Point Cloud Library (PCL)  1.11.1-dev
filter_indices.hpp
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34  * $Id: filter.hpp 1800 2011-07-15 11:45:31Z marton $
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37 
38 #ifndef PCL_FILTERS_IMPL_FILTER_INDICES_H_
39 #define PCL_FILTERS_IMPL_FILTER_INDICES_H_
40 
41 #include <pcl/filters/filter_indices.h>
42 
43 template <typename PointT> void
45  Indices &index)
46 {
47  // Reserve enough space for the indices
48  index.resize (cloud_in.size ());
49 
50  // If the data is dense, we don't need to check for NaN
51  if (cloud_in.is_dense)
52  {
53  for (int j = 0; j < static_cast<int> (cloud_in.size ()); ++j)
54  index[j] = j;
55  }
56  else
57  {
58  int j = 0;
59  for (int i = 0; i < static_cast<int> (cloud_in.size ()); ++i)
60  {
61  if (!std::isfinite (cloud_in[i].x) ||
62  !std::isfinite (cloud_in[i].y) ||
63  !std::isfinite (cloud_in[i].z))
64  continue;
65  index[j] = i;
66  j++;
67  }
68  if (j != static_cast<int> (cloud_in.size ()))
69  {
70  // Resize to the correct size
71  index.resize (j);
72  }
73  }
74 }
75 
76 template<typename PointT> void
78 {
79  Indices indices;
80  if (keep_organized_)
81  {
82  if (!extract_removed_indices_)
83  {
84  PCL_WARN ("[pcl::FilterIndices<PointT>::applyFilter] extract_removed_indices_ was set to 'true' to keep the point cloud organized.\n");
85  extract_removed_indices_ = true;
86  }
87  applyFilter (indices);
88 
89  output = *input_;
90 
91  // To preserve legacy behavior, only coordinates xyz are filtered.
92  // Copying a PointXYZ initialized with the user_filter_value_ into a generic
93  // PointT, ensures only the xyz coordinates, if they exist at destination,
94  // are overwritten.
95  const PointXYZ ufv (user_filter_value_, user_filter_value_, user_filter_value_);
96  for (const auto ri : *removed_indices_) // ri = removed index
97  copyPoint(ufv, output[ri]);
98  if (!std::isfinite (user_filter_value_))
99  output.is_dense = false;
100  }
101  else
102  {
103  output.is_dense = true;
104  applyFilter (indices);
105  pcl::copyPointCloud (*input_, indices, output);
106  }
107 }
108 
109 
110 #define PCL_INSTANTIATE_removeNanFromPointCloud(T) template PCL_EXPORTS void pcl::removeNaNFromPointCloud<T>(const pcl::PointCloud<T>&, Indices&);
111 #define PCL_INSTANTIATE_FilterIndices(T) template class PCL_EXPORTS pcl::FilterIndices<T>;
112 
113 #endif // PCL_FILTERS_IMPL_FILTER_INDICES_H_
114 
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
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:121
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::FilterIndices::applyFilter
virtual void applyFilter(Indices &indices)=0
Abstract filter method for point cloud indices.
pcl::PointXYZ
A point structure representing Euclidean xyz coordinates.
Definition: point_types.hpp:300
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:396
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:131
pcl::PointCloud::size
std::size_t size() const
Definition: point_cloud.h:436