Point Cloud Library (PCL)
1.3.1
|
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * Author: Suat Gedikli (gedikli@willowgarage.com) 00035 * 00036 */ 00037 00038 #ifndef PCL_FILTERS_COLOR_H_ 00039 #define PCL_FILTERS_COLOR_H_ 00040 00041 #include "pcl/filters/filter.h" 00042 00043 namespace pcl 00044 { 00045 template<typename PointT> 00046 class ColorFilter : public Filter<PointT> 00047 { 00048 using Filter<PointT>::input_; 00049 using Filter<PointT>::filter_name_; 00050 using Filter<PointT>::getClassName; 00051 00052 using Filter<PointT>::removed_indices_; 00053 using Filter<PointT>::extract_removed_indices_; 00054 00055 typedef typename Filter<PointT>::PointCloud PointCloud; 00056 typedef typename PointCloud::Ptr PointCloudPtr; 00057 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00058 00059 public: 00061 ColorFilter (bool extract_removed_indices = false) : 00062 Filter<PointT>::Filter (extract_removed_indices), keep_organized_ (false), 00063 user_filter_value_ (std::numeric_limits<float>::quiet_NaN ()) 00064 { 00065 filter_name_ = "ColorFilter"; 00066 } 00067 00076 inline void 00077 setKeepOrganized (bool val) 00078 { 00079 keep_organized_ = val; 00080 } 00081 00082 inline bool 00083 getKeepOrganized () 00084 { 00085 return (keep_organized_); 00086 } 00087 00093 inline void 00094 setUserFilterValue (float val) 00095 { 00096 user_filter_value_ = val; 00097 } 00098 00099 inline void 00100 setLookUpTable (const std::vector<bool>& lookup) 00101 { 00102 lookup_ = lookup; 00103 } 00104 protected: 00108 void 00109 applyFilter (PointCloud &output); 00110 00111 //typedef typename pcl::traits::fieldList<PointT>::type FieldList; 00112 00113 private: 00117 bool keep_organized_; 00118 00122 float user_filter_value_; 00123 00124 std::vector<bool> lookup_; 00125 }; 00126 00127 template<> 00128 class PCL_EXPORTS ColorFilter<sensor_msgs::PointCloud2> : public Filter<sensor_msgs::PointCloud2> 00129 { 00130 typedef sensor_msgs::PointCloud2 PointCloud2; 00131 typedef PointCloud2::Ptr PointCloud2Ptr; 00132 typedef PointCloud2::ConstPtr PointCloud2ConstPtr; 00133 00134 using Filter<sensor_msgs::PointCloud2>::removed_indices_; 00135 using Filter<sensor_msgs::PointCloud2>::extract_removed_indices_; 00136 00137 public: 00139 ColorFilter (bool extract_removed_indices = false) 00140 : Filter<sensor_msgs::PointCloud2>::Filter (extract_removed_indices) 00141 , keep_organized_ (false) 00142 { 00143 filter_name_ = "ColorFilter"; 00144 } 00145 00154 inline void 00155 setKeepOrganized (bool val) 00156 { 00157 keep_organized_ = val; 00158 } 00159 00160 inline bool 00161 getKeepOrganized () 00162 { 00163 return (keep_organized_); 00164 } 00165 00166 inline void 00167 setLookUpTable (const std::vector<bool>& lookup) 00168 { 00169 lookup_ = lookup; 00170 } 00171 00172 protected: 00173 void 00174 applyFilter (PointCloud2 &output); 00175 00176 private: 00180 bool keep_organized_; 00181 00182 std::vector<bool> lookup_; 00183 }; 00184 } 00185 00186 #endif //#ifndef PCL_FILTERS_COLOR_H_