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#include <pcl/apps/cloud_composer/tools/statistical_outlier_removal.h>
#include <pcl/apps/cloud_composer/items/cloud_item.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/point_types.h>
Q_PLUGIN_METADATA(IID "cloud_composer.ToolFactory/1.0")
pcl::cloud_composer::StatisticalOutlierRemovalTool::StatisticalOutlierRemovalTool (PropertiesModel* parameter_model, QObject* parent)
: ModifyItemTool (parameter_model, parent)
{
}
QList <pcl::cloud_composer::CloudComposerItem*>
pcl::cloud_composer::StatisticalOutlierRemovalTool::performAction (ConstItemList input_data, PointTypeFlags::PointType)
{
QList <CloudComposerItem*> output;
const CloudComposerItem* input_item;
// Check input data length
if ( input_data.empty ())
{
qCritical () << "Empty input in StatisticalOutlierRemovalTool!";
return output;
}
if ( input_data.size () > 1)
{
qWarning () << "Input vector has more than one item in StatisticalOutlierRemovalTool";
}
input_item = input_data.value (0);
if ( !input_item->isSanitized () )
{
qCritical () << "StatisticalOutlierRemovalTool requires sanitized input!";
return output;
}
if (input_item->type () == CloudComposerItem::CLOUD_ITEM )
{
pcl::PCLPointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
int mean_k = parameter_model_->getProperty("Mean K").toInt ();
double std_dev_thresh = parameter_model_->getProperty ("Std Dev Thresh").toDouble ();
//////////////// THE WORK - FILTERING OUTLIERS ///////////////////
// Create the filtering object
pcl::StatisticalOutlierRemoval<pcl::PCLPointCloud2> sor;
sor.setInputCloud (input_cloud);
sor.setMeanK (mean_k);
sor.setStddevMulThresh (std_dev_thresh);
//Create output cloud
pcl::PCLPointCloud2::Ptr cloud_filtered (new pcl::PCLPointCloud2);
//Filter!
sor.filter (*cloud_filtered);
//////////////////////////////////////////////////////////////////
//Get copies of the original origin and orientation
Eigen::Vector4f source_origin = input_item->data (ItemDataRole::ORIGIN).value<Eigen::Vector4f> ();
Eigen::Quaternionf source_orientation = input_item->data (ItemDataRole::ORIENTATION).value<Eigen::Quaternionf> ();
//Put the modified cloud into an item, stick in output
CloudItem* cloud_item = new CloudItem (input_item->text () + tr (" sor filtered")
, cloud_filtered
, source_origin
, source_orientation);
output.append (cloud_item);
}
else
{
qDebug () << "Input item in StatisticalOutlierRemovalTool is not a cloud!!!";
}
return output;
}
/////////////////// PARAMETER MODEL /////////////////////////////////
pcl::cloud_composer::PropertiesModel*
pcl::cloud_composer::StatisticalOutlierRemovalToolFactory::createToolParameterModel (QObject* parent)
{
PropertiesModel* parameter_model = new PropertiesModel(parent);
parameter_model->addProperty ("Mean K", 50, Qt::ItemIsEditable | Qt::ItemIsEnabled);
parameter_model->addProperty ("Std Dev Thresh", 1.0, Qt::ItemIsEditable | Qt::ItemIsEnabled);
return parameter_model;
}
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