Point Cloud Library (PCL)  1.7.1
filter_indices.h
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36  * $Id: filter_indices.h 4707 2012-02-23 10:34:17Z florentinus $
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39 
40 #ifndef PCL_FILTERS_FILTER_INDICES_H_
41 #define PCL_FILTERS_FILTER_INDICES_H_
42 
43 #include <pcl/filters/filter.h>
44 
45 namespace pcl
46 {
47  /** \brief Removes points with x, y, or z equal to NaN (dry run).
48  *
49  * This function only computes the mapping between the points in the input
50  * cloud and the cloud that would result from filtering. It does not
51  * actually construct and output the filtered cloud.
52  *
53  * \note This function does not modify the input point cloud!
54  *
55  * \param cloud_in the input point cloud
56  * \param index the mapping (ordered): filtered_cloud.points[i] = cloud_in.points[index[i]]
57  *
58  * \see removeNaNFromPointCloud
59  * \ingroup filters
60  */
61  template<typename PointT> void
62  removeNaNFromPointCloud (const pcl::PointCloud<PointT> &cloud_in, std::vector<int> &index);
63 
64  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
65  /** \brief @b FilterIndices represents the base class for filters that are about binary point removal.
66  * <br>
67  * All derived classes have to implement the \a filter (PointCloud &output) and the \a filter (std::vector<int> &indices) methods.
68  * Ideally they also make use of the \a negative_, \a keep_organized_ and \a extract_removed_indices_ systems.
69  * The distinguishment between the \a negative_ and \a extract_removed_indices_ systems only makes sense if the class automatically
70  * filters non-finite entries in the filtering methods (recommended).
71  * \author Justin Rosen
72  * \ingroup filters
73  */
74  template<typename PointT>
75  class FilterIndices : public Filter<PointT>
76  {
77  public:
80 
81  typedef boost::shared_ptr< FilterIndices<PointT> > Ptr;
82  typedef boost::shared_ptr< const FilterIndices<PointT> > ConstPtr;
83 
84 
85  /** \brief Constructor.
86  * \param[in] extract_removed_indices Set to true if you want to be able to extract the indices of points being removed (default = false).
87  */
88  FilterIndices (bool extract_removed_indices = false) :
89  negative_ (false),
90  keep_organized_ (false),
91  user_filter_value_ (std::numeric_limits<float>::quiet_NaN ())
92  {
93  extract_removed_indices_ = extract_removed_indices;
94  }
95 
96  /** \brief Empty virtual destructor. */
97  virtual
99  {
100  }
101 
102  inline void
103  filter (PointCloud &output)
104  {
106  }
107 
108  /** \brief Calls the filtering method and returns the filtered point cloud indices.
109  * \param[out] indices the resultant filtered point cloud indices
110  */
111  inline void
112  filter (std::vector<int> &indices)
113  {
114  if (!initCompute ())
115  return;
116 
117  // Apply the actual filter
118  applyFilter (indices);
119 
120  deinitCompute ();
121  }
122 
123  /** \brief Set whether the regular conditions for points filtering should apply, or the inverted conditions.
124  * \param[in] negative false = normal filter behavior (default), true = inverted behavior.
125  */
126  inline void
127  setNegative (bool negative)
128  {
129  negative_ = negative;
130  }
131 
132  /** \brief Get whether the regular conditions for points filtering should apply, or the inverted conditions.
133  * \return The value of the internal \a negative_ parameter; false = normal filter behavior (default), true = inverted behavior.
134  */
135  inline bool
137  {
138  return (negative_);
139  }
140 
141  /** \brief Set whether the filtered points should be kept and set to the value given through \a setUserFilterValue (default: NaN),
142  * or removed from the PointCloud, thus potentially breaking its organized structure.
143  * \param[in] keep_organized false = remove points (default), true = redefine points, keep structure.
144  */
145  inline void
146  setKeepOrganized (bool keep_organized)
147  {
148  keep_organized_ = keep_organized;
149  }
150 
151  /** \brief Get whether the filtered points should be kept and set to the value given through \a setUserFilterValue (default = NaN),
152  * or removed from the PointCloud, thus potentially breaking its organized structure.
153  * \return The value of the internal \a keep_organized_ parameter; false = remove points (default), true = redefine points, keep structure.
154  */
155  inline bool
157  {
158  return (keep_organized_);
159  }
160 
161  /** \brief Provide a value that the filtered points should be set to instead of removing them.
162  * Used in conjunction with \a setKeepOrganized ().
163  * \param[in] value the user given value that the filtered point dimensions should be set to (default = NaN).
164  */
165  inline void
166  setUserFilterValue (float value)
167  {
168  user_filter_value_ = value;
169  }
170 
171  protected:
174 
175  /** \brief False = normal filter behavior (default), true = inverted behavior. */
176  bool negative_;
177 
178  /** \brief False = remove points (default), true = redefine points, keep structure. */
180 
181  /** \brief The user given value that the filtered point dimensions should be set to (default = NaN). */
183 
184  /** \brief Abstract filter method for point cloud indices. */
185  virtual void
186  applyFilter (std::vector<int> &indices) = 0;
187  };
188 
189  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
190  /** \brief @b FilterIndices represents the base class for filters that are about binary point removal.
191  * <br>
192  * All derived classes have to implement the \a filter (PointCloud &output) and the \a filter (std::vector<int> &indices) methods.
193  * Ideally they also make use of the \a negative_, \a keep_organized_ and \a extract_removed_indices_ systems.
194  * The distinguishment between the \a negative_ and \a extract_removed_indices_ systems only makes sense if the class automatically
195  * filters non-finite entries in the filtering methods (recommended).
196  * \author Justin Rosen
197  * \ingroup filters
198  */
199  template<>
200  class PCL_EXPORTS FilterIndices<pcl::PCLPointCloud2> : public Filter<pcl::PCLPointCloud2>
201  {
202  public:
204 
205  /** \brief Constructor.
206  * \param[in] extract_removed_indices Set to true if you want to extract the indices of points being removed (default = false).
207  */
208  FilterIndices (bool extract_removed_indices = false) :
209  negative_ (false),
210  keep_organized_ (false),
211  user_filter_value_ (std::numeric_limits<float>::quiet_NaN ())
212  {
213  extract_removed_indices_ = extract_removed_indices;
214  }
215 
216  /** \brief Empty virtual destructor. */
217  virtual
219  {
220  }
221 
222  virtual void
224  {
226  }
227 
228  /** \brief Calls the filtering method and returns the filtered point cloud indices.
229  * \param[out] indices the resultant filtered point cloud indices
230  */
231  void
232  filter (std::vector<int> &indices);
233 
234  /** \brief Set whether the regular conditions for points filtering should apply, or the inverted conditions.
235  * \param[in] negative false = normal filter behavior (default), true = inverted behavior.
236  */
237  inline void
238  setNegative (bool negative)
239  {
240  negative_ = negative;
241  }
242 
243  /** \brief Get whether the regular conditions for points filtering should apply, or the inverted conditions.
244  * \return The value of the internal \a negative_ parameter; false = normal filter behavior (default), true = inverted behavior.
245  */
246  inline bool
248  {
249  return (negative_);
250  }
251 
252  /** \brief Set whether the filtered points should be kept and set to the value given through \a setUserFilterValue (default: NaN),
253  * or removed from the PointCloud, thus potentially breaking its organized structure.
254  * \param[in] keep_organized false = remove points (default), true = redefine points, keep structure.
255  */
256  inline void
257  setKeepOrganized (bool keep_organized)
258  {
259  keep_organized_ = keep_organized;
260  }
261 
262  /** \brief Get whether the filtered points should be kept and set to the value given through \a setUserFilterValue (default = NaN),
263  * or removed from the PointCloud, thus potentially breaking its organized structure.
264  * \return The value of the internal \a keep_organized_ parameter; false = remove points (default), true = redefine points, keep structure.
265  */
266  inline bool
268  {
269  return (keep_organized_);
270  }
271 
272  /** \brief Provide a value that the filtered points should be set to instead of removing them.
273  * Used in conjunction with \a setKeepOrganized ().
274  * \param[in] value the user given value that the filtered point dimensions should be set to (default = NaN).
275  */
276  inline void
277  setUserFilterValue (float value)
278  {
279  user_filter_value_ = value;
280  }
281 
282  protected:
283  /** \brief False = normal filter behavior (default), true = inverted behavior. */
284  bool negative_;
285 
286  /** \brief False = remove points (default), true = redefine points, keep structure. */
288 
289  /** \brief The user given value that the filtered point dimensions should be set to (default = NaN). */
291 
292  /** \brief Abstract filter method for point cloud indices. */
293  virtual void
294  applyFilter (std::vector<int> &indices) = 0;
295  };
296 }
297 
298 #ifdef PCL_NO_PRECOMPILE
299 #include <pcl/filters/impl/filter_indices.hpp>
300 #endif
301 
302 #endif //#ifndef PCL_FILTERS_FILTER_INDICES_H_
303