Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2012, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of the copyright holder(s) nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id$ 00037 * 00038 */ 00039 00040 #ifndef PCL_FILTERS_IMPL_PASSTHROUGH_HPP_ 00041 #define PCL_FILTERS_IMPL_PASSTHROUGH_HPP_ 00042 00043 #include <pcl/filters/passthrough.h> 00044 #include <pcl/common/io.h> 00045 00046 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00047 template <typename PointT> void 00048 pcl::PassThrough<PointT>::applyFilter (PointCloud &output) 00049 { 00050 std::vector<int> indices; 00051 if (keep_organized_) 00052 { 00053 bool temp = extract_removed_indices_; 00054 extract_removed_indices_ = true; 00055 applyFilterIndices (indices); 00056 extract_removed_indices_ = temp; 00057 00058 output = *input_; 00059 for (int rii = 0; rii < static_cast<int> (removed_indices_->size ()); ++rii) // rii = removed indices iterator 00060 output.points[(*removed_indices_)[rii]].x = output.points[(*removed_indices_)[rii]].y = output.points[(*removed_indices_)[rii]].z = user_filter_value_; 00061 if (!pcl_isfinite (user_filter_value_)) 00062 output.is_dense = false; 00063 } 00064 else 00065 { 00066 output.is_dense = true; 00067 applyFilterIndices (indices); 00068 copyPointCloud (*input_, indices, output); 00069 } 00070 } 00071 00072 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00073 template <typename PointT> void 00074 pcl::PassThrough<PointT>::applyFilterIndices (std::vector<int> &indices) 00075 { 00076 // The arrays to be used 00077 indices.resize (indices_->size ()); 00078 removed_indices_->resize (indices_->size ()); 00079 int oii = 0, rii = 0; // oii = output indices iterator, rii = removed indices iterator 00080 00081 // Has a field name been specified? 00082 if (filter_field_name_.empty ()) 00083 { 00084 // Only filter for non-finite entries then 00085 for (int iii = 0; iii < static_cast<int> (indices_->size ()); ++iii) // iii = input indices iterator 00086 { 00087 // Non-finite entries are always passed to removed indices 00088 if (!pcl_isfinite (input_->points[(*indices_)[iii]].x) || 00089 !pcl_isfinite (input_->points[(*indices_)[iii]].y) || 00090 !pcl_isfinite (input_->points[(*indices_)[iii]].z)) 00091 { 00092 if (extract_removed_indices_) 00093 (*removed_indices_)[rii++] = (*indices_)[iii]; 00094 continue; 00095 } 00096 indices[oii++] = (*indices_)[iii]; 00097 } 00098 } 00099 else 00100 { 00101 // Attempt to get the field name's index 00102 std::vector<pcl::PCLPointField> fields; 00103 int distance_idx = pcl::getFieldIndex (*input_, filter_field_name_, fields); 00104 if (distance_idx == -1) 00105 { 00106 PCL_WARN ("[pcl::%s::applyFilter] Unable to find field name in point type.\n", getClassName ().c_str ()); 00107 indices.clear (); 00108 removed_indices_->clear (); 00109 return; 00110 } 00111 00112 // Filter for non-finite entries and the specified field limits 00113 for (int iii = 0; iii < static_cast<int> (indices_->size ()); ++iii) // iii = input indices iterator 00114 { 00115 // Non-finite entries are always passed to removed indices 00116 if (!pcl_isfinite (input_->points[(*indices_)[iii]].x) || 00117 !pcl_isfinite (input_->points[(*indices_)[iii]].y) || 00118 !pcl_isfinite (input_->points[(*indices_)[iii]].z)) 00119 { 00120 if (extract_removed_indices_) 00121 (*removed_indices_)[rii++] = (*indices_)[iii]; 00122 continue; 00123 } 00124 00125 // Get the field's value 00126 const uint8_t* pt_data = reinterpret_cast<const uint8_t*> (&input_->points[(*indices_)[iii]]); 00127 float field_value = 0; 00128 memcpy (&field_value, pt_data + fields[distance_idx].offset, sizeof (float)); 00129 00130 // Remove NAN/INF/-INF values. We expect passthrough to output clean valid data. 00131 if (!pcl_isfinite (field_value)) 00132 { 00133 if (extract_removed_indices_) 00134 (*removed_indices_)[rii++] = (*indices_)[iii]; 00135 continue; 00136 } 00137 00138 // Outside of the field limits are passed to removed indices 00139 if (!negative_ && (field_value < filter_limit_min_ || field_value > filter_limit_max_)) 00140 { 00141 if (extract_removed_indices_) 00142 (*removed_indices_)[rii++] = (*indices_)[iii]; 00143 continue; 00144 } 00145 00146 // Inside of the field limits are passed to removed indices if negative was set 00147 if (negative_ && field_value > filter_limit_min_ && field_value < filter_limit_max_) 00148 { 00149 if (extract_removed_indices_) 00150 (*removed_indices_)[rii++] = (*indices_)[iii]; 00151 continue; 00152 } 00153 00154 // Otherwise it was a normal point for output (inlier) 00155 indices[oii++] = (*indices_)[iii]; 00156 } 00157 } 00158 00159 // Resize the output arrays 00160 indices.resize (oii); 00161 removed_indices_->resize (rii); 00162 } 00163 00164 #define PCL_INSTANTIATE_PassThrough(T) template class PCL_EXPORTS pcl::PassThrough<T>; 00165 00166 #endif // PCL_FILTERS_IMPL_PASSTHROUGH_HPP_ 00167