passthrough.h
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00001 /*
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00036  * $Id: passthrough.h 6144 2012-07-04 22:06:28Z rusu $
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00038  */
00039 
00040 #ifndef PCL_FILTERS_PASSTHROUGH_H_
00041 #define PCL_FILTERS_PASSTHROUGH_H_
00042 
00043 #include <pcl/filters/filter_indices.h>
00044 
00045 namespace pcl
00046 {
00079   template <typename PointT>
00080   class PassThrough : public FilterIndices<PointT>
00081   {
00082     protected:
00083       typedef typename FilterIndices<PointT>::PointCloud PointCloud;
00084       typedef typename PointCloud::Ptr PointCloudPtr;
00085       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00086       typedef typename pcl::traits::fieldList<PointT>::type FieldList;
00087 
00088     public:
00092       PassThrough (bool extract_removed_indices = false) :
00093         FilterIndices<PointT>::FilterIndices (extract_removed_indices),
00094         filter_field_name_ (""),
00095         filter_limit_min_ (FLT_MIN),
00096         filter_limit_max_ (FLT_MAX)
00097       {
00098         filter_name_ = "PassThrough";
00099       }
00100 
00105       inline void
00106       setFilterFieldName (const std::string &field_name)
00107       {
00108         filter_field_name_ = field_name;
00109       }
00110 
00114       inline std::string const
00115       getFilterFieldName ()
00116       {
00117         return (filter_field_name_);
00118       }
00119 
00125       inline void
00126       setFilterLimits (const float &limit_min, const float &limit_max)
00127       {
00128         filter_limit_min_ = limit_min;
00129         filter_limit_max_ = limit_max;
00130       }
00131 
00136       inline void
00137       getFilterLimits (float &limit_min, float &limit_max)
00138       {
00139         limit_min = filter_limit_min_;
00140         limit_max = filter_limit_max_;
00141       }
00142 
00148       inline void
00149       setFilterLimitsNegative (const bool limit_negative)
00150       {
00151         negative_ = limit_negative;
00152       }
00153 
00158       inline void
00159       getFilterLimitsNegative (bool &limit_negative)
00160       {
00161         limit_negative = negative_;
00162       }
00163 
00168       inline bool
00169       getFilterLimitsNegative ()
00170       {
00171         return (negative_);
00172       }
00173 
00174     protected:
00175       using PCLBase<PointT>::input_;
00176       using PCLBase<PointT>::indices_;
00177       using Filter<PointT>::filter_name_;
00178       using Filter<PointT>::getClassName;
00179       using FilterIndices<PointT>::negative_;
00180       using FilterIndices<PointT>::keep_organized_;
00181       using FilterIndices<PointT>::user_filter_value_;
00182       using FilterIndices<PointT>::extract_removed_indices_;
00183       using FilterIndices<PointT>::removed_indices_;
00184 
00188       void
00189       applyFilter (PointCloud &output);
00190 
00194       void
00195       applyFilter (std::vector<int> &indices)
00196       {
00197         applyFilterIndices (indices);
00198       }
00199 
00203       void
00204       applyFilterIndices (std::vector<int> &indices);
00205 
00206     private:
00208       std::string filter_field_name_;
00209 
00211       float filter_limit_min_;
00212 
00214       float filter_limit_max_;
00215   };
00216 
00218 
00223   template<>
00224   class PCL_EXPORTS PassThrough<sensor_msgs::PointCloud2> : public Filter<sensor_msgs::PointCloud2>
00225   {
00226     typedef sensor_msgs::PointCloud2 PointCloud2;
00227     typedef PointCloud2::Ptr PointCloud2Ptr;
00228     typedef PointCloud2::ConstPtr PointCloud2ConstPtr;
00229 
00230     using Filter<sensor_msgs::PointCloud2>::removed_indices_;
00231     using Filter<sensor_msgs::PointCloud2>::extract_removed_indices_;
00232 
00233     public:
00235       PassThrough (bool extract_removed_indices = false) :
00236         Filter<sensor_msgs::PointCloud2>::Filter (extract_removed_indices), keep_organized_ (false),
00237         user_filter_value_ (std::numeric_limits<float>::quiet_NaN ()),
00238         filter_field_name_ (""), filter_limit_min_ (-FLT_MAX), filter_limit_max_ (FLT_MAX),
00239         filter_limit_negative_ (false)
00240       {
00241         filter_name_ = "PassThrough";
00242       }
00243 
00252       inline void
00253       setKeepOrganized (bool val)
00254       {
00255         keep_organized_ = val;
00256       }
00257 
00259       inline bool
00260       getKeepOrganized ()
00261       {
00262         return (keep_organized_);
00263       }
00264 
00270       inline void
00271       setUserFilterValue (float val)
00272       {
00273         user_filter_value_ = val;
00274       }
00275 
00280       inline void
00281       setFilterFieldName (const std::string &field_name)
00282       {
00283         filter_field_name_ = field_name;
00284       }
00285 
00287       inline std::string const
00288       getFilterFieldName ()
00289       {
00290         return (filter_field_name_);
00291       }
00292 
00297       inline void
00298       setFilterLimits (const double &limit_min, const double &limit_max)
00299       {
00300         filter_limit_min_ = limit_min;
00301         filter_limit_max_ = limit_max;
00302       }
00303 
00308       inline void
00309       getFilterLimits (double &limit_min, double &limit_max)
00310       {
00311         limit_min = filter_limit_min_;
00312         limit_max = filter_limit_max_;
00313       }
00314 
00319       inline void
00320       setFilterLimitsNegative (const bool limit_negative)
00321       {
00322         filter_limit_negative_ = limit_negative;
00323       }
00324 
00328       inline void
00329       getFilterLimitsNegative (bool &limit_negative)
00330       {
00331         limit_negative = filter_limit_negative_;
00332       }
00333 
00337       inline bool
00338       getFilterLimitsNegative ()
00339       {
00340         return (filter_limit_negative_);
00341       }
00342 
00343     protected:
00344       void
00345       applyFilter (PointCloud2 &output);
00346 
00347     private:
00351       bool keep_organized_;
00352 
00356       float user_filter_value_;
00357 
00359       std::string filter_field_name_;
00360 
00362       double filter_limit_min_;
00363 
00365       double filter_limit_max_;
00366 
00368       bool filter_limit_negative_;
00369 
00370   };
00371 }
00372 
00373 #endif  // PCL_FILTERS_PASSTHROUGH_H_
00374 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:16:23