crop_box.hpp

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 * $Id: extract_indices.hpp 1897 2011-07-26 20:35:49Z rusu $
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#ifndef PCL_FILTERS_IMPL_CROP_BOX_H_
#define PCL_FILTERS_IMPL_CROP_BOX_H_

#include <pcl/filters/crop_box.h>
#include <pcl/common/io.h>

template<typename PointT> void
pcl::CropBox<PointT>::applyFilter (PointCloud &output)
{
  std::vector<int> indices;
  if (keep_organized_)
  {
    bool temp = extract_removed_indices_;
    extract_removed_indices_ = true;
    applyFilter (indices);
    extract_removed_indices_ = temp;

    output = *input_;
    for (int rii = 0; rii < static_cast<int> (removed_indices_->size ()); ++rii)  // rii = removed indices iterator
      output.points[(*removed_indices_)[rii]].x = output.points[(*removed_indices_)[rii]].y = output.points[(*removed_indices_)[rii]].z = user_filter_value_;
    if (!pcl_isfinite (user_filter_value_))
      output.is_dense = false;
  }
  else
  {
    output.is_dense = true;
    applyFilter (indices);
    pcl::copyPointCloud (*input_, indices, output);
  }
}

template<typename PointT> void
pcl::CropBox<PointT>::applyFilter (std::vector<int> &indices)
{
  indices.resize (input_->points.size ());
  removed_indices_->resize (input_->points.size ());
  int indices_count = 0;
  int removed_indices_count = 0;

  Eigen::Affine3f transform = Eigen::Affine3f::Identity ();
  Eigen::Affine3f inverse_transform = Eigen::Affine3f::Identity ();

  if (rotation_ != Eigen::Vector3f::Zero ())
  {
    pcl::getTransformation (0, 0, 0,
                            rotation_ (0), rotation_ (1), rotation_ (2),
                            transform);
    inverse_transform = transform.inverse ();
  }

  for (size_t index = 0; index < indices_->size (); ++index)
  {
    if (!input_->is_dense)
      // Check if the point is invalid
      if (!isFinite (input_->points[index]))
        continue;

    // Get local point
    PointT local_pt = input_->points[(*indices_)[index]];

    // Transform point to world space
    if (!(transform_.matrix ().isIdentity ()))
      local_pt = pcl::transformPoint<PointT> (local_pt, transform_);

    if (translation_ != Eigen::Vector3f::Zero ())
    {
      local_pt.x -= translation_ (0);
      local_pt.y -= translation_ (1);
      local_pt.z -= translation_ (2);
    }

    // Transform point to local space of crop box
    if (!(inverse_transform.matrix ().isIdentity ()))
      local_pt = pcl::transformPoint<PointT> (local_pt, inverse_transform);

    // If outside the cropbox
    if ( (local_pt.x < min_pt_[0] || local_pt.y < min_pt_[1] || local_pt.z < min_pt_[2]) ||
         (local_pt.x > max_pt_[0] || local_pt.y > max_pt_[1] || local_pt.z > max_pt_[2]))
    {
      if (negative_)
        indices[indices_count++] = (*indices_)[index];
      else if (extract_removed_indices_)
        (*removed_indices_)[removed_indices_count++] = static_cast<int> (index);
    }
    // If inside the cropbox
    else
    {
      if (negative_ && extract_removed_indices_)
        (*removed_indices_)[removed_indices_count++] = static_cast<int> (index);
      else if (!negative_) 
        indices[indices_count++] = (*indices_)[index];
    }
  }
  indices.resize (indices_count);
  removed_indices_->resize (removed_indices_count);
}

#define PCL_INSTANTIATE_CropBox(T) template class PCL_EXPORTS pcl::CropBox<T>;

#endif    // PCL_FILTERS_IMPL_CROP_BOX_H_