Point Cloud Library (PCL) 1.12.0
filter_indices.hpp
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2009, Willow Garage, Inc.
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the copyright holder(s) nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *
34 * $Id: filter.hpp 1800 2011-07-15 11:45:31Z marton $
35 *
36 */
37
38#ifndef PCL_FILTERS_IMPL_FILTER_INDICES_H_
39#define PCL_FILTERS_IMPL_FILTER_INDICES_H_
40
41#include <pcl/filters/filter_indices.h>
42
43template <typename PointT> void
45 Indices &index)
46{
47 // Reserve enough space for the indices
48 index.resize (cloud_in.size ());
49
50 // If the data is dense, we don't need to check for NaN
51 if (cloud_in.is_dense)
52 {
53 for (int j = 0; j < static_cast<int> (cloud_in.size ()); ++j)
54 index[j] = j;
55 }
56 else
57 {
58 int j = 0;
59 for (int i = 0; i < static_cast<int> (cloud_in.size ()); ++i)
60 {
61 if (!std::isfinite (cloud_in[i].x) ||
62 !std::isfinite (cloud_in[i].y) ||
63 !std::isfinite (cloud_in[i].z))
64 continue;
65 index[j] = i;
66 j++;
67 }
68 if (j != static_cast<int> (cloud_in.size ()))
69 {
70 // Resize to the correct size
71 index.resize (j);
72 }
73 }
74}
75
76template<typename PointT> void
78{
79 Indices indices;
80 if (keep_organized_)
81 {
82 if (!extract_removed_indices_)
83 {
84 PCL_WARN ("[pcl::FilterIndices<PointT>::applyFilter] extract_removed_indices_ was set to 'true' to keep the point cloud organized.\n");
85 extract_removed_indices_ = true;
86 }
87 applyFilter (indices);
88
89 output = *input_;
90
91 // To preserve legacy behavior, only coordinates xyz are filtered.
92 // Copying a PointXYZ initialized with the user_filter_value_ into a generic
93 // PointT, ensures only the xyz coordinates, if they exist at destination,
94 // are overwritten.
95 const PointXYZ ufv (user_filter_value_, user_filter_value_, user_filter_value_);
96 for (const auto ri : *removed_indices_) // ri = removed index
97 copyPoint(ufv, output[ri]);
98 if (!std::isfinite (user_filter_value_))
99 output.is_dense = false;
100 }
101 else
102 {
103 output.is_dense = true;
104 applyFilter (indices);
105 pcl::copyPointCloud (*input_, indices, output);
106 }
107}
108
109
110#define PCL_INSTANTIATE_removeNanFromPointCloud(T) template PCL_EXPORTS void pcl::removeNaNFromPointCloud<T>(const pcl::PointCloud<T>&, Indices&);
111#define PCL_INSTANTIATE_FilterIndices(T) template class PCL_EXPORTS pcl::FilterIndices<T>;
112
113#endif // PCL_FILTERS_IMPL_FILTER_INDICES_H_
114
virtual void applyFilter(Indices &indices)=0
Abstract filter method for point cloud indices.
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
bool is_dense
True if no points are invalid (e.g., have NaN or Inf values in any of their floating point fields).
Definition: point_cloud.h:403
std::size_t size() const
Definition: point_cloud.h:443
void copyPoint(const PointInT &point_in, PointOutT &point_out)
Copy the fields of a source point into a target point.
Definition: copy_point.hpp:137
void copyPointCloud(const pcl::PointCloud< PointInT > &cloud_in, pcl::PointCloud< PointOutT > &cloud_out)
Copy all the fields from a given point cloud into a new point cloud.
Definition: io.hpp:144
void removeNaNFromPointCloud(const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, Indices &index)
Removes points with x, y, or z equal to NaN.
Definition: filter.hpp:46
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
A point structure representing Euclidean xyz coordinates.