Merge pull request #903 from PDAL/approximate-pdal-ground

Add --approximate option to 'pdal ground' for much faster computation #883
PDAL · May 12, 2015 · 3a56acd · 3a56acd
2 parents 23eecaa + 41aec1f
commit 3a56acd
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Showing 4 changed files with 34 additions and 10 deletions.
diff --git a/plugins/pcl/filters/GroundFilter.cpp b/plugins/pcl/filters/GroundFilter.cpp
@@ -46,6 +46,7 @@
 #include <pcl/filters/extract_indices.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/segmentation/progressive_morphological_filter.h>
+#include <pcl/segmentation/approximate_progressive_morphological_filter.h>
 
 namespace pdal
 {
@@ -68,6 +69,7 @@ void GroundFilter::processOptions(const Options& options)
     m_cellSize = options.getValueOrDefault<double>("cellSize", 1);
     m_classify = options.getValueOrDefault<bool>("classify", true);
     m_extract = options.getValueOrDefault<bool>("extract", false);
+    m_approximate = options.getValueOrDefault<bool>("approximate", false);
 }
 
 void GroundFilter::addDimensions(PointLayoutPtr layout)
@@ -113,17 +115,35 @@ PointViewSet GroundFilter::run(PointViewPtr input)
     }
 
     // setup the PMF filter
-    pcl::ProgressiveMorphologicalFilter<pcl::PointXYZ> pmf;
-    pmf.setInputCloud(cloud);
-    pmf.setMaxWindowSize(m_maxWindowSize);
-    pmf.setSlope(m_slope);
-    pmf.setMaxDistance(m_maxDistance);
-    pmf.setInitialDistance(m_initialDistance);
-    pmf.setCellSize(m_cellSize);
-
-    // run the PMF filter, grabbing indices of ground returns
     pcl::PointIndicesPtr idx(new pcl::PointIndices);
-    pmf.extract(idx->indices);
+    if (!m_approximate)
+    {
+
+        pcl::ProgressiveMorphologicalFilter<pcl::PointXYZ> pmf;
+        pmf.setInputCloud(cloud);
+        pmf.setMaxWindowSize(m_maxWindowSize);
+        pmf.setSlope(m_slope);
+        pmf.setMaxDistance(m_maxDistance);
+        pmf.setInitialDistance(m_initialDistance);
+        pmf.setCellSize(m_cellSize);
+
+        // run the PMF filter, grabbing indices of ground returns
+        pcl::PointIndicesPtr idx(new pcl::PointIndices);
+        pmf.extract(idx->indices);
+    } else
+    {
+        pcl::ApproximateProgressiveMorphologicalFilter<pcl::PointXYZ> pmf;
+        pmf.setInputCloud(cloud);
+        pmf.setMaxWindowSize(m_maxWindowSize);
+        pmf.setSlope(m_slope);
+        pmf.setMaxDistance(m_maxDistance);
+        pmf.setInitialDistance(m_initialDistance);
+        pmf.setCellSize(m_cellSize);
+
+        // run the PMF filter, grabbing indices of ground returns
+        pmf.extract(idx->indices);
+
+    }
 
     PointViewSet viewSet;
     if (!idx->indices.empty() && (m_classify || m_extract))

diff --git a/plugins/pcl/filters/GroundFilter.hpp b/plugins/pcl/filters/GroundFilter.hpp
@@ -65,6 +65,7 @@ class PDAL_DLL GroundFilter : public Filter
     double m_cellSize;
     bool m_classify;
     bool m_extract;
+    bool m_approximate;
 
     virtual void addDimensions(PointLayoutPtr layout);
     virtual void processOptions(const Options& options);

diff --git a/plugins/pcl/kernel/GroundKernel.cpp b/plugins/pcl/kernel/GroundKernel.cpp
@@ -71,6 +71,7 @@ GroundKernel::GroundKernel()
     , m_cellSize(1)
     , m_classify(true)
     , m_extract(false)
+    , m_approximate(false)
 {}
 
 void GroundKernel::validateSwitches()
@@ -100,6 +101,7 @@ void GroundKernel::addSwitches()
     ("cellSize", po::value<double>(&m_cellSize)->default_value(1), "cell size")
     ("classify", po::bool_switch(&m_classify), "apply classification labels?")
     ("extract", po::bool_switch(&m_extract), "extract ground returns?")
+    ("approximate,a", po::bool_switch(&m_approximate), "use approximate algorithm? (much faster)")
     ;
 
     addSwitchSet(file_options);

diff --git a/plugins/pcl/kernel/GroundKernel.hpp b/plugins/pcl/kernel/GroundKernel.hpp
@@ -72,6 +72,7 @@ class PDAL_DLL GroundKernel : public Kernel
     double m_cellSize;
     bool m_classify;
     bool m_extract;
+    bool m_approximate;
 };
 
 } // namespace pdal