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#include <pcl/apps/cloud_composer/tools/voxel_grid_downsample.h>
#include <pcl/apps/cloud_composer/items/cloud_item.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/point_types.h>
Q_PLUGIN_METADATA(IID "cloud_composer.ToolFactory/1.0")
pcl::cloud_composer::VoxelGridDownsampleTool::VoxelGridDownsampleTool (PropertiesModel* parameter_model, QObject* parent)
: ModifyItemTool (parameter_model, parent)
{
}
QList <pcl::cloud_composer::CloudComposerItem*>
pcl::cloud_composer::VoxelGridDownsampleTool::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 VoxelGridDownsampleTool!";
return output;
}
if ( input_data.size () > 1)
{
qWarning () << "Input vector has more than one item in VoxelGridDownsampleTool";
}
input_item = input_data.value (0);
if (input_item->type () == CloudComposerItem::CLOUD_ITEM)
{
double leaf_x = parameter_model_->getProperty("Leaf Size x").toDouble ();
double leaf_y = parameter_model_->getProperty("Leaf Size y").toDouble ();
double leaf_z = parameter_model_->getProperty("Leaf Size z").toDouble ();
pcl::PCLPointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
//////////////// THE WORK - FILTERING OUTLIERS ///////////////////
// Create the filtering object
pcl::VoxelGrid<pcl::PCLPointCloud2> vox_grid;
vox_grid.setInputCloud (input_cloud);
vox_grid.setLeafSize (float (leaf_x), float (leaf_y), float (leaf_z));
//Create output cloud
pcl::PCLPointCloud2::Ptr cloud_filtered (new pcl::PCLPointCloud2);
//Filter!
vox_grid.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 (" vox ds")
, cloud_filtered
, source_origin
, source_orientation);
output.append (cloud_item);
}
else
{
qDebug () << "Input item in VoxelGridDownsampleTool is not a cloud!!!";
}
return output;
}
/////////////////// PARAMETER MODEL /////////////////////////////////
pcl::cloud_composer::PropertiesModel*
pcl::cloud_composer::VoxelGridDownsampleToolFactory::createToolParameterModel (QObject* parent)
{
PropertiesModel* parameter_model = new PropertiesModel(parent);
parameter_model->addProperty ("Leaf Size x", 0.01, Qt::ItemIsEditable | Qt::ItemIsEnabled);
parameter_model->addProperty ("Leaf Size y", 0.01, Qt::ItemIsEditable | Qt::ItemIsEnabled);
parameter_model->addProperty ("Leaf Size z", 0.01, Qt::ItemIsEditable | Qt::ItemIsEnabled);
return parameter_model;
}
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