filter_indices.hpp
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00001 /*
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00034  * $Id: filter_indices.hpp 4968 2012-03-08 06:39:52Z rusu $
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00037 
00038 #ifndef PCL_FILTERS_IMPL_FILTER_INDICES_H_
00039 #define PCL_FILTERS_IMPL_FILTER_INDICES_H_
00040 
00041 #include <pcl/pcl_macros.h>
00042 
00043 
00044 template <typename PointT> void
00045 pcl::removeNaNFromPointCloud (const pcl::PointCloud<PointT> &cloud_in,
00046                               std::vector<int> &index)
00047 {
00048   // Reserve enough space for the indices
00049   index.resize (cloud_in.points.size ());
00050   int j = 0;
00051 
00052   // If the data is dense, we don't need to check for NaN
00053   if (cloud_in.is_dense)
00054   {
00055     for (j = 0; j < static_cast<int> (cloud_in.points.size ()); ++j)
00056       index[j] = j;
00057   }
00058   else
00059   {
00060     for (int i = 0; i < static_cast<int> (cloud_in.points.size ()); ++i)
00061     {
00062       if (!pcl_isfinite (cloud_in.points[i].x) || 
00063           !pcl_isfinite (cloud_in.points[i].y) || 
00064           !pcl_isfinite (cloud_in.points[i].z))
00065         continue;
00066       index[j] = i;
00067       j++;
00068     }
00069     if (j != static_cast<int> (cloud_in.points.size ()))
00070     {
00071       // Resize to the correct size
00072       index.resize (j);
00073     }
00074   }
00075 }
00076 
00077 #define PCL_INSTANTIATE_removeNanFromPointCloud(T) template PCL_EXPORTS void pcl::removeNaNFromPointCloud<T>(const pcl::PointCloud<T>&, std::vector<int>&);
00078 
00079 #endif    // PCL_FILTERS_IMPL_FILTER_INDICES_H_
00080 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:15:11