doc/tutorials/content/model_outlier_removal.rst
.. _model_outlier_removal:
This tutorial demonstrates how to extract parametric models for example for planes or spheres
out of a PointCloud by using SAC_Models with known coefficients.
If you don't know the models coefficients take a look at the :ref:random_sample_consensus tutorial.
First, create a file, let's call it model_outlier_removal.cpp, in your favorite
editor, and place the following inside it:
.. literalinclude:: sources/model_outlier_removal/model_outlier_removal.cpp :language: cpp :linenos:
Now, let's break down the code piece by piece.
In the following lines, we define the PointClouds structures, fill in noise, random points on a plane as well as random points on a sphere and display its content to screen.
.. literalinclude:: sources/model_outlier_removal/model_outlier_removal.cpp :language: cpp :lines: 7-45
Finally we extract the sphere using ModelOutlierRemoval.
.. literalinclude:: sources/model_outlier_removal/model_outlier_removal.cpp :language: cpp :lines: 50-61
Add the following lines to your CMakeLists.txt file:
.. literalinclude:: sources/model_outlier_removal/CMakeLists.txt :language: cmake :linenos:
After you have made the executable, you can run it. Simply do::
$ ./model_outlier_removal
You will see something similar to::
Cloud before filtering: 0.352222 -0.151883 -0.106395 -0.397406 -0.473106 0.292602 -0.731898 0.667105 0.441304 -0.734766 0.854581 -0.0361733 -0.4607 -0.277468 -0.916762 -0.82 -0.341666 0.4592 -0.728589 0.667873 0.152 -0.3134 -0.873043 -0.3736 0.62553 0.590779 0.5096 -0.54048 0.823588 -0.172 -0.707627 0.424576 0.5648 -0.83153 0.523556 0.1856 -0.513903 -0.719464 0.4672 0.291534 0.692393 0.66 0.258758 0.654505 -0.7104 Sphere after filtering: -0.82 -0.341666 0.4592 -0.728589 0.667873 0.152 -0.3134 -0.873043 -0.3736 0.62553 0.590779 0.5096 -0.54048 0.823588 -0.172 -0.707627 0.424576 0.5648 -0.83153 0.523556 0.1856 -0.513903 -0.719464 0.4672 0.291534 0.692393 0.66 0.258758 0.654505 -0.7104