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#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);
}
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