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#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/segmentation/progressive_morphological_filter.h>
int
main ()
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointIndicesPtr ground (new pcl::PointIndices);
// Fill in the cloud data
pcl::PCDReader reader;
// Replace the path below with the path where you saved your file
reader.read<pcl::PointXYZ> ("samp11-utm.pcd", *cloud);
std::cerr << "Cloud before filtering: " << std::endl;
std::cerr << *cloud << std::endl;
// Create the filtering object
pcl::ProgressiveMorphologicalFilter<pcl::PointXYZ> pmf;
pmf.setInputCloud (cloud);
pmf.setMaxWindowSize (20);
pmf.setSlope (1.0f);
pmf.setInitialDistance (0.5f);
pmf.setMaxDistance (3.0f);
pmf.extract (ground->indices);
// Create the filtering object
pcl::ExtractIndices<pcl::PointXYZ> extract;
extract.setInputCloud (cloud);
extract.setIndices (ground);
extract.filter (*cloud_filtered);
std::cerr << "Ground cloud after filtering: " << std::endl;
std::cerr << *cloud_filtered << std::endl;
pcl::PCDWriter writer;
writer.write<pcl::PointXYZ> ("samp11-utm_ground.pcd", *cloud_filtered, false);
// Extract non-ground returns
extract.setNegative (true);
extract.filter (*cloud_filtered);
std::cerr << "Object cloud after filtering: " << std::endl;
std::cerr << *cloud_filtered << std::endl;
writer.write<pcl::PointXYZ> ("samp11-utm_object.pcd", *cloud_filtered, false);
return (0);
}
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