shadowpoints.h

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 * Point Cloud Library (PCL) - www.pointclouds.org
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#ifndef PCL_FILTERS_SHADOW_POINTS_FILTER_H_
#define PCL_FILTERS_SHADOW_POINTS_FILTER_H_

#include <pcl/filters/filter_indices.h>
#include <time.h>
#include <limits.h>

namespace pcl
{
  template<typename PointT, typename NormalT>
  class ShadowPoints : public FilterIndices<PointT>
  {
    using FilterIndices<PointT>::filter_name_;
    using FilterIndices<PointT>::getClassName;
    using FilterIndices<PointT>::indices_;
    using FilterIndices<PointT>::input_;
    using FilterIndices<PointT>::removed_indices_;
    using FilterIndices<PointT>::extract_removed_indices_;
    using FilterIndices<PointT>::negative_;
    using FilterIndices<PointT>::user_filter_value_;
    using FilterIndices<PointT>::keep_organized_;

    typedef typename FilterIndices<PointT>::PointCloud PointCloud;
    typedef typename PointCloud::Ptr PointCloudPtr;
    typedef typename PointCloud::ConstPtr PointCloudConstPtr;
    typedef typename pcl::PointCloud<NormalT>::Ptr NormalsPtr;

    public:

      typedef boost::shared_ptr< ShadowPoints<PointT, NormalT> > Ptr;
      typedef boost::shared_ptr< const ShadowPoints<PointT, NormalT> > ConstPtr;

      ShadowPoints (bool extract_removed_indices = false) : 
        FilterIndices<PointT> (extract_removed_indices),
        input_normals_ (), 
        threshold_ (0.1f) 
      {
        filter_name_ = "ShadowPoints";
      }

      inline void 
      setNormals (const NormalsPtr &normals) { input_normals_ = normals; }

      inline NormalsPtr
      getNormals () const { return (input_normals_); }

      inline void
      setThreshold (float threshold) { threshold_ = threshold; }

      inline float 
      getThreshold () const { return threshold_; }

    protected:
     
      NormalsPtr input_normals_; 

      void
      applyFilter (PointCloud &output);

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

    private:

      float threshold_;
  };
}

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

#endif  //#ifndef PCL_FILTERS_SHADOW_POINTS_FILTER_H_