ADD SOR method to DFPointCloud objects (#99)

* UPDATE: add SOR method to DFPointCloud objects

* ADD: test for SOR of DFPointCloud objects

* ADD: python test for SOR method of DFPointCloud objects

* ADD: component for statistical outlier removal method

* FIX: small changes + docuemtnation

---------

Co-authored-by: Andrea Settimi <andreasettimi39@gmail.com>

Author: DamienGilliard

doc/gh_DFRemoveStatisticalOutliers.rst

@@ -0,0 +1,8 @@
+.. image:: ../src/gh/components/DF_remove_statistical_outliers/icon.png
+    :align: left
+    :width: 40px
+
+``DFRemoveStatisticalOutliers`` component
+===========================
+
+.. ghcomponent_to_rst:: ../src/gh/components/DF_remove_statistical_outliers

doc/gh_components.rst

@@ -78,8 +78,8 @@ DF has a Grasshopper_ plugin with a set of components that allows the user to in
 
    * - .. image:: ../src/gh/components/DF_brep_to_cloud/icon.png
      - `gh_DFBrepToCloud <gh_DFBrepToCloud.html>`_
-     - 
-     -
+     - .. image:: ../src/gh/components/DF_remove_statistical_outliers/icon.png
+     - `gh_DFRemoveStatisticalOutliers <gh_DFRemoveStatisticalOutliers.html>`_
 
 
 

src/diffCheck/IOManager.cc

@@ -52,4 +52,11 @@ namespace diffCheck::io
         std::filesystem::path pathCloud = pathTestData / "roof_quarter.ply";
         return pathCloud.string();
     }
+
+    std::string GetPlanePCWithOneOutliers()
+    {
+        std::filesystem::path pathTestData = GetTestDataDir();
+        std::filesystem::path pathCloud = pathTestData / "test_pc_for_SOR_101pts_with_1_outlier.ply";
+        return pathCloud.string();
+    }
 } // namespace diffCheck::io

src/diffCheck/IOManager.hh

@@ -33,4 +33,6 @@ namespace diffCheck::io
     std::string GetTestDataDir();
     /// @brief Get the path to the roof quarter ply test file
     std::string GetRoofQuarterPlyPath();
+    /// @brief Get the path to the plane point cloud with one outlier
+    std::string GetPlanePCWithOneOutliers();
 } // namespace diffCheck::io

src/diffCheck/geometry/DFPointCloud.cc

@@ -200,6 +200,22 @@ namespace diffCheck::geometry
         this->ApplyColor(color);
     }
 
+    void DFPointCloud::RemoveStatisticalOutliers(int nbNeighbors, double stdRatio)
+    {
+        std::shared_ptr<open3d::geometry::PointCloud> O3DPointCloud = this->Cvt2O3DPointCloud();
+        std::tuple<std::shared_ptr<open3d::geometry::PointCloud>, std::vector<size_t>> returnedTuple = O3DPointCloud->RemoveStatisticalOutliers(nbNeighbors, stdRatio);
+        std::shared_ptr<open3d::geometry::PointCloud> O3DPointCloudWithoutOutliers = std::get<0>(returnedTuple);
+        this->Points.clear();
+        for (auto &point : O3DPointCloudWithoutOutliers->points_)
+            this->Points.push_back(point);
+        this->Colors.clear();
+        for (auto &color : O3DPointCloudWithoutOutliers->colors_)
+            this->Colors.push_back(color);
+        this->Normals.clear();
+        for (auto &normal : O3DPointCloudWithoutOutliers->normals_)
+            this->Normals.push_back(normal);
+    }
+
     void DFPointCloud::UniformDownsample(int everyKPoints)
     {
         auto O3DPointCloud = this->Cvt2O3DPointCloud();

src/diffCheck/geometry/DFPointCloud.hh

@@ -79,6 +79,16 @@ namespace diffCheck::geometry
         void ApplyColor(const Eigen::Vector3d &color);
         void ApplyColor(int r, int g, int b);
 
+        /**
+         * @brief Remove the statistical outilers from the point cloud
+         * 
+         * @param nbNeighbors the number of neighbors to consider
+         * @param stdRatio the standard deviation ratio
+         * 
+         * @see https://www.open3d.org/docs/latest/cpp_api/classopen3d_1_1geometry_1_1_point_cloud.html#a9c34dee60f36ec36a7de4ae2d55623cd
+         */
+        void RemoveStatisticalOutliers(int nbNeighbors, double stdRatio);
+
     public:  ///< Downsamplers
         /**
          * @brief Downsample the point cloud with voxel grid

src/diffCheckBindings.cc

@@ -52,6 +52,9 @@ PYBIND11_MODULE(diffcheck_bindings, m) {
         .def("apply_color", (void (diffCheck::geometry::DFPointCloud::*)(int, int, int)) &diffCheck::geometry::DFPointCloud::ApplyColor,
             py::arg("r"), py::arg("g"), py::arg("b"))
 
+        .def("remove_statistical_outliers", &diffCheck::geometry::DFPointCloud::RemoveStatisticalOutliers, 
+            py::arg("nb_neighbors"), py::arg("std_ratio"))
+
         .def("load_from_PLY", &diffCheck::geometry::DFPointCloud::LoadFromPLY)
         .def("add_points", &diffCheck::geometry::DFPointCloud::AddPoints)
 

src/gh/components/DF_remove_statistical_outliers/code.py

@@ -0,0 +1,17 @@
+#! python3
+
+import Rhino
+from ghpythonlib.componentbase import executingcomponent as component
+
+import diffCheck.df_cvt_bindings as cvt
+
+class DFRemoveStatisticalOutliers(component):
+    def RunScript(self, i_cloud: Rhino.Geometry.PointCloud, i_knn : int, i_ratio : float):
+        if i_cloud is None or i_ratio is None or i_knn is None:
+            return None
+
+        df_cloud = cvt.cvt_rhcloud_2_dfcloud(i_cloud)
+        df_cloud.remove_statistical_outliers(nb_neighbors=i_knn, std_ratio=i_ratio)
+        o_cloud = cvt.cvt_dfcloud_2_rhcloud(df_cloud)
+
+        return o_cloud

src/gh/components/DF_remove_statistical_outliers/icon.png

@@ -0,0 +1,64 @@
+{
+    "name": "DFRemoveStatisticalOutliers",
+    "nickname": "DFRemoveStatisticalOutliers",
+    "category": "diffCheck",
+    "subcategory": "Cloud",
+    "description": "Remove statistical outliers from a point cloud.",
+    "exposure": 4,
+    "instanceGuid": "9fd3273c-c06e-4f9d-83bf-c58178cb3da7",
+    "ghpython": {
+        "hideOutput": true,
+        "hideInput": true,
+        "isAdvancedMode": true,
+        "marshalOutGuids": true,
+        "iconDisplay": 2,
+        "inputParameters": [
+            {
+                "name": "i_cloud",
+                "nickname": "i_cloud",
+                "description": "The cloud from which statistical outliers should be removed.",
+                "optional": false,
+                "allowTreeAccess": true,
+                "showTypeHints": true,
+                "scriptParamAccess": "item",
+                "wireDisplay": "default",
+                "sourceCount": 0,
+                "typeHintID": "pointcloud"
+            },
+            {
+                "name": "i_knn",
+                "nickname": "i_knn",
+                "description": "The number of neighbors to consider when detecting statistical outliers.",
+                "optional": false,
+                "allowTreeAccess": true,
+                "showTypeHints": true,
+                "scriptParamAccess": "item",
+                "wireDisplay": "default",
+                "sourceCount": 0,
+                "typeHintID": "int"
+            },
+            {
+                "name": "i_ratio",
+                "nickname": "i_ratio",
+                "description": "The standard deviation threshold for the detection of statistical outliers.",
+                "optional": false,
+                "allowTreeAccess": true,
+                "showTypeHints": true,
+                "scriptParamAccess": "item",
+                "wireDisplay": "default",
+                "sourceCount": 0,
+                "typeHintID": "float"
+            }
+        ],
+        "outputParameters": [
+            {
+                "name": "o_cloud",
+                "nickname": "o_cloud",
+                "description": "The new cloud with outliers removed.",
+                "optional": false,
+                "sourceCount": 0,
+                "graft": false
+            }
+        ]
+    }
+}