extract_indices.h

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#ifndef PCL_FILTERS_EXTRACT_INDICES_H_
#define PCL_FILTERS_EXTRACT_INDICES_H_

#include <pcl/filters/filter_indices.h>

namespace pcl
{
  template<typename PointT>
  class ExtractIndices : public FilterIndices<PointT>
  {
    protected:
      typedef typename FilterIndices<PointT>::PointCloud PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;
      typedef typename pcl::traits::fieldList<PointT>::type FieldList;

    public:

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

      ExtractIndices (bool extract_removed_indices = false) :
        FilterIndices<PointT>::FilterIndices (extract_removed_indices)
      {
        use_indices_ = true;
        filter_name_ = "ExtractIndices";
      }

      void
      filterDirectly (PointCloudPtr &cloud);

    protected:
      using PCLBase<PointT>::input_;
      using PCLBase<PointT>::indices_;
      using PCLBase<PointT>::use_indices_;
      using Filter<PointT>::filter_name_;
      using Filter<PointT>::getClassName;
      using FilterIndices<PointT>::negative_;
      using FilterIndices<PointT>::keep_organized_;
      using FilterIndices<PointT>::user_filter_value_;
      using FilterIndices<PointT>::extract_removed_indices_;
      using FilterIndices<PointT>::removed_indices_;

      void
      applyFilter (PointCloud &output);

      void
      applyFilter (std::vector<int> &indices)
      {
        applyFilterIndices (indices);
      }

      void
      applyFilterIndices (std::vector<int> &indices);
  };


  template<>
  class PCL_EXPORTS ExtractIndices<pcl::PCLPointCloud2> : public FilterIndices<pcl::PCLPointCloud2>
  {
    public:
      typedef pcl::PCLPointCloud2 PCLPointCloud2;
      typedef PCLPointCloud2::Ptr PCLPointCloud2Ptr;
      typedef PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr;

      ExtractIndices ()
      {
        use_indices_ = true;
        filter_name_ = "ExtractIndices";
      }

    protected:
      using PCLBase<PCLPointCloud2>::input_;
      using PCLBase<PCLPointCloud2>::indices_;
      using PCLBase<PCLPointCloud2>::use_indices_;
      using Filter<PCLPointCloud2>::filter_name_;
      using Filter<PCLPointCloud2>::getClassName;
      using FilterIndices<PCLPointCloud2>::negative_;
      using FilterIndices<PCLPointCloud2>::keep_organized_;
      using FilterIndices<PCLPointCloud2>::user_filter_value_;

      void
      applyFilter (PCLPointCloud2 &output);

      void
      applyFilter (std::vector<int> &indices);
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/filters/impl/extract_indices.hpp>
#endif

#endif  // PCL_FILTERS_EXTRACT_INDICES_H_