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filter_indices.hpp
/*
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* $Id: filter.hpp 1800 2011-07-15 11:45:31Z marton $
*
*/
#ifndef PCL_FILTERS_IMPL_FILTER_INDICES_H_
#define PCL_FILTERS_IMPL_FILTER_INDICES_H_
#include <pcl/filters/filter_indices.h>
template <typename PointT> void
pcl::removeNaNFromPointCloud (const pcl::PointCloud<PointT> &cloud_in,
Indices &index)
{
// Reserve enough space for the indices
index.resize (cloud_in.size ());
// If the data is dense, we don't need to check for NaN
if (cloud_in.is_dense)
{
for (int j = 0; j < static_cast<int> (cloud_in.size ()); ++j)
index[j] = j;
}
else
{
int j = 0;
for (int i = 0; i < static_cast<int> (cloud_in.size ()); ++i)
{
if (!std::isfinite (cloud_in[i].x) ||
!std::isfinite (cloud_in[i].y) ||
!std::isfinite (cloud_in[i].z))
continue;
index[j] = i;
j++;
}
if (j != static_cast<int> (cloud_in.size ()))
{
// Resize to the correct size
index.resize (j);
}
}
}
template<typename PointT> void
pcl::FilterIndices<PointT>::applyFilter (PointCloud &output)
{
Indices indices;
if (keep_organized_)
{
if (!extract_removed_indices_)
{
PCL_WARN ("[pcl::FilterIndices<PointT>::applyFilter] extract_removed_indices_ was set to 'true' to keep the point cloud organized.\n");
extract_removed_indices_ = true;
}
applyFilter (indices);
output = *input_;
// To preserve legacy behavior, only coordinates xyz are filtered.
// Copying a PointXYZ initialized with the user_filter_value_ into a generic
// PointT, ensures only the xyz coordinates, if they exist at destination,
// are overwritten.
const PointXYZ ufv (user_filter_value_, user_filter_value_, user_filter_value_);
for (const auto ri : *removed_indices_) // ri = removed index
copyPoint(ufv, output[ri]);
if (!std::isfinite (user_filter_value_))
output.is_dense = false;
}
else
{
applyFilter (indices);
pcl::copyPointCloud (*input_, indices, output);
}
}
#define PCL_INSTANTIATE_removeNanFromPointCloud(T) template PCL_EXPORTS void pcl::removeNaNFromPointCloud<T>(const pcl::PointCloud<T>&, Indices&);
#define PCL_INSTANTIATE_FilterIndices(T) template class PCL_EXPORTS pcl::FilterIndices<T>;
#endif // PCL_FILTERS_IMPL_FILTER_INDICES_H_
pcl::FilterIndices::applyFilter
virtual void applyFilter(Indices &indices)=0
Abstract filter method for point cloud indices.
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition point_cloud.h:173
pcl::PointCloud::is_dense
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
pcl::PointCloud::size
std::size_t size() const
Definition point_cloud.h:443
pcl::copyPoint
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
pcl::copyPointCloud
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:142
pcl::removeNaNFromPointCloud
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
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
pcl::PointXYZ
A point structure representing Euclidean xyz coordinates.
Definition point_types.hpp:322