Point Cloud Library (PCL)  1.12.1-dev
model_outlier_removal.hpp
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37 
38 #pragma once
39 
40 #include <pcl/filters/model_outlier_removal.h>
41 #include <pcl/common/point_tests.h> // for pcl::isFinite
42 #include <pcl/sample_consensus/sac_model_circle.h>
43 #include <pcl/sample_consensus/sac_model_cylinder.h>
44 #include <pcl/sample_consensus/sac_model_cone.h>
45 #include <pcl/sample_consensus/sac_model_line.h>
46 #include <pcl/sample_consensus/sac_model_normal_plane.h>
47 #include <pcl/sample_consensus/sac_model_normal_sphere.h>
48 #include <pcl/sample_consensus/sac_model_parallel_plane.h>
49 #include <pcl/sample_consensus/sac_model_normal_parallel_plane.h>
50 #include <pcl/sample_consensus/sac_model_parallel_line.h>
51 #include <pcl/sample_consensus/sac_model_perpendicular_plane.h>
52 #include <pcl/sample_consensus/sac_model_plane.h>
53 #include <pcl/sample_consensus/sac_model_sphere.h>
54 
55 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
56 template <typename PointT> bool
58 {
59  // Build the model
60  switch (model_type)
61  {
62  case SACMODEL_PLANE:
63  {
64  PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: modelPLANE\n", getClassName ().c_str ());
65  model_.reset (new SampleConsensusModelPlane<PointT> (input_));
66  break;
67  }
68  case SACMODEL_LINE:
69  {
70  PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: modelLINE\n", getClassName ().c_str ());
71  model_.reset (new SampleConsensusModelLine<PointT> (input_));
72  break;
73  }
74  case SACMODEL_CIRCLE2D:
75  {
76  PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: modelCIRCLE2D\n", getClassName ().c_str ());
77  model_.reset (new SampleConsensusModelCircle2D<PointT> (input_));
78  break;
79  }
80  case SACMODEL_SPHERE:
81  {
82  PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: modelSPHERE\n", getClassName ().c_str ());
83  model_.reset (new SampleConsensusModelSphere<PointT> (input_));
84  break;
85  }
87  {
88  PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: modelPARALLEL_LINE\n", getClassName ().c_str ());
89  model_.reset (new SampleConsensusModelParallelLine<PointT> (input_));
90  break;
91  }
93  {
94  PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: modelPERPENDICULAR_PLANE\n", getClassName ().c_str ());
95  model_.reset (new SampleConsensusModelPerpendicularPlane<PointT> (input_));
96  break;
97  }
98  case SACMODEL_CYLINDER:
99  {
100  PCL_DEBUG ("[pcl::%s::segment] Using a model of type: modelCYLINDER\n", getClassName ().c_str ());
101  model_.reset (new SampleConsensusModelCylinder<PointT, pcl::Normal> (input_));
102  break;
103  }
105  {
106  PCL_DEBUG ("[pcl::%s::segment] Using a model of type: modelNORMAL_PLANE\n", getClassName ().c_str ());
107  model_.reset (new SampleConsensusModelNormalPlane<PointT, pcl::Normal> (input_));
108  break;
109  }
110  case SACMODEL_CONE:
111  {
112  PCL_DEBUG ("[pcl::%s::segment] Using a model of type: modelCONE\n", getClassName ().c_str ());
113  model_.reset (new SampleConsensusModelCone<PointT, pcl::Normal> (input_));
114  break;
115  }
117  {
118  PCL_DEBUG ("[pcl::%s::segment] Using a model of type: modelNORMAL_SPHERE\n", getClassName ().c_str ());
119  model_.reset (new SampleConsensusModelNormalSphere<PointT, pcl::Normal> (input_));
120  break;
121  }
123  {
124  PCL_DEBUG ("[pcl::%s::segment] Using a model of type: modelNORMAL_PARALLEL_PLANE\n", getClassName ().c_str ());
125  model_.reset (new SampleConsensusModelNormalParallelPlane<PointT, pcl::Normal> (input_));
126  break;
127  }
129  {
130  PCL_DEBUG ("[pcl::%s::segment] Using a model of type: modelPARALLEL_PLANE\n", getClassName ().c_str ());
131  model_.reset (new SampleConsensusModelParallelPlane<PointT> (input_));
132  break;
133  }
134  default:
135  {
136  PCL_ERROR ("[pcl::%s::initSACModel] No valid model given!\n", getClassName ().c_str ());
137  return (false);
138  }
139  }
140  return (true);
141 }
142 
143 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
144 template <typename PointT> void
146 {
147  //The arrays to be used
148  indices.resize (indices_->size ());
149  removed_indices_->resize (indices_->size ());
150  int oii = 0, rii = 0; // oii = output indices iterator, rii = removed indices iterator
151  //is the filtersetup correct?
152  bool valid_setup = true;
153 
154  valid_setup &= initSACModel (model_type_);
155 
156  using SACModelFromNormals = SampleConsensusModelFromNormals<PointT, pcl::Normal>;
157  // Returns NULL if cast isn't possible
158  SACModelFromNormals *model_from_normals = dynamic_cast<SACModelFromNormals *> (& (*model_));
159 
160  if (model_from_normals)
161  {
162  if (!cloud_normals_)
163  {
164  valid_setup = false;
165  PCL_ERROR ("[pcl::ModelOutlierRemoval::applyFilterIndices]: no normals cloud set.\n");
166  }
167  else
168  {
169  model_from_normals->setNormalDistanceWeight (normals_distance_weight_);
170  model_from_normals->setInputNormals (cloud_normals_);
171  }
172  }
173 
174  //if the filter setup is invalid filter for nan and return;
175  if (!valid_setup)
176  {
177  for (const auto& iii : (*indices_)) // iii = input indices iterator
178  {
179  // Non-finite entries are always passed to removed indices
180  if (!isFinite ((*input_)[iii]))
181  {
182  if (extract_removed_indices_)
183  (*removed_indices_)[rii++] = iii;
184  continue;
185  }
186  indices[oii++] = iii;
187  }
188  return;
189  }
190  // check distance of pointcloud to model
191  std::vector<double> distances;
192  //TODO: get signed distances !
193  model_->setIndices(indices_); // added to reduce computation and arrange distances with indices
194  model_->getDistancesToModel (model_coefficients_, distances);
195 
196  bool thresh_result;
197 
198  // Filter for non-finite entries and the specified field limits
199  for (int iii = 0; iii < static_cast<int> (indices_->size ()); ++iii) // iii = input indices iterator
200  {
201  // Non-finite entries are always passed to removed indices
202  if (!isFinite ((*input_)[ (*indices_)[iii]]))
203  {
204  if (extract_removed_indices_)
205  (*removed_indices_)[rii++] = (*indices_)[iii];
206  continue;
207  }
208 
209  // use threshold function to separate outliers from inliers:
210  thresh_result = threshold_function_ (distances[iii]);
211 
212  // in normal mode: define outliers as false thresh_result
213  if (!negative_ && !thresh_result)
214  {
215  if (extract_removed_indices_)
216  (*removed_indices_)[rii++] = (*indices_)[iii];
217  continue;
218  }
219 
220  // in negative_ mode: define outliers as true thresh_result
221  if (negative_ && thresh_result)
222  {
223  if (extract_removed_indices_)
224  (*removed_indices_)[rii++] = (*indices_)[iii];
225  continue;
226  }
227 
228  // Otherwise it was a normal point for output (inlier)
229  indices[oii++] = (*indices_)[iii];
230 
231  }
232 
233  // Resize the output arrays
234  indices.resize (oii);
235  removed_indices_->resize (rii);
236 
237 }
238 
239 #define PCL_INSTANTIATE_ModelOutlierRemoval(T) template class PCL_EXPORTS pcl::ModelOutlierRemoval<T>;
240 
ModelOutlierRemoval filters points in a cloud based on the distance between model and point.
void applyFilterIndices(Indices &indices)
Filtered results are indexed by an indices array.
SampleConsensusModelFromNormals represents the base model class for models that require the use of su...
Definition: sac_model.h:612
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Definition: point_tests.h:55
SacModel
Definition: model_types.h:46
@ SACMODEL_CYLINDER
Definition: model_types.h:52
@ SACMODEL_PLANE
Definition: model_types.h:47
@ SACMODEL_PARALLEL_PLANE
Definition: model_types.h:62
@ SACMODEL_SPHERE
Definition: model_types.h:51
@ SACMODEL_PARALLEL_LINE
Definition: model_types.h:55
@ SACMODEL_NORMAL_PARALLEL_PLANE
Definition: model_types.h:63
@ SACMODEL_PERPENDICULAR_PLANE
Definition: model_types.h:56
@ SACMODEL_NORMAL_SPHERE
Definition: model_types.h:59
@ SACMODEL_CIRCLE2D
Definition: model_types.h:49
@ SACMODEL_NORMAL_PLANE
Definition: model_types.h:58
@ SACMODEL_CONE
Definition: model_types.h:53
@ SACMODEL_LINE
Definition: model_types.h:48
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133