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00040 #ifndef PCL_FILTERS_IMPL_PASSTHROUGH_HPP_
00041 #define PCL_FILTERS_IMPL_PASSTHROUGH_HPP_
00042
00043 #include <pcl/filters/passthrough.h>
00044 #include <pcl/common/io.h>
00045
00047 template <typename PointT> void
00048 pcl::PassThrough<PointT>::applyFilter (PointCloud &output)
00049 {
00050 std::vector<int> indices;
00051 if (keep_organized_)
00052 {
00053 bool temp = extract_removed_indices_;
00054 extract_removed_indices_ = true;
00055 applyFilterIndices (indices);
00056 extract_removed_indices_ = temp;
00057
00058 output = *input_;
00059 for (int rii = 0; rii < static_cast<int> (removed_indices_->size ()); ++rii)
00060 output.points[(*removed_indices_)[rii]].x = output.points[(*removed_indices_)[rii]].y = output.points[(*removed_indices_)[rii]].z = user_filter_value_;
00061 if (!pcl_isfinite (user_filter_value_))
00062 output.is_dense = false;
00063 }
00064 else
00065 {
00066 output.is_dense = true;
00067 applyFilterIndices (indices);
00068 copyPointCloud (*input_, indices, output);
00069 }
00070 }
00071
00073 template <typename PointT> void
00074 pcl::PassThrough<PointT>::applyFilterIndices (std::vector<int> &indices)
00075 {
00076
00077 indices.resize (indices_->size ());
00078 removed_indices_->resize (indices_->size ());
00079 int oii = 0, rii = 0;
00080
00081
00082 if (filter_field_name_.empty ())
00083 {
00084
00085 for (int iii = 0; iii < static_cast<int> (indices_->size ()); ++iii)
00086 {
00087
00088 if (!pcl_isfinite (input_->points[(*indices_)[iii]].x) ||
00089 !pcl_isfinite (input_->points[(*indices_)[iii]].y) ||
00090 !pcl_isfinite (input_->points[(*indices_)[iii]].z))
00091 {
00092 if (extract_removed_indices_)
00093 (*removed_indices_)[rii++] = (*indices_)[iii];
00094 continue;
00095 }
00096 indices[oii++] = (*indices_)[iii];
00097 }
00098 }
00099 else
00100 {
00101
00102 std::vector<pcl::PCLPointField> fields;
00103 int distance_idx = pcl::getFieldIndex (*input_, filter_field_name_, fields);
00104 if (distance_idx == -1)
00105 {
00106 PCL_WARN ("[pcl::%s::applyFilter] Unable to find field name in point type.\n", getClassName ().c_str ());
00107 indices.clear ();
00108 removed_indices_->clear ();
00109 return;
00110 }
00111
00112
00113 for (int iii = 0; iii < static_cast<int> (indices_->size ()); ++iii)
00114 {
00115
00116 if (!pcl_isfinite (input_->points[(*indices_)[iii]].x) ||
00117 !pcl_isfinite (input_->points[(*indices_)[iii]].y) ||
00118 !pcl_isfinite (input_->points[(*indices_)[iii]].z))
00119 {
00120 if (extract_removed_indices_)
00121 (*removed_indices_)[rii++] = (*indices_)[iii];
00122 continue;
00123 }
00124
00125
00126 const uint8_t* pt_data = reinterpret_cast<const uint8_t*> (&input_->points[(*indices_)[iii]]);
00127 float field_value = 0;
00128 memcpy (&field_value, pt_data + fields[distance_idx].offset, sizeof (float));
00129
00130
00131 if (!pcl_isfinite (field_value))
00132 {
00133 if (extract_removed_indices_)
00134 (*removed_indices_)[rii++] = (*indices_)[iii];
00135 continue;
00136 }
00137
00138
00139 if (!negative_ && (field_value < filter_limit_min_ || field_value > filter_limit_max_))
00140 {
00141 if (extract_removed_indices_)
00142 (*removed_indices_)[rii++] = (*indices_)[iii];
00143 continue;
00144 }
00145
00146
00147 if (negative_ && field_value > filter_limit_min_ && field_value < filter_limit_max_)
00148 {
00149 if (extract_removed_indices_)
00150 (*removed_indices_)[rii++] = (*indices_)[iii];
00151 continue;
00152 }
00153
00154
00155 indices[oii++] = (*indices_)[iii];
00156 }
00157 }
00158
00159
00160 indices.resize (oii);
00161 removed_indices_->resize (rii);
00162 }
00163
00164 #define PCL_INSTANTIATE_PassThrough(T) template class PCL_EXPORTS pcl::PassThrough<T>;
00165
00166 #endif // PCL_FILTERS_IMPL_PASSTHROUGH_HPP_
00167