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: filter_indices.h 3029 2011-11-01 04:12:25Z svn $ 00035 * 00036 */ 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_