Point Cloud Library (PCL)  1.8.1-dev
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filter_indices.hpp
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34  * $Id: filter.hpp 1800 2011-07-15 11:45:31Z marton $
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37 
38 #ifndef PCL_FILTERS_IMPL_FILTER_INDICES_H_
39 #define PCL_FILTERS_IMPL_FILTER_INDICES_H_
40 
41 #include <pcl/pcl_macros.h>
42 #include <pcl/filters/filter_indices.h>
43 
44 template <typename PointT> void
46  std::vector<int> &index)
47 {
48  // Reserve enough space for the indices
49  index.resize (cloud_in.points.size ());
50  int j = 0;
51 
52  // If the data is dense, we don't need to check for NaN
53  if (cloud_in.is_dense)
54  {
55  for (j = 0; j < static_cast<int> (cloud_in.points.size ()); ++j)
56  index[j] = j;
57  }
58  else
59  {
60  for (int i = 0; i < static_cast<int> (cloud_in.points.size ()); ++i)
61  {
62  if (!pcl_isfinite (cloud_in.points[i].x) ||
63  !pcl_isfinite (cloud_in.points[i].y) ||
64  !pcl_isfinite (cloud_in.points[i].z))
65  continue;
66  index[j] = i;
67  j++;
68  }
69  if (j != static_cast<int> (cloud_in.points.size ()))
70  {
71  // Resize to the correct size
72  index.resize (j);
73  }
74  }
75 }
76 
77 #define PCL_INSTANTIATE_removeNanFromPointCloud(T) template PCL_EXPORTS void pcl::removeNaNFromPointCloud<T>(const pcl::PointCloud<T>&, std::vector<int>&);
78 
79 #endif // PCL_FILTERS_IMPL_FILTER_INDICES_H_
80 
void removeNaNFromPointCloud(const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, std::vector< int > &index)
Removes points with x, y, or z equal to NaN.
Definition: filter.hpp:46
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
Definition: point_cloud.h:410
bool is_dense
True if no points are invalid (e.g., have NaN or Inf values in any of their floating point fields)...
Definition: point_cloud.h:418