Computree Documentation

Ground Point Filter

Plugin : SimpleForest
Nom de classe : SF_StepGroundFilter

Description

Ground Point Filter - This Filter estimates for each point the normal. The angle between the normal vector and the z axis is computed. If the angle is small, the point is detected as ground, if large the point is considered non ground.

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 0.040 (m). .

  • For each of the downscaled points its normal is computed with a [search range] of 0.200 (m). .

  • The angle for each point between the normal and the z axis is computed and is not allowed to deviate more than [threshold]: 25.0 (°)..


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.