Point Cloud Library (PCL)  1.14.0-dev
filter_indices.hpp
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2009, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of the copyright holder(s) nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *
34  * $Id: filter.hpp 1800 2011-07-15 11:45:31Z marton $
35  *
36  */
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 
virtual void applyFilter(Indices &indices)=0
Abstract filter method for point cloud indices.
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
std::size_t size() const
Definition: point_cloud.h:443
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
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
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
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
A point structure representing Euclidean xyz coordinates.