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) 2009-2011, 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 */ 00037 00038 #ifndef PCL_FILTERS_IMPL_SHADOW_POINTS_FILTER_H_ 00039 #define PCL_FILTERS_IMPL_SHADOW_POINTS_FILTER_H_ 00040 00041 #include <pcl/filters/shadowpoints.h> 00042 00043 #include <vector> 00044 00045 /////////////////////////////////////////////////////////////////////////////// 00046 template<typename PointT, typename NormalT> void 00047 pcl::ShadowPoints<PointT, NormalT>::applyFilter (PointCloud &output) 00048 { 00049 assert (input_normals_ != NULL); 00050 output.points.resize (input_->points.size ()); 00051 if (extract_removed_indices_) 00052 removed_indices_->resize (input_->points.size ()); 00053 00054 unsigned int cp = 0; 00055 unsigned int ri = 0; 00056 for (unsigned int i = 0; i < input_->points.size (); i++) 00057 { 00058 const NormalT &normal = input_normals_->points[i]; 00059 const PointT &pt = input_->points[i]; 00060 float val = fabsf (normal.normal_x * pt.x + normal.normal_y * pt.y + normal.normal_z * pt.z); 00061 00062 if ( (val >= threshold_) ^ negative_) 00063 output.points[cp++] = pt; 00064 else 00065 { 00066 if (extract_removed_indices_) 00067 (*removed_indices_)[ri++] = i; 00068 if (keep_organized_) 00069 { 00070 PointT &pt_new = output.points[cp++] = pt; 00071 pt_new.x = pt_new.y = pt_new.z = user_filter_value_; 00072 } 00073 00074 } 00075 } 00076 output.points.resize (cp); 00077 removed_indices_->resize (ri); 00078 output.width = 1; 00079 output.height = static_cast<uint32_t> (output.points.size ()); 00080 } 00081 00082 /////////////////////////////////////////////////////////////////////////////// 00083 template<typename PointT, typename NormalT> void 00084 pcl::ShadowPoints<PointT, NormalT>::applyFilter (std::vector<int> &indices) 00085 { 00086 assert (input_normals_ != NULL); 00087 indices.resize (input_->points.size ()); 00088 if (extract_removed_indices_) 00089 removed_indices_->resize (indices_->size ()); 00090 00091 unsigned int k = 0; 00092 unsigned int z = 0; 00093 for (std::vector<int>::const_iterator idx = indices_->begin (); idx != indices_->end (); ++idx) 00094 { 00095 const NormalT &normal = input_normals_->points[*idx]; 00096 const PointT &pt = input_->points[*idx]; 00097 00098 float val = fabsf (normal.normal_x * pt.x + normal.normal_y * pt.y + normal.normal_z * pt.z); 00099 00100 if ( (val >= threshold_) ^ negative_) 00101 indices[k++] = *idx; 00102 else if (extract_removed_indices_) 00103 (*removed_indices_)[z++] = *idx; 00104 } 00105 indices.resize (k); 00106 removed_indices_->resize (z); 00107 } 00108 00109 #define PCL_INSTANTIATE_ShadowPoints(T,NT) template class PCL_EXPORTS pcl::ShadowPoints<T,NT>; 00110 00111 #endif // PCL_FILTERS_IMPL_NORMAL_SPACE_SAMPLE_H_