+ add region growing, segmentation and ransac algorithms to Reen module

2016-03-02 15:51:26 +01:00
parent 1ec066553e
commit 8a76f2c13e
6 changed files with 421 additions and 0 deletions
--- a/src/Mod/ReverseEngineering/App/SampleConsensus.cpp
+++ b/src/Mod/ReverseEngineering/App/SampleConsensus.cpp
@@ -0,0 +1,76 @@
+/***************************************************************************
+ *   Copyright (c) 2016 Werner Mayer <wmayer[at]users.sourceforge.net>     *
+ *                                                                         *
+ *   This file is part of the FreeCAD CAx development system.              *
+ *                                                                         *
+ *   This library is free software; you can redistribute it and/or         *
+ *   modify it under the terms of the GNU Library General Public           *
+ *   License as published by the Free Software Foundation; either          *
+ *   version 2 of the License, or (at your option) any later version.      *
+ *                                                                         *
+ *   This library  is distributed in the hope that it will be useful,      *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU Library General Public License for more details.                  *
+ *                                                                         *
+ *   You should have received a copy of the GNU Library General Public     *
+ *   License along with this library; see the file COPYING.LIB. If not,    *
+ *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
+ *   Suite 330, Boston, MA  02111-1307, USA                                *
+ *                                                                         *
+ ***************************************************************************/
+
+
+#include "PreCompiled.h"
+
+#include "SampleConsensus.h"
+#include <Mod/Points/App/Points.h>
+#include <Base/Exception.h>
+
+#if defined(HAVE_PCL_SAMPLE_CONSENSUS)
+#include <pcl/point_types.h>
+#include <pcl/sample_consensus/ransac.h>
+#include <pcl/sample_consensus/sac_model_plane.h>
+
+using namespace std;
+using namespace Reen;
+using pcl::PointXYZ;
+using pcl::PointNormal;
+using pcl::PointCloud;
+
+SampleConsensus::SampleConsensus(const Points::PointKernel& pts)
+  : myPoints(pts)
+{
+}
+
+double SampleConsensus::perform(std::vector<float>& parameters)
+{
+    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
+    cloud->reserve(myPoints.size());
+    for (Points::PointKernel::const_iterator it = myPoints.begin(); it != myPoints.end(); ++it) {
+        cloud->push_back(pcl::PointXYZ(it->x, it->y, it->z));
+    }
+
+    cloud->width = int (cloud->points.size ());
+    cloud->height = 1;
+    cloud->is_dense = true;
+
+    // created RandomSampleConsensus object and compute the appropriated model
+    pcl::SampleConsensusModelPlane<pcl::PointXYZ>::Ptr
+    model_p (new pcl::SampleConsensusModelPlane<pcl::PointXYZ> (cloud));
+
+    pcl::RandomSampleConsensus<pcl::PointXYZ> ransac (model_p);
+    ransac.setDistanceThreshold (.01);
+    ransac.computeModel();
+    //ransac.getInliers(inliers);
+    //ransac.getModel (model);
+    Eigen::VectorXf model_p_coefficients;
+    ransac.getModelCoefficients (model_p_coefficients);
+    for (int i=0; i<model_p_coefficients.size(); i++)
+        parameters.push_back(model_p_coefficients[i]);
+
+    return ransac.getProbability();
+}
+
+#endif // HAVE_PCL_SAMPLE_CONSENSUS
+