Point Cloud Library (PCL)  1.14.0-dev
filter.hpp
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37 
38 #pragma once
39 
40 #include <pcl/pcl_exports.h> // for PCL_EXPORTS
41 #include <pcl/common/point_tests.h> // for pcl::isFinite
42 #include <pcl/filters/filter.h>
43 
44 //////////////////////////////////////////////////////////////////////////
45 template <typename PointT> void
47  pcl::PointCloud<PointT> &cloud_out,
48  Indices &index)
49 {
50  // If the clouds are not the same, prepare the output
51  if (&cloud_in != &cloud_out)
52  {
53  cloud_out.header = cloud_in.header;
54  cloud_out.resize (cloud_in.size ());
55  cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
56  cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
57  }
58  // Reserve enough space for the indices
59  index.resize (cloud_in.size ());
60 
61  // If the data is dense, we don't need to check for NaN
62  if (cloud_in.is_dense)
63  {
64  // Simply copy the data
65  cloud_out = cloud_in;
66  for (std::size_t j = 0; j < cloud_out.size (); ++j)
67  index[j] = j;
68  }
69  else
70  {
71  std::size_t j = 0;
72  for (std::size_t i = 0; i < cloud_in.size (); ++i)
73  {
74  if (!std::isfinite (cloud_in[i].x) ||
75  !std::isfinite (cloud_in[i].y) ||
76  !std::isfinite (cloud_in[i].z))
77  continue;
78  cloud_out[j] = cloud_in[i];
79  index[j] = i;
80  j++;
81  }
82  if (j != cloud_in.size ())
83  {
84  // Resize to the correct size
85  cloud_out.resize (j);
86  index.resize (j);
87  }
88 
89  cloud_out.height = 1;
90  cloud_out.width = static_cast<std::uint32_t>(j);
91 
92  // Removing bad points => dense (note: 'dense' doesn't mean 'organized')
93  cloud_out.is_dense = true;
94  }
95 }
96 
97 //////////////////////////////////////////////////////////////////////////
98 template <typename PointT> void
100  pcl::PointCloud<PointT> &cloud_out,
101  Indices &index)
102 {
103  // If the clouds are not the same, prepare the output
104  if (&cloud_in != &cloud_out)
105  {
106  cloud_out.header = cloud_in.header;
107  cloud_out.resize (cloud_in.size ());
108  cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
109  cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
110  }
111  // Reserve enough space for the indices
112  index.resize (cloud_in.size ());
113  std::size_t j = 0;
114 
115  // Assume cloud is dense
116  cloud_out.is_dense = true;
117 
118  for (std::size_t i = 0; i < cloud_in.size (); ++i)
119  {
120  if (!std::isfinite (cloud_in[i].normal_x) ||
121  !std::isfinite (cloud_in[i].normal_y) ||
122  !std::isfinite (cloud_in[i].normal_z))
123  continue;
124  if (cloud_out.is_dense && !pcl::isFinite(cloud_in[i]))
125  cloud_out.is_dense = false;
126  cloud_out[j] = cloud_in[i];
127  index[j] = i;
128  j++;
129  }
130  if (j != cloud_in.size ())
131  {
132  // Resize to the correct size
133  cloud_out.resize (j);
134  index.resize (j);
135  }
136 
137  cloud_out.height = 1;
138  cloud_out.width = j;
139 }
140 
141 
142 #define PCL_INSTANTIATE_removeNaNFromPointCloud(T) template PCL_EXPORTS void pcl::removeNaNFromPointCloud<T>(const pcl::PointCloud<T>&, pcl::PointCloud<T>&, Indices&);
143 #define PCL_INSTANTIATE_removeNaNNormalsFromPointCloud(T) template PCL_EXPORTS void pcl::removeNaNNormalsFromPointCloud<T>(const pcl::PointCloud<T>&, pcl::PointCloud<T>&, Indices&);
144 
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
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
void resize(std::size_t count)
Resizes the container to contain count elements.
Definition: point_cloud.h:462
Eigen::Quaternionf sensor_orientation_
Sensor acquisition pose (rotation).
Definition: point_cloud.h:408
std::uint32_t width
The point cloud width (if organized as an image-structure).
Definition: point_cloud.h:398
pcl::PCLHeader header
The point cloud header.
Definition: point_cloud.h:392
std::uint32_t height
The point cloud height (if organized as an image-structure).
Definition: point_cloud.h:400
std::size_t size() const
Definition: point_cloud.h:443
Eigen::Vector4f sensor_origin_
Sensor acquisition pose (origin/translation).
Definition: point_cloud.h:406
void removeNaNNormalsFromPointCloud(const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, Indices &index)
Removes points that have their normals invalid (i.e., equal to NaN)
Definition: filter.hpp:99
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
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Definition: point_tests.h:55
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133