Ported noether_filtering mesh filters to noether_tpp mesh modifiers

noether_tpp/CMakeLists.txt

@@ -7,7 +7,7 @@ extract_package_metadata(pkg)
 project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES C CXX)
 
 find_package(Eigen3 REQUIRED)
-find_package(PCL REQUIRED COMPONENTS common io surface)
+find_package(PCL REQUIRED COMPONENTS common io surface segmentation)
 
 find_package(VTK REQUIRED NO_MODULE)
 if(VTK_FOUND AND ("${VTK_VERSION}" VERSION_LESS 7.1))
@@ -33,6 +33,10 @@ add_library(${PROJECT_NAME} SHARED
   src/mesh_modifiers/subset_extraction/subset_extractor.cpp
   src/mesh_modifiers/subset_extraction/extruded_polygon_subset_extractor.cpp
   src/mesh_modifiers/compound_modifier.cpp
+  src/mesh_modifiers/clean_data_modifier.cpp
+  src/mesh_modifiers/euclidean_clustering_modifier.cpp
+  src/mesh_modifiers/fill_holes_modifier.cpp
+  src/mesh_modifiers/windowed_sinc_smoothing.cpp
   # Tool Path Modifiers
   src/tool_path_modifiers/circular_lead_in_modifier.cpp
   src/tool_path_modifiers/circular_lead_out_modifier.cpp
@@ -59,6 +63,21 @@ add_library(${PROJECT_NAME} SHARED
   src/tool_path_planners/raster/plane_slicer_raster_planner.cpp
 )
 
+if(${CMAKE_VERSION} VERSION_GREATER 3.15)
+    try_compile(
+        NURBS_FOUND
+        ${CMAKE_CURRENT_BINARY_DIR}/pcl_nurbs_try_compile
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/mesh_modifiers/test/check_pcl_nurbs.cpp
+        CMAKE_FLAGS ${CMAKE_FLAGS} -DINCLUDE_DIRECTORIES=${PCL_INCLUDE_DIRS}
+        LINK_LIBRARIES ${PCL_LIBRARIES}
+        )
+    if (${NURBS_FOUND})
+      target_sources(${PROJECT_NAME} src/mesh_modifiers/bspline_reconstruction_modifier.cpp)
+    else()
+      message("PCL NURBS not found; skipping compilation of BSpline reconstruction mesh modifier")
+    endif()
+endif()
+
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
@@ -82,4 +101,4 @@ if(${NOETHER_ENABLE_TESTING})
 endif()
 
 # Package configuration
-configure_package(NAMESPACE noether DEPENDENCIES Eigen3 "PCL REQUIRED COMPONENTS common io surface" VTK TARGETS ${PROJECT_NAME})
+configure_package(NAMESPACE noether DEPENDENCIES Eigen3 "PCL REQUIRED COMPONENTS common io surface segmentation" VTK TARGETS ${PROJECT_NAME})

noether_tpp/include/noether_tpp/mesh_modifiers/bspline_reconstruction_modifier.h

@@ -0,0 +1,79 @@
+/**
+ * @author Jorge Nicho <jrgnichodevel@gmail.com>
+ * @file bspline_reconstruction.cpp
+ * @date Oct 10, 2019
+ * @copyright Copyright (c) 2019, Southwest Research Institute
+ *
+ * @par License
+ * Software License Agreement (Apache License)
+ * @par
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * @par
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <noether_tpp/core/mesh_modifier.h>
+#include <pcl/surface/on_nurbs/fitting_surface_tdm.h>
+#include <pcl/surface/on_nurbs/fitting_curve_2d_asdm.h>
+
+namespace noether
+{
+/**
+ * @class noether_filtering::filters::BSplineReconstruction
+ * @details: Smoothes a mesh by fitting a bspline surface to it.  The details of this implementation'
+ * can be in found in http://pointclouds.org/documentation/tutorials/bspline_fitting.php
+ */
+class BSplineReconstruction : public MeshModifier
+{
+public:
+  enum class SurfInitMethod : int
+  {
+    PCA = 1,
+    PCA_BB,
+    CUSTOM_PLANE,  //  not implemented yet but will use pcl::on_nurbs::FittingSurface::initNurbs4Corners
+  };
+
+  struct Parameters
+  {
+    /** @brief print more info */
+    bool verbosity_on = false;
+    /** @brief is the polynomial order of the B-spline surface. */
+    int order = 3;
+    /** @brief refinement is the number of refinement iterations, where for each iteration control-points are inserted
+     */
+    int refinement = 3;
+    /** @brief is the number of iterations that are performed after refinement is completed */
+    unsigned iterations = 1;
+    /** @brief  the number of vertices in each parametric direction, used for triangulation of the B-spline surface.*/
+    unsigned mesh_resolution = 50;
+    /** @brief method for creating the initial surface to be fit */
+    SurfInitMethod surf_init_method = SurfInitMethod::PCA_BB;
+    /** @brief parameters to fit the surface**/
+    pcl::on_nurbs::FittingSurface::Parameter surface_params;
+    /** @brief whether to fit the boundary curve and clip every that extends past it*/
+    bool clip_boundary_curve = true;
+    /** @brief applicable only when clip_boundary_curve = true */
+    int boundary_fit_order = 2;
+    /** @brief initial number of control points */
+    int boundary_startCPs = 0;
+    /** @brief if True then algorithm will fail if the boundary could not be clipped */
+    bool boundary_clipping_required = false;
+    pcl::on_nurbs::FittingCurve2dAPDM::FitParameter boundary_curve_params;
+  };
+
+  std::vector<pcl::PolygonMesh> modify(const pcl::PolygonMesh& mesh) const override;
+
+protected:
+  Parameters parameters_;
+};
+
+}  // namespace noether

noether_tpp/include/noether_tpp/mesh_modifiers/clean_data_modifier.h

@@ -0,0 +1,40 @@
+/**
+ * @author Jorge Nicho <jrgnichodevel@gmail.com>
+ * @file clean_data.h
+ * @date Dec 6, 2019
+ * @copyright Copyright (c) 2019, Southwest Research Institute
+ *
+ * @par License
+ * Software License Agreement (Apache License)
+ * @par
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * @par
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <noether_tpp/core/mesh_modifier.h>
+
+namespace noether
+{
+/**
+ * @class noether_filtering::mesh::CleanData
+ * @details Uses the VTK capability shown in this example
+ * https://lorensen.github.io/VTKExamples/site/Cxx/PolyData/CleanPolyData/ Merges duplicate points, and/or remove unused
+ * points and/or remove degenerate cells
+ */
+class CleanData : public MeshModifier
+{
+public:
+  std::vector<pcl::PolygonMesh> modify(const pcl::PolygonMesh& mesh) const override;
+};
+
+}  // namespace noether

noether_tpp/include/noether_tpp/mesh_modifiers/euclidean_clustering_modifier.h

@@ -0,0 +1,44 @@
+/**
+ * @author Jorge Nicho
+ * @file euclidean_clustering.h
+ * @date Nov 26, 2019
+ * @copyright Copyright (c) 2019, Southwest Research Institute
+ *
+ * @par License
+ * Software License Agreement (Apache License)
+ * @par
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * @par
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <noether_tpp/core/mesh_modifier.h>
+
+namespace noether
+{
+class EuclideanClustering : public MeshModifier
+{
+public:
+  struct Parameters
+  {
+    double tolerance = 0.02;  // meters
+    int min_cluster_size = 100;
+    int max_cluster_size = -1;  // will use input point cloud size when negative
+  };
+
+  std::vector<pcl::PolygonMesh> modify(const pcl::PolygonMesh& mesh_in) const override;
+
+protected:
+  Parameters parameters_;
+};
+
+}  // namespace noether

noether_tpp/include/noether_tpp/mesh_modifiers/fill_holes_modifier.h

@@ -0,0 +1,41 @@
+/**
+ * @author Jorge Nicho <jrgnichodevel@gmail.com>
+ * @file fill_holes.h
+ * @date Dec 16, 2019
+ * @copyright Copyright (c) 2019, Southwest Research Institute
+ *
+ * @par License
+ * Software License Agreement (Apache License)
+ * @par
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * @par
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#pragma once
+
+#include <noether_tpp/core/mesh_modifier.h>
+
+namespace noether
+{
+/**
+ * @class noether_filtering::mesh::FillHoles
+ * @brief Applies the vtkFillHoles filter, more details can be found on
+ *        https://vtk.org/doc/nightly/html/classvtkFillHolesFilter.html#details
+ */
+class FillHoles : public MeshModifier
+{
+public:
+  std::vector<pcl::PolygonMesh> modify(const pcl::PolygonMesh& mesh) const override;
+
+protected:
+  double hole_size_ = 1.0;
+};
+
+}  // namespace noether

noether_tpp/include/noether_tpp/mesh_modifiers/windowed_sinc_smoothing_modifier.h

@@ -0,0 +1,48 @@
+/*
+ * window_sinc_smoothing.h
+ *
+ *  Created on: Dec 6, 2019
+ *      Author: jrgnicho
+ */
+
+#pragma once
+
+#include <noether_tpp/core/mesh_modifier.h>
+
+namespace noether
+{
+/**
+ * @class noether_filtering:;mesh::WindowedSincSmoothing
+ * @details uses the vtkWindowedSincPolyDataFilter to smooth out the mesh, details of the implementation
+ * and the configuration parameters can be found here
+ * https://vtk.org/doc/nightly/html/classvtkWindowedSincPolyDataFilter.html
+ */
+class WindowedSincSmoothing : public MeshModifier
+{
+public:
+  struct Config
+  {
+    std::size_t num_iter = 100;
+    /**@brief Set to true to enable */
+    bool enable_boundary_smoothing = true;
+    /**@brief Set to true to enable */
+    bool enable_feature_edge_smoothing = false;
+    /**@brief Set to true to enable */
+    bool enable_non_manifold_smoothing = true;
+    /**@brief Set to true to enable */
+    bool enable_normalize_coordinates = true;
+    /**@brief degrees, only applicable when feature_edge_smoothing = true */
+    double feature_angle = 10.0;
+    /**@brief degrees, only applicable when feature_edge_smoothing = true */
+    double edge_angle = 150.0;
+    /**@brief PassBand for the windowed sinc filter, see explanation in reference link */
+    double pass_band = 0.01;
+  };
+
+  std::vector<pcl::PolygonMesh> modify(const pcl::PolygonMesh& mesh) const override;
+
+protected:
+  Config config_;
+};
+
+}  // namespace noether