using morphological open
104  for (std::size_t i = 0; i < window_sizes.size (); ++i)
105  {
106  PCL_DEBUG (" Iteration %d (height threshold = %f, window size = %f)...",
107  i, height_thresholds[i], window_sizes[i]);
108 
109  // Limit filtering to those points currently considered ground returns
111  pcl::copyPointCloud<PointT> (*input_, ground, *cloud);
112 
113  // Create new cloud to hold the filtered results. Apply the morphological
114  // opening operation at the current window size.
116  pcl::applyMorphologicalOperator<PointT> (cloud, window_sizes[i], MORPH_OPEN, *cloud_f);
117 
118  // Find indices of the points whose difference between the source and
119  // filtered point clouds is less than the current height threshold.
120  Indices pt_indices;
121  for (std::size_t p_idx = 0; p_idx < ground.size (); ++p_idx)
122  {
123  float diff = (*cloud)[p_idx].z - (*cloud_f)[p_idx].z;
124  if (diff < height_thresholds[i])
125  pt_indices.push_back (ground[p_idx]);
126  }
127 
128  // Ground is now limited to pt_indices
129  ground.swap (pt_indices);
130 
131  PCL_DEBUG ("ground now has %d points\n", ground.size ());
132  }
133 
134  deinitCompute ();
135 }
136 
137 #define PCL_INSTANTIATE_ProgressiveMorphologicalFilter(T) template class PCL_EXPORTS pcl::ProgressiveMorphologicalFilter<T>;
138 
139 #endif // PCL_SEGMENTATION_PROGRESSIVE_MORPHOLOGICAL_FILTER_HPP_
140 
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
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