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35
36 /// @file denoiseCommand.cpp
37 /// @details the implementation of the class DenoiseCommand
38 /// @author Yue Li and Matthew Hielsberg
39
40 #include <pcl/point_types.h>
41 #include <pcl/filters/statistical_outlier_removal.h>
42 #include <pcl/apps/point_cloud_editor/denoiseCommand.h>
43 #include <pcl/apps/point_cloud_editor/selection.h>
44 #include <pcl/apps/point_cloud_editor/cloud.h>
45
46 void
execute()47 DenoiseCommand::execute ()
48 {
49 Cloud3D temp_cloud;
50 // denoise
51 // uses point neighborhood statistics to filter outlier data.
52 // For a more detailed explanation, see PCL's tutorial on denoising:
53 // http://pointclouds.org/documentation/tutorials/statistical_outlier.php
54 pcl::StatisticalOutlierRemoval<Point3D> filter(true);
55 filter.setInputCloud(cloud_ptr_->getInternalCloud().makeShared());
56 filter.setMeanK(mean_);
57 filter.setStddevMulThresh (threshold_);
58 // filtering and back up
59 filter.setNegative(false);
60 filter.filter(temp_cloud);
61 // back up the removed indices.
62 pcl::IndicesConstPtr indices_ptr = filter.getRemovedIndices();
63 for(const auto &it : *indices_ptr)
64 removed_indices_.addIndex(static_cast<unsigned int>(it));
65 // back up the removed points.
66 removed_points_.set(cloud_ptr_, removed_indices_);
67 // remove the noisy points.
68 cloud_ptr_->remove(removed_indices_);
69 selection_ptr_->clear();
70 }
71
72 void
undo()73 DenoiseCommand::undo ()
74 {
75 cloud_ptr_->restore(removed_points_, removed_indices_);
76 }
77