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+ filter out invalid points

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This commit is contained in:
wmayer
2016-03-02 18:04:45 +01:00
parent f336b7ed67
commit ec992ae1dc
5 changed files with 78 additions and 10 deletions
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24
src/Mod/ReverseEngineering/App/RegionGrowing.cpp
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@@ -26,6 +26,7 @@
#include "RegionGrowing.h"
#include <Mod/Points/App/Points.h>
#include <Base/Exception.h>
#include <boost/math/special_functions/fpclassify.hpp>
#if defined(HAVE_PCL_FILTERS)
#include <pcl/filters/passthrough.h>
@@ -55,7 +56,8 @@ void RegionGrowing::perform(int ksearch)
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));
if (!boost::math::isnan(it->x) && !boost::math::isnan(it->y) && !boost::math::isnan(it->z))
cloud->push_back(pcl::PointXYZ(it->x, it->y, it->z));
}
//normal estimation
@@ -102,19 +104,23 @@ void RegionGrowing::perform(const std::vector<Base::Vector3f>& myNormals)
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));
pcl::PointCloud <pcl::Normal>::Ptr normals (new pcl::PointCloud <pcl::Normal>);
normals->reserve(myNormals.size());
std::size_t num_points = myPoints.size();
const std::vector<Base::Vector3f>& points = myPoints.getBasicPoints();
for (std::size_t index=0; index<num_points; index++) {
const Base::Vector3f& p = points[index];
const Base::Vector3f& n = myNormals[index];
if (!boost::math::isnan(p.x) && !boost::math::isnan(p.y) && !boost::math::isnan(p.z)) {
cloud->push_back(pcl::PointXYZ(p.x, p.y, p.z));
normals->push_back(pcl::Normal(n.x, n.y, n.z));
}
}
pcl::search::Search<pcl::PointXYZ>::Ptr tree = boost::shared_ptr<pcl::search::Search<pcl::PointXYZ> > (new pcl::search::KdTree<pcl::PointXYZ>);
tree->setInputCloud (cloud);
pcl::PointCloud <pcl::Normal>::Ptr normals (new pcl::PointCloud <pcl::Normal>);
normals->reserve(myNormals.size());
for (std::vector<Base::Vector3f>::const_iterator it = myNormals.begin(); it != myNormals.end(); ++it) {
normals->push_back(pcl::Normal(it->x, it->y, it->z));
}
// pass through
pcl::IndicesPtr indices (new std::vector <int>);
pcl::PassThrough<pcl::PointXYZ> pass;