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GUI export: Added cloud filtering option

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This commit is contained in:
matlabbe
2015-08-24 17:12:39 -04:00
parent d57e12023b
commit 58e3da18c2
5 changed files with 140 additions and 12 deletions
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37
guilib/src/MainWindow.cpp
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@@ -4619,7 +4619,9 @@ bool MainWindow::getExportedClouds(
_exportDialog->getGenerate(),
_exportDialog->getGenerateDecimation(),
_exportDialog->getGenerateVoxel(),
_exportDialog->getGenerateMaxDepth());
_exportDialog->getGenerateMaxDepth(),
_exportDialog->getFiltering()?_exportDialog->getFilteringRadius():0.0f,
_exportDialog->getFiltering()?_exportDialog->getFilteringMinNeighbors():0.0f);
if(_exportDialog->getAssemble())
{
@@ -4642,14 +4644,29 @@ bool MainWindow::getExportedClouds(
_initProgressDialog->appendText(tr("Voxelize assembled cloud (%1 points, voxel size = %2 m)...")
.arg(assembledCloud->size())
.arg(_exportDialog->getGenerateVoxel()));
.arg(_exportDialog->getAssembleVoxel()));
QApplication::processEvents();
if(_exportDialog->getGenerateVoxel())
if(_exportDialog->getAssembleVoxel())
{
assembledCloud = util3d::voxelize(
assembledCloud,
_exportDialog->getGenerateVoxel());
_exportDialog->getAssembleVoxel());
}
_initProgressDialog->appendText(tr("Noise filtering (%1 points, radius = %2 m, min neighbors = %3)...")
.arg(assembledCloud->size())
.arg(_exportDialog->getFilteringRadius())
.arg(_exportDialog->getFilteringMinNeighbors()));
if(_exportDialog->getFiltering() &&
_exportDialog->getFilteringRadius() > 0.0 &&
_exportDialog->getFilteringMinNeighbors() > 0)
{
pcl::IndicesPtr indices = util3d::radiusFiltering(assembledCloud, (float)_exportDialog->getFilteringRadius(), _exportDialog->getFilteringMinNeighbors());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFiltered(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::copyPointCloud(*assembledCloud, *indices, *cloudFiltered);
assembledCloud = cloudFiltered;
}
clouds.clear();
clouds.insert(std::make_pair(0, assembledCloud));
}
@@ -5488,7 +5505,9 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::getClouds(
bool regenerateClouds,
int regenerateDecimation,
float regenerateVoxelSize,
float regenerateMaxDepth) const
float regenerateMaxDepth,
float filteringRadius,
float filteringMinNeighbors) const
{
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds;
int i=0;
@@ -5542,6 +5561,14 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::getClouds(
if(cloud->size())
{
if(filteringRadius > 0.0f && filteringMinNeighbors > 0)
{
pcl::IndicesPtr indices = util3d::radiusFiltering(cloud, filteringRadius, filteringMinNeighbors);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFiltered(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::copyPointCloud(*cloud, *indices, *cloudFiltered);
cloud = cloudFiltered;
}
clouds.insert(std::make_pair(iter->first, cloud));
inserted = true;
}