Point Cloud Library (PCL)  1.12.1-dev
passthrough.hpp
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39 
40 #ifndef PCL_FILTERS_IMPL_PASSTHROUGH_HPP_
41 #define PCL_FILTERS_IMPL_PASSTHROUGH_HPP_
42 
43 #include <pcl/filters/passthrough.h>
44 
45 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
46 template <typename PointT> void
48 {
49  // The arrays to be used
50  indices.resize (indices_->size ());
51  removed_indices_->resize (indices_->size ());
52  int oii = 0, rii = 0; // oii = output indices iterator, rii = removed indices iterator
53 
54  // Has a field name been specified?
55  if (filter_field_name_.empty ())
56  {
57  // Only filter for non-finite entries then
58  for (const auto ii : *indices_) // ii = input index
59  {
60  // Non-finite entries are always passed to removed indices
61  if (!std::isfinite ((*input_)[ii].x) ||
62  !std::isfinite ((*input_)[ii].y) ||
63  !std::isfinite ((*input_)[ii].z))
64  {
65  if (extract_removed_indices_)
66  (*removed_indices_)[rii++] = ii;
67  continue;
68  }
69  indices[oii++] = ii;
70  }
71  }
72  else
73  {
74  // Attempt to get the field name's index
75  std::vector<pcl::PCLPointField> fields;
76  int distance_idx = pcl::getFieldIndex<PointT> (filter_field_name_, fields);
77  if (distance_idx == -1)
78  {
79  PCL_WARN ("[pcl::%s::applyFilter] Unable to find field name in point type.\n", getClassName ().c_str ());
80  indices.clear ();
81  removed_indices_->clear ();
82  return;
83  }
84 
85  // Filter for non-finite entries and the specified field limits
86  for (const auto ii : *indices_) // ii = input index
87  {
88  // Non-finite entries are always passed to removed indices
89  if (!std::isfinite ((*input_)[ii].x) ||
90  !std::isfinite ((*input_)[ii].y) ||
91  !std::isfinite ((*input_)[ii].z))
92  {
93  if (extract_removed_indices_)
94  (*removed_indices_)[rii++] = ii;
95  continue;
96  }
97 
98  // Get the field's value
99  const std::uint8_t* pt_data = reinterpret_cast<const std::uint8_t*> (&(*input_)[ii]);
100  float field_value = 0;
101  memcpy (&field_value, pt_data + fields[distance_idx].offset, sizeof (float));
102 
103  // Remove NAN/INF/-INF values. We expect passthrough to output clean valid data.
104  if (!std::isfinite (field_value))
105  {
106  if (extract_removed_indices_)
107  (*removed_indices_)[rii++] = ii;
108  continue;
109  }
110 
111  // Outside of the field limits are passed to removed indices
112  if (!negative_ && (field_value < filter_limit_min_ || field_value > filter_limit_max_))
113  {
114  if (extract_removed_indices_)
115  (*removed_indices_)[rii++] = ii;
116  continue;
117  }
118 
119  // Inside of the field limits are passed to removed indices if negative was set
120  if (negative_ && field_value >= filter_limit_min_ && field_value <= filter_limit_max_)
121  {
122  if (extract_removed_indices_)
123  (*removed_indices_)[rii++] = ii;
124  continue;
125  }
126 
127  // Otherwise it was a normal point for output (inlier)
128  indices[oii++] = ii;
129  }
130  }
131 
132  // Resize the output arrays
133  indices.resize (oii);
134  removed_indices_->resize (rii);
135 }
136 
137 #define PCL_INSTANTIATE_PassThrough(T) template class PCL_EXPORTS pcl::PassThrough<T>;
138 
139 #endif // PCL_FILTERS_IMPL_PASSTHROUGH_HPP_
140 
void applyFilterIndices(Indices &indices)
Filtered results are indexed by an indices array.
Definition: passthrough.hpp:47
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133