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 * $Id: extract_indices.hpp 1897 2011-07-26 20:35:49Z rusu $ 00037 * 00038 */ 00039 00040 #ifndef PCL_FILTERS_IMPL_CROP_BOX_H_ 00041 #define PCL_FILTERS_IMPL_CROP_BOX_H_ 00042 00043 #include <pcl/filters/crop_box.h> 00044 #include <pcl/common/io.h> 00045 00046 /////////////////////////////////////////////////////////////////////////////// 00047 template<typename PointT> void 00048 pcl::CropBox<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 applyFilter (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 applyFilter (indices); 00068 pcl::copyPointCloud (*input_, indices, output); 00069 } 00070 } 00071 00072 /////////////////////////////////////////////////////////////////////////////// 00073 template<typename PointT> void 00074 pcl::CropBox<PointT>::applyFilter (std::vector<int> &indices) 00075 { 00076 indices.resize (input_->points.size ()); 00077 removed_indices_->resize (input_->points.size ()); 00078 int indices_count = 0; 00079 int removed_indices_count = 0; 00080 00081 Eigen::Affine3f transform = Eigen::Affine3f::Identity (); 00082 Eigen::Affine3f inverse_transform = Eigen::Affine3f::Identity (); 00083 00084 if (rotation_ != Eigen::Vector3f::Zero ()) 00085 { 00086 pcl::getTransformation (0, 0, 0, 00087 rotation_ (0), rotation_ (1), rotation_ (2), 00088 transform); 00089 inverse_transform = transform.inverse (); 00090 } 00091 00092 for (size_t index = 0; index < indices_->size (); ++index) 00093 { 00094 if (!input_->is_dense) 00095 // Check if the point is invalid 00096 if (!isFinite (input_->points[index])) 00097 continue; 00098 00099 // Get local point 00100 PointT local_pt = input_->points[(*indices_)[index]]; 00101 00102 // Transform point to world space 00103 if (!(transform_.matrix ().isIdentity ())) 00104 local_pt = pcl::transformPoint<PointT> (local_pt, transform_); 00105 00106 if (translation_ != Eigen::Vector3f::Zero ()) 00107 { 00108 local_pt.x -= translation_ (0); 00109 local_pt.y -= translation_ (1); 00110 local_pt.z -= translation_ (2); 00111 } 00112 00113 // Transform point to local space of crop box 00114 if (!(inverse_transform.matrix ().isIdentity ())) 00115 local_pt = pcl::transformPoint<PointT> (local_pt, inverse_transform); 00116 00117 // If outside the cropbox 00118 if ( (local_pt.x < min_pt_[0] || local_pt.y < min_pt_[1] || local_pt.z < min_pt_[2]) || 00119 (local_pt.x > max_pt_[0] || local_pt.y > max_pt_[1] || local_pt.z > max_pt_[2])) 00120 { 00121 if (negative_) 00122 indices[indices_count++] = (*indices_)[index]; 00123 else if (extract_removed_indices_) 00124 (*removed_indices_)[removed_indices_count++] = static_cast<int> (index); 00125 } 00126 // If inside the cropbox 00127 else 00128 { 00129 if (negative_ && extract_removed_indices_) 00130 (*removed_indices_)[removed_indices_count++] = static_cast<int> (index); 00131 else if (!negative_) 00132 indices[indices_count++] = (*indices_)[index]; 00133 } 00134 } 00135 indices.resize (indices_count); 00136 removed_indices_->resize (removed_indices_count); 00137 } 00138 00139 #define PCL_INSTANTIATE_CropBox(T) template class PCL_EXPORTS pcl::CropBox<T>; 00140 00141 #endif // PCL_FILTERS_IMPL_CROP_BOX_H_