39 #ifndef PCL_APPROXIMATE_PROGRESSIVE_MORPHOLOGICAL_FILTER_H_
40 #define PCL_APPROXIMATE_PROGRESSIVE_MORPHOLOGICAL_FILTER_H_
42 #include <pcl/pcl_base.h>
43 #include <pcl/search/search.h>
44 #include <pcl/point_cloud.h>
45 #include <pcl/point_types.h>
56 template <
typename Po
intT>
143 extract (std::vector<int>& ground);
173 #ifdef PCL_NO_PRECOMPILE
174 #include <pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp>
float getInitialDistance() const
Get the initial height above the parameterized ground surface to be considered a ground return...
float getCellSize() const
Get the cell size.
float max_distance_
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.
void setInitialDistance(float initial_distance)
Set the initial height above the parameterized ground surface to be considered a ground return...
bool getExponential() const
Get flag indicating whether or not to exponentially grow window sizes?
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.
void setMaxDistance(float max_distance)
Set the maximum height above the parameterized ground surface to be considered a ground return...
float cell_size_
Cell size.
int max_window_size_
Maximum window size to be used in filtering ground returns.
float initial_distance_
Initial height above the parameterized ground surface to be considered a ground return.
float getMaxDistance() const
Get the maximum height above the parameterized ground surface to be considered a ground return...
unsigned int threads_
Number of threads to be used.
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 exponential_
Exponentially grow window sizes?
float getSlope() const
Get the slope value to be used in computing the height threshold.
pcl::PointCloud< PointT > PointCloud
void setExponential(bool exponential)
Set flag indicating whether or not to exponentially grow window sizes?
Implements the Progressive Morphological Filter for segmentation of ground points.
int getMaxWindowSize() const
Get the maximum window size to be used in filtering ground returns.
void setCellSize(float cell_size)
Set the cell size.