shadowpoints.hpp
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#ifndef PCL_FILTERS_IMPL_SHADOW_POINTS_FILTER_H_
#define PCL_FILTERS_IMPL_SHADOW_POINTS_FILTER_H_
#include <pcl/filters/shadowpoints.h>
#include <vector>
///////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename NormalT> void
pcl::ShadowPoints<PointT, NormalT>::applyFilter (PointCloud &output)
{
assert (input_normals_ != NULL);
output.points.resize (input_->points.size ());
if (extract_removed_indices_)
removed_indices_->resize (input_->points.size ());
unsigned int cp = 0;
unsigned int ri = 0;
for (unsigned int i = 0; i < input_->points.size (); i++)
{
const NormalT &normal = input_normals_->points[i];
const PointT &pt = input_->points[i];
float val = fabsf (normal.normal_x * pt.x + normal.normal_y * pt.y + normal.normal_z * pt.z);
if ( (val >= threshold_) ^ negative_)
output.points[cp++] = pt;
else
{
if (extract_removed_indices_)
(*removed_indices_)[ri++] = i;
if (keep_organized_)
{
PointT &pt_new = output.points[cp++] = pt;
pt_new.x = pt_new.y = pt_new.z = user_filter_value_;
}
}
}
output.points.resize (cp);
removed_indices_->resize (ri);
output.width = 1;
output.height = static_cast<uint32_t> (output.points.size ());
}
///////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename NormalT> void
pcl::ShadowPoints<PointT, NormalT>::applyFilter (std::vector<int> &indices)
{
assert (input_normals_ != NULL);
indices.resize (input_->points.size ());
if (extract_removed_indices_)
removed_indices_->resize (indices_->size ());
unsigned int k = 0;
unsigned int z = 0;
for (std::vector<int>::const_iterator idx = indices_->begin (); idx != indices_->end (); ++idx)
{
const NormalT &normal = input_normals_->points[*idx];
const PointT &pt = input_->points[*idx];
float val = fabsf (normal.normal_x * pt.x + normal.normal_y * pt.y + normal.normal_z * pt.z);
if ( (val >= threshold_) ^ negative_)
indices[k++] = *idx;
else if (extract_removed_indices_)
(*removed_indices_)[z++] = *idx;
}
indices.resize (k);
removed_indices_->resize (z);
}
#define PCL_INSTANTIATE_ShadowPoints(T,NT) template class PCL_EXPORTS pcl::ShadowPoints<T,NT>;
#endif // PCL_FILTERS_IMPL_NORMAL_SPACE_SAMPLE_H_
pcl::Normal
A point structure representing normal coordinates and the surface curvature estimate.
Definition: point_types.hpp:778
pcl::PointCloud::points
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
Definition: point_cloud.h:410
pcl::PointCloud::height
uint32_t height
The point cloud height (if organized as an image-structure).
Definition: point_cloud.h:415
pcl::PointCloud::width
uint32_t width
The point cloud width (if organized as an image-structure).
Definition: point_cloud.h:413
pcl::ShadowPoints::applyFilter
void applyFilter(PointCloud &output)
Sample of point indices into a separate PointCloud.
Definition: shadowpoints.hpp:47
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Definition: projection_matrix.h:53
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:606