Merge pull request #702 from VictorLamoine/timoHackel

Model outlier removal contribution

doc/tutorials/content/index.rst

@@ -1035,6 +1035,20 @@ Segmentation
      .. |se_10| image:: images/progressive_morphological_filter.png
                :height: 100px
 
+  * :ref:`model_outlier_removal`
+
+     =======  ======
+     |se_11|  Title: **Model outlier removal**
+
+              Author: *Timo Häckel*
+
+              Compatibility: >= PCL 1.7.2
+
+              This tutorial describes how to extract points from a point cloud using SAC models
+     =======  ======
+
+     .. |se_11| image:: images/pcl_logo.png
+               :height: 75px
 
 .. _surface_tutorial:
 

doc/tutorials/content/model_outlier_removal.rst

@@ -0,0 +1,81 @@
+.. _model_outlier_removal:
+
+Filtering a PointCloud using ModelOutlierRemoval
+------------------------------------------------
+
+This tutorial demonstrates how to extract parametric models for example for planes or spheres 
+out of a PointCloud by using SAC_Models with known coefficients.
+If you don't know the models coefficients take a look at the :ref:`random_sample_consensus` tutorial. 
+
+The code
+--------
+
+First, create a file, let's call it ``model_outlier_removal.cpp``, in your favorite
+editor, and place the following inside it:
+
+.. literalinclude:: sources/model_outlier_removal/model_outlier_removal.cpp
+   :language: cpp
+   :linenos:
+
+The explanation
+---------------
+
+Now, let's break down the code piece by piece.
+
+In the following lines, we define the PointClouds structures, fill in noise, random points 
+on a plane as well as random points on a sphere and display its content to screen.
+
+.. literalinclude:: sources/model_outlier_removal/model_outlier_removal.cpp
+   :language: cpp
+   :lines: 7-45
+
+Finally we extract the sphere using ModelOutlierRemoval.
+
+.. literalinclude:: sources/model_outlier_removal/model_outlier_removal.cpp
+   :language: cpp
+   :lines: 50-61
+
+Compiling and running the program
+---------------------------------
+
+Add the following lines to your CMakeLists.txt file:
+
+.. literalinclude:: sources/model_outlier_removal/CMakeLists.txt
+   :language: cmake
+   :linenos:
+
+
+After you have made the executable, you can run it. Simply do::
+
+  $ ./model_outlier_removal
+
+You will see something similar to::
+
+  Cloud before filtering: 
+    0.352222 -0.151883 -0.106395
+    -0.397406 -0.473106 0.292602
+    -0.731898 0.667105 0.441304
+    -0.734766 0.854581 -0.0361733
+    -0.4607 -0.277468 -0.916762
+    -0.82 -0.341666 0.4592
+    -0.728589 0.667873 0.152
+    -0.3134 -0.873043 -0.3736
+    0.62553 0.590779 0.5096
+    -0.54048 0.823588 -0.172
+    -0.707627 0.424576 0.5648
+    -0.83153 0.523556 0.1856
+    -0.513903 -0.719464 0.4672
+    0.291534 0.692393 0.66
+    0.258758 0.654505 -0.7104
+  Sphere after filtering: 
+    -0.82 -0.341666 0.4592
+    -0.728589 0.667873 0.152
+    -0.3134 -0.873043 -0.3736
+    0.62553 0.590779 0.5096
+    -0.54048 0.823588 -0.172
+    -0.707627 0.424576 0.5648
+    -0.83153 0.523556 0.1856
+    -0.513903 -0.719464 0.4672
+    0.291534 0.692393 0.66
+    0.258758 0.654505 -0.7104
+

doc/tutorials/content/sources/model_outlier_removal/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+
+project(model_outlier_removal)
+
+find_package(PCL 1.7 REQUIRED)
+
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+
+add_executable (model_outlier_removal model_outlier_removal.cpp)
+target_link_libraries (model_outlier_removal ${PCL_LIBRARIES})

doc/tutorials/content/sources/model_outlier_removal/model_outlier_removal.cpp

@@ -0,0 +1,71 @@
+#include <iostream>
+#include <pcl/point_types.h>
+#include <pcl/filters/model_outlier_removal.h>
+
+int
+main ()
+{
+  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
+  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_sphere_filtered (new pcl::PointCloud<pcl::PointXYZ>);
+
+  // 1. Generate cloud data
+  int noise_size = 5;
+  int sphere_data_size = 10;
+  cloud->width = noise_size + sphere_data_size;
+  cloud->height = 1;
+  cloud->points.resize (cloud->width * cloud->height);
+  // 1.1 Add noise
+  for (size_t i = 0; i < noise_size; ++i)
+  {
+    cloud->points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
+    cloud->points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
+    cloud->points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
+  }
+  // 1.2 Add sphere:
+  double rand_x1 = 1;
+  double rand_x2 = 1;
+  for (size_t i = noise_size; i < noise_size + sphere_data_size; ++i)
+  {
+    // See: http://mathworld.wolfram.com/SpherePointPicking.html
+    while (pow (rand_x1, 2) + pow (rand_x2, 2) >= 1)
+    {
+      rand_x1 = (rand () % 100) / (50.0f) - 1;
+      rand_x2 = (rand () % 100) / (50.0f) - 1;
+    }
+    double pre_calc = sqrt (1 - pow (rand_x1, 2) - pow (rand_x2, 2));
+    cloud->points[i].x = 2 * rand_x1 * pre_calc;
+    cloud->points[i].y = 2 * rand_x2 * pre_calc;
+    cloud->points[i].z = 1 - 2 * (pow (rand_x1, 2) + pow (rand_x2, 2));
+    rand_x1 = 1;
+    rand_x2 = 1;
+  }
+
+  std::cerr << "Cloud before filtering: " << std::endl;
+  for (size_t i = 0; i < cloud->points.size (); ++i)
+    std::cout << "    " << cloud->points[i].x << " " << cloud->points[i].y << " " << cloud->points[i].z << std::endl;
+
+  // 2. filter sphere:
+  // 2.1 generate model:
+  // modelparameter for this sphere:
+  // position.x: 0, position.y: 0, position.z:0, radius: 1
+  pcl::ModelCoefficients sphere_coeff;
+  sphere_coeff.values.resize (4);
+  sphere_coeff.values[0] = 0;
+  sphere_coeff.values[1] = 0;
+  sphere_coeff.values[2] = 0;
+  sphere_coeff.values[3] = 1;
+
+  pcl::ModelOutlierRemoval<pcl::PointXYZ> sphere_filter;
+  sphere_filter.setModelCoefficients (sphere_coeff);
+  sphere_filter.setThreshold (0.05);
+  sphere_filter.setModelType (pcl::SACMODEL_SPHERE);
+  sphere_filter.setInputCloud (cloud);
+  sphere_filter.filter (*cloud_sphere_filtered);
+
+  std::cerr << "Sphere after filtering: " << std::endl;
+  for (size_t i = 0; i < cloud_sphere_filtered->points.size (); ++i)
+    std::cout << "    " << cloud_sphere_filtered->points[i].x << " " << cloud_sphere_filtered->points[i].y << " " << cloud_sphere_filtered->points[i].z
+        << std::endl;
+
+  return (0);
+}

filters/CMakeLists.txt

@@ -39,6 +39,7 @@ if(build)
         src/grid_minimum.cpp
         src/morphological_filter.cpp
         src/local_maximum.cpp
+        src/model_outlier_removal.cpp
         )
 
     set(incs
@@ -77,6 +78,7 @@ if(build)
         "include/pcl/${SUBSYS_NAME}/grid_minimum.h"
         "include/pcl/${SUBSYS_NAME}/morphological_filter.h"
         "include/pcl/${SUBSYS_NAME}/local_maximum.h"
+        "include/pcl/${SUBSYS_NAME}/model_outlier_removal.h"
         )
 
     set(impl_incs
@@ -112,6 +114,7 @@ if(build)
         "include/pcl/${SUBSYS_NAME}/impl/grid_minimum.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/morphological_filter.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/local_maximum.hpp"
+        "include/pcl/${SUBSYS_NAME}/impl/model_outlier_removal.hpp"
         )
 
     set(LIB_NAME "pcl_${SUBSYS_NAME}")