Computree Documentation

Stem Filter by RANSAC fitting

Plugin : SimpleForest
Nom de classe : SF_StepStemRANSACFilter

Description

Stem Filter by RANSAC - Fits robust RANSAC cylinders into one meter height horizontal slices. If the cylinder per slice passes z axis check, its inliersare put into the output cloud. All other points are noise.

Paramètres

Paramètres de pré-configuration (non modifiables une fois l'étape ajoutée) :

  • Uncheck to deactivate parameterization possibilities of this step. Only recommended for beginners: Activé.

Paramètres de l'étape :

  • First the cloud is downscaled to a [voxel size] of 0.010 (m). .

  • For each of the downscaled points its normal is computed with a [search range] of 0.030 (m). .

  • Into 1 meter horizontal slices a RANSAC cylinder is fitted with 0.10 (m). .


[inlier Distance]. All inliers per slice are set to stem if the cylinder passes the following test:
  • The angle for each point between this cylinder axis and the z axis is computed and is not allowed to deviate more than [max degrees]: 25.0 (°)..


degrees.

Please excuse potential double citation with the step related citation for the

following general citation for SimpleForest (work on updated citable resource ongoing):





A majority of implementations are based on PCL library:





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Données d'entrée

Structure des données d'entrée recherchées :

Result : Point Cloud
    ...
        Group to be denoised (Group)
            Cloud to be denoised (Item with points)

Références

Hackenberg Jan, Spiecker Heinrich, Calders Kim, Disney Mathias, Raumonen Pasi. 2015. SimpleTree - an efficient open source tool to build tree models from TLS clouds. Multidisciplinary Digital Publishing Institute. Forests.
Rusu Radu Bogdan, Cousins Steve. 2011. 3d is here: Point cloud library (pcl). IEEE. Robotics and Automation (ICRA), 2011 IEEE International Conference on.