41 #include <pcl/pcl_base.h>
42 #include <pcl/search/search.h>
43 #include <pcl/point_cloud.h>
44 #include <pcl/point_types.h>
55 template <
typename Po
intT>
147 int max_window_size_{33};
153 float max_distance_{10.0f};
156 float initial_distance_{0.15f};
159 float cell_size_{1.0f};
165 bool exponential_{
true};
168 unsigned int threads_{0};
172 #ifdef PCL_NO_PRECOMPILE
173 #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 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.
void setMaxDistance(float max_distance)
Set the maximum 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...
IndicesAllocator<> Indices
Type used for indices in PCL.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
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 getSlope() const
Get the slope value to be used in computing the height threshold.
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.