Point Cloud Library (PCL)  1.3.1
filter_indices.h
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00001 /*
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00034  * $Id: filter_indices.h 3029 2011-11-01 04:12:25Z svn $
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00037 
00038 #ifndef PCL_FILTER_INDICES_H_
00039 #define PCL_FILTER_INDICES_H_
00040 
00041 #include "pcl/filters/filter.h"
00042 
00043 namespace pcl
00044 {
00052   template<typename PointT> void
00053   removeNaNFromPointCloud (const pcl::PointCloud<PointT> &cloud_in, std::vector<int> &index);
00054 
00056 
00061   template<typename PointT>
00062   class FilterIndices : public Filter<PointT>
00063   {
00064 
00065     using Filter<PointT>::initCompute;
00066     using Filter<PointT>::deinitCompute;
00067 
00068     public:
00069 
00070       typedef pcl::PointCloud<PointT> PointCloud;
00071 
00072       virtual void
00073       filter (PointCloud &output)
00074       {
00075         pcl::Filter<PointT>::filter (output);
00076       }
00077 
00082       inline void
00083       filter (std::vector<int> &indices)
00084       {
00085         if (!initCompute ())
00086           return;
00087 
00088         // Apply the actual filter
00089         applyFilter (indices);
00090 
00091         deinitCompute ();
00092       }
00093 
00094     protected:
00095 
00100       virtual void
00101       applyFilter (std::vector<int> &indices) = 0;
00102 
00103   };
00104 
00111   template<>
00112   class PCL_EXPORTS FilterIndices<sensor_msgs::PointCloud2> : public Filter<sensor_msgs::PointCloud2>
00113   {
00114 
00115     public:
00116 
00117       typedef sensor_msgs::PointCloud2 PointCloud2;
00118 
00119       virtual void
00120       filter (PointCloud2 &output)
00121       {
00122         pcl::Filter<PointCloud2>::filter (output);
00123       }
00124 
00128       void
00129       filter (std::vector<int> &indices);
00130 
00131     protected:
00132 
00137       virtual void
00138       applyFilter (std::vector<int> &indices) = 0;
00139 
00140   };
00141 }
00142 
00143 #endif  //#ifndef PCL_FILTER_INDICES_H_
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