Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, 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 * $Id: extract_indices.h 1370 2011-06-19 01:06:01Z jspricke $ 00035 * 00036 */ 00037 00038 #ifndef PCL_FILTERS_EXTRACTINDICES_H_ 00039 #define PCL_FILTERS_EXTRACTINDICES_H_ 00040 00041 #include "pcl/filters/filter.h" 00042 00043 namespace pcl 00044 { 00050 template<typename PointT> 00051 class ExtractIndices : public Filter<PointT> 00052 { 00053 using Filter<PointT>::filter_name_; 00054 using Filter<PointT>::getClassName; 00055 using Filter<PointT>::use_indices_; 00056 using Filter<PointT>::indices_; 00057 using Filter<PointT>::input_; 00058 00059 typedef typename Filter<PointT>::PointCloud PointCloud; 00060 typedef typename PointCloud::Ptr PointCloudPtr; 00061 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00062 00063 public: 00065 ExtractIndices () : 00066 negative_ (false) 00067 { 00068 use_indices_ = true; 00069 filter_name_ = "ProjectInliers"; 00070 } 00071 00075 inline void 00076 setNegative (bool negative) 00077 { 00078 negative_ = negative; 00079 } 00080 00084 inline bool 00085 getNegative () 00086 { 00087 return (negative_); 00088 } 00089 00090 protected: 00094 void 00095 applyFilter (PointCloud &output); 00096 00098 bool negative_; 00099 }; 00100 00102 00107 template<> 00108 class PCL_EXPORTS ExtractIndices<sensor_msgs::PointCloud2> : public Filter<sensor_msgs::PointCloud2> 00109 { 00110 using Filter<sensor_msgs::PointCloud2>::filter_name_; 00111 using Filter<sensor_msgs::PointCloud2>::getClassName; 00112 00113 typedef sensor_msgs::PointCloud2 PointCloud2; 00114 typedef PointCloud2::Ptr PointCloud2Ptr; 00115 typedef PointCloud2::ConstPtr PointCloud2ConstPtr; 00116 00117 public: 00119 ExtractIndices () : negative_ (false) 00120 { 00121 use_indices_ = true; 00122 filter_name_ = "ProjectInliers"; 00123 } 00124 00128 inline void 00129 setNegative (bool negative) 00130 { 00131 negative_ = negative; 00132 } 00133 00137 inline bool 00138 getNegative () 00139 { 00140 return (negative_); 00141 } 00142 00143 protected: 00144 void 00145 applyFilter (PointCloud2 &output); 00146 00148 bool negative_; 00149 }; 00150 } 00151 00152 #endif //#ifndef PCL_FILTERS_EXTRACTINDICES_H_