Point Cloud Library (PCL)  1.7.0
filter_indices.h
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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
48  * \param cloud_in the input point cloud
49  * \param index the mapping (ordered): cloud_out.points[i] = cloud_in.points[index[i]]
50  * \note The density of the point cloud is lost.
51  * \note Can be called with cloud_in == cloud_out
52  * \ingroup filters
53  */
54  template<typename PointT> void
55  removeNaNFromPointCloud (const pcl::PointCloud<PointT> &cloud_in, std::vector<int> &index);
56 
57  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
58  /** \brief @b FilterIndices represents the base class for filters that are about binary point removal.
59  * <br>
60  * All derived classes have to implement the \a filter (PointCloud &output) and the \a filter (std::vector<int> &indices) methods.
61  * Ideally they also make use of the \a negative_, \a keep_organized_ and \a extract_removed_indices_ systems.
62  * The distinguishment between the \a negative_ and \a extract_removed_indices_ systems only makes sense if the class automatically
63  * filters non-finite entries in the filtering methods (recommended).
64  * \author Justin Rosen
65  * \ingroup filters
66  */
67  template<typename PointT>
68  class FilterIndices : public Filter<PointT>
69  {
70  public:
73 
74  typedef boost::shared_ptr< FilterIndices<PointT> > Ptr;
75  typedef boost::shared_ptr< const FilterIndices<PointT> > ConstPtr;
76 
77 
78  /** \brief Constructor.
79  * \param[in] extract_removed_indices Set to true if you want to be able to extract the indices of points being removed (default = false).
80  */
81  FilterIndices (bool extract_removed_indices = false) :
82  negative_ (false),
83  keep_organized_ (false),
84  user_filter_value_ (std::numeric_limits<float>::quiet_NaN ())
85  {
86  extract_removed_indices_ = extract_removed_indices;
87  }
88 
89  /** \brief Empty virtual destructor. */
90  virtual
92  {
93  }
94 
95  inline void
96  filter (PointCloud &output)
97  {
99  }
100 
101  /** \brief Calls the filtering method and returns the filtered point cloud indices.
102  * \param[out] indices the resultant filtered point cloud indices
103  */
104  inline void
105  filter (std::vector<int> &indices)
106  {
107  if (!initCompute ())
108  return;
109 
110  // Apply the actual filter
111  applyFilter (indices);
112 
113  deinitCompute ();
114  }
115 
116  /** \brief Set whether the regular conditions for points filtering should apply, or the inverted conditions.
117  * \param[in] negative false = normal filter behavior (default), true = inverted behavior.
118  */
119  inline void
120  setNegative (bool negative)
121  {
122  negative_ = negative;
123  }
124 
125  /** \brief Get whether the regular conditions for points filtering should apply, or the inverted conditions.
126  * \return The value of the internal \a negative_ parameter; false = normal filter behavior (default), true = inverted behavior.
127  */
128  inline bool
130  {
131  return (negative_);
132  }
133 
134  /** \brief Set whether the filtered points should be kept and set to the value given through \a setUserFilterValue (default: NaN),
135  * or removed from the PointCloud, thus potentially breaking its organized structure.
136  * \param[in] keep_organized false = remove points (default), true = redefine points, keep structure.
137  */
138  inline void
139  setKeepOrganized (bool keep_organized)
140  {
141  keep_organized_ = keep_organized;
142  }
143 
144  /** \brief Get whether the filtered points should be kept and set to the value given through \a setUserFilterValue (default = NaN),
145  * or removed from the PointCloud, thus potentially breaking its organized structure.
146  * \return The value of the internal \a keep_organized_ parameter; false = remove points (default), true = redefine points, keep structure.
147  */
148  inline bool
150  {
151  return (keep_organized_);
152  }
153 
154  /** \brief Provide a value that the filtered points should be set to instead of removing them.
155  * Used in conjunction with \a setKeepOrganized ().
156  * \param[in] value the user given value that the filtered point dimensions should be set to (default = NaN).
157  */
158  inline void
159  setUserFilterValue (float value)
160  {
161  user_filter_value_ = value;
162  }
163 
164  protected:
167 
168  /** \brief False = normal filter behavior (default), true = inverted behavior. */
169  bool negative_;
170 
171  /** \brief False = remove points (default), true = redefine points, keep structure. */
173 
174  /** \brief The user given value that the filtered point dimensions should be set to (default = NaN). */
176 
177  /** \brief Abstract filter method for point cloud indices. */
178  virtual void
179  applyFilter (std::vector<int> &indices) = 0;
180  };
181 
182  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
183  /** \brief @b FilterIndices represents the base class for filters that are about binary point removal.
184  * <br>
185  * All derived classes have to implement the \a filter (PointCloud &output) and the \a filter (std::vector<int> &indices) methods.
186  * Ideally they also make use of the \a negative_, \a keep_organized_ and \a extract_removed_indices_ systems.
187  * The distinguishment between the \a negative_ and \a extract_removed_indices_ systems only makes sense if the class automatically
188  * filters non-finite entries in the filtering methods (recommended).
189  * \author Justin Rosen
190  * \ingroup filters
191  */
192  template<>
193  class PCL_EXPORTS FilterIndices<pcl::PCLPointCloud2> : public Filter<pcl::PCLPointCloud2>
194  {
195  public:
197 
198  /** \brief Constructor.
199  * \param[in] extract_removed_indices Set to true if you want to extract the indices of points being removed (default = false).
200  */
201  FilterIndices (bool extract_removed_indices = false) :
202  negative_ (false),
203  keep_organized_ (false),
204  user_filter_value_ (std::numeric_limits<float>::quiet_NaN ())
205  {
206  extract_removed_indices_ = extract_removed_indices;
207  }
208 
209  /** \brief Empty virtual destructor. */
210  virtual
212  {
213  }
214 
215  virtual void
217  {
219  }
220 
221  /** \brief Calls the filtering method and returns the filtered point cloud indices.
222  * \param[out] indices the resultant filtered point cloud indices
223  */
224  void
225  filter (std::vector<int> &indices);
226 
227  /** \brief Set whether the regular conditions for points filtering should apply, or the inverted conditions.
228  * \param[in] negative false = normal filter behavior (default), true = inverted behavior.
229  */
230  inline void
231  setNegative (bool negative)
232  {
233  negative_ = negative;
234  }
235 
236  /** \brief Get whether the regular conditions for points filtering should apply, or the inverted conditions.
237  * \return The value of the internal \a negative_ parameter; false = normal filter behavior (default), true = inverted behavior.
238  */
239  inline bool
241  {
242  return (negative_);
243  }
244 
245  /** \brief Set whether the filtered points should be kept and set to the value given through \a setUserFilterValue (default: NaN),
246  * or removed from the PointCloud, thus potentially breaking its organized structure.
247  * \param[in] keep_organized false = remove points (default), true = redefine points, keep structure.
248  */
249  inline void
250  setKeepOrganized (bool keep_organized)
251  {
252  keep_organized_ = keep_organized;
253  }
254 
255  /** \brief Get whether the filtered points should be kept and set to the value given through \a setUserFilterValue (default = NaN),
256  * or removed from the PointCloud, thus potentially breaking its organized structure.
257  * \return The value of the internal \a keep_organized_ parameter; false = remove points (default), true = redefine points, keep structure.
258  */
259  inline bool
261  {
262  return (keep_organized_);
263  }
264 
265  /** \brief Provide a value that the filtered points should be set to instead of removing them.
266  * Used in conjunction with \a setKeepOrganized ().
267  * \param[in] value the user given value that the filtered point dimensions should be set to (default = NaN).
268  */
269  inline void
270  setUserFilterValue (float value)
271  {
272  user_filter_value_ = value;
273  }
274 
275  protected:
276  /** \brief False = normal filter behavior (default), true = inverted behavior. */
277  bool negative_;
278 
279  /** \brief False = remove points (default), true = redefine points, keep structure. */
281 
282  /** \brief The user given value that the filtered point dimensions should be set to (default = NaN). */
284 
285  /** \brief Abstract filter method for point cloud indices. */
286  virtual void
287  applyFilter (std::vector<int> &indices) = 0;
288  };
289 }
290 
291 #ifdef PCL_NO_PRECOMPILE
292 #include <pcl/filters/impl/filter_indices.hpp>
293 #endif
294 
295 #endif //#ifndef PCL_FILTERS_FILTER_INDICES_H_
296