extract_indices.cpp

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: extract_indices.cpp 34891 2010-12-19 03:22:06Z rusu $
 *
 */

#include "pcl/impl/instantiate.hpp"
#include "pcl/point_types.h"
#include "pcl/filters/extract_indices.h"
#include "pcl/filters/impl/extract_indices.hpp"

void
pcl::ExtractIndices<sensor_msgs::PointCloud2>::applyFilter (PointCloud2 &output)
{
  if (indices_->empty ())
  {
    output.width = output.height = 0;
    output.data.clear ();
    // If negative, copy all the data
    if (negative_)
      output = *input_;
    return;
  }
  if (indices_->size () == (input_->width * input_->height))
  {
    output = *input_;
    return;
  }

  // Copy the common fields (header and fields should have already been copied)
  output.is_bigendian = input_->is_bigendian;
  output.point_step   = input_->point_step;
  output.height       = 1;
  // TODO: check the output cloud and assign is_dense based on whether the points are valid or not
  output.is_dense     = false;

  if (negative_)
  {
    // Prepare a vector holding all indices
    std::vector<int> all_indices (input_->width * input_->height);
    for (size_t i = 0; i < all_indices.size (); ++i)
      all_indices[i] = i;

    std::vector<int> indices = *indices_;
    std::sort (indices.begin (), indices.end ());

    // Get the diference
    std::vector<int> remaining_indices;
    set_difference (all_indices.begin (), all_indices.end (), indices.begin (), indices.end (),
                    inserter (remaining_indices, remaining_indices.begin ()));

    // Prepare the output and copy the data
    output.width = remaining_indices.size ();
    output.data.resize (remaining_indices.size () * output.point_step);
    for (size_t i = 0; i < remaining_indices.size (); ++i)
      memcpy (&output.data[i * output.point_step], &input_->data[remaining_indices[i] * output.point_step], output.point_step);
  }
  else
  {
    // Prepare the output and copy the data
    output.width = indices_->size ();
    output.data.resize (indices_->size () * output.point_step);
    for (size_t i = 0; i < indices_->size (); ++i)
      memcpy (&output.data[i * output.point_step], &input_->data[(*indices_)[i] * output.point_step], output.point_step);
  }
  output.row_step = output.point_step * output.width;
}

PCL_INSTANTIATE(ExtractIndices, PCL_XYZ_POINT_TYPES);
PCL_INSTANTIATE(ExtractIndices, (pcl::Normal));
PCL_INSTANTIATE(ExtractIndices, (pcl::MomentInvariants)(pcl::Boundary)(pcl::PrincipalCurvatures)(pcl::IntensityGradient));

/* the following types to not work. TODO: fix this.
//template class pcl::ExtractIndices<pcl::PointXY>;
//template class pcl::ExtractIndices<pcl::PFHSignature125>;
//template class pcl::ExtractIndices<pcl::FPFHSignature33>;
//template class pcl::ExtractIndices<pcl::VFHSignature308>;
//template class pcl::ExtractIndices<pcl::Narf36>;
//template class pcl::ExtractIndices<pcl::BorderDescription>;
*/

---

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