conditional_removal.h

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/*
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 * $Id: conditional_removal.h 35810 2011-02-08 00:03:46Z rusu $
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#ifndef PCL_FILTER_FIELD_VAL_CONDITION_H_
#define PCL_FILTER_FIELD_VAL_CONDITION_H_

#include <pcl/filters/filter.h>

namespace pcl
{
  namespace ComparisonOps 
  {
    typedef enum 
    {
      GT,
      GE,
      LT,
      LE,
      EQ
    } CompareOp;
  }


  template <typename PointT>
  class PointDataAtOffset
  {
    public:
      PointDataAtOffset (uint8_t datatype, uint32_t offset) : datatype_(datatype), offset_(offset) {}

      int compare (const PointT& p, const double& val);
    protected:
      uint8_t datatype_; 

      uint32_t offset_;
    private:
      PointDataAtOffset () {}
  };


  template <typename PointT>
  class ComparisonBase
  {
    public:
      typedef boost::shared_ptr<ComparisonBase<PointT> > Ptr;
      typedef boost::shared_ptr<const ComparisonBase<PointT> > ConstPtr;

      inline bool isCapable () const { return (capable_); }

      virtual bool evaluate (const PointT &point) const = 0;
  
    protected:
      bool capable_;
      
      std::string field_name_;
      
      uint32_t offset_;

      ComparisonOps::CompareOp op_;
  };


  template <typename PointT>
  class FieldComparison : public ComparisonBase<PointT>
  {
    using ComparisonBase<PointT>::field_name_;
    using ComparisonBase<PointT>::op_;
    using ComparisonBase<PointT>::capable_;

    public:
      typedef boost::shared_ptr<FieldComparison<PointT> > Ptr;
      typedef boost::shared_ptr<const FieldComparison<PointT> > ConstPtr;

      FieldComparison (std::string field_name, ComparisonOps::CompareOp op, double compare_val);

      virtual ~FieldComparison();
  
      virtual inline bool 
      evaluate (const PointT &point) const;
  
    protected:
      double compare_val_;
      
      PointDataAtOffset<PointT>* point_data_;

    private:
      FieldComparison () {} // not allowed
  };


  template <typename PointT>
  class PackedRGBComparison : public ComparisonBase<PointT>
  {
    using ComparisonBase<PointT>::capable_;
    using ComparisonBase<PointT>::op_;

    public:
      PackedRGBComparison (std::string component_name, ComparisonOps::CompareOp op, double compare_val);
      
      virtual inline bool 
      evaluate (const PointT &point) const;
  
    protected:
      std::string component_name_;

      uint32_t component_offset_;

      double compare_val_;

    private:
      PackedRGBComparison () {} // not allowed
      
  };


  template <typename PointT>
  class PackedHSIComparison : public ComparisonBase<PointT>
  {
    using ComparisonBase<PointT>::capable_;
    using ComparisonBase<PointT>::op_;

    public:
      PackedHSIComparison (std::string component_name, ComparisonOps::CompareOp op, double compare_val);
      
      virtual inline bool 
      evaluate (const PointT &point) const;

      typedef enum 
      {
        H, // -128 to 127 corresponds to -pi to pi
        S, // 0 to 255
        I, // 0 to 255
      } ComponentId;
  
    protected:
      std::string component_name_;
      
      ComponentId component_id_; 
      
      double compare_val_; 

      uint32_t rgb_offset_;
  
    private:
      PackedHSIComparison () {} // not allowed
  };


  template <typename PointT>
  class ConditionBase
  {
    public:
      typedef typename pcl::ComparisonBase<PointT> ComparisonBase;
      typedef typename ComparisonBase::Ptr ComparisonBasePtr;
      typedef typename ComparisonBase::ConstPtr ComparisonBaseConstPtr;

      typedef boost::shared_ptr<ConditionBase<PointT> > Ptr;
      typedef boost::shared_ptr<const ConditionBase<PointT> > ConstPtr;

      ConditionBase () : capable_(true) {}

      virtual ~ConditionBase ()
      {
        // comparisons are boost::shared_ptr.will take care of themselves
        comparisons_.clear ();

        // conditions are boost::shared_ptr. will take care of themselves
        conditions_.clear ();
      }

      void 
      addComparison (ComparisonBaseConstPtr comparison);

      void 
      addCondition (ConstPtr condition);
  
      inline bool 
      isCapable () const { return (capable_); }

      virtual bool 
      evaluate (const PointT &point) const = 0;
  
    protected:
      bool capable_;

      std::vector<ComparisonBaseConstPtr> comparisons_;

      std::vector<Ptr> conditions_;
  };


  template <typename PointT>
  class ConditionAnd: public ConditionBase<PointT>
  {
    using ConditionBase<PointT>::conditions_;
    using ConditionBase<PointT>::comparisons_;

    public:
      typedef boost::shared_ptr<ConditionAnd<PointT> > Ptr;
      typedef boost::shared_ptr<const ConditionAnd<PointT> > ConstPtr;

      ConditionAnd () : ConditionBase<PointT>() {}
  
      virtual inline bool 
      evaluate (const PointT &point) const;
  };


  template <typename PointT>
  class ConditionOr: public ConditionBase<PointT>
  {
    using ConditionBase<PointT>::conditions_;
    using ConditionBase<PointT>::comparisons_;

    public:
      typedef boost::shared_ptr<ConditionOr<PointT> > Ptr;
      typedef boost::shared_ptr<const ConditionOr<PointT> > ConstPtr;

      ConditionOr () : ConditionBase<PointT>() {}
  
      virtual inline bool 
      evaluate (const PointT &point) const;
  };


  template <typename PointT>
  class ConditionalRemoval: public Filter<PointT>
  {
    using Filter<PointT>::input_;
    using Filter<PointT>::filter_name_;
    using Filter<PointT>::getClassName;
    
    typedef typename Filter<PointT>::PointCloud PointCloud;
    typedef typename PointCloud::Ptr PointCloudPtr;
    typedef typename PointCloud::ConstPtr PointCloudConstPtr;

    public:
      typedef typename pcl::ConditionBase<PointT> ConditionBase;
      typedef typename ConditionBase::Ptr ConditionBasePtr;
      typedef typename ConditionBase::ConstPtr ConditionBaseConstPtr;

      ConditionalRemoval () : keep_organized_(false), condition_()
      {
        filter_name_ = "ConditionalRemoval";
      }

      ConditionalRemoval (ConditionBasePtr condition) : keep_organized_(false), condition_()
      {
        filter_name_ = "ConditionalRemoval";
        setCondition (condition);
      }

      inline void setKeepOrganized (bool val) { keep_organized_ = val; }
      
      inline bool getKeepOrganized () { return (keep_organized_); }

      void 
      setCondition (ConditionBasePtr condition);

    protected:
      void applyFilter(PointCloud &output);

      typedef typename pcl::traits::fieldList<PointT>::type FieldList;

      bool capable_;

      bool keep_organized_;

      ConditionBasePtr condition_;
  };
}

#include <pcl/filters/impl/conditional_removal.hpp>

#endif 

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:21 2013