filter.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id$
 *
 */

#ifndef PCL_FILTER_H_
#define PCL_FILTER_H_

#include <pcl/pcl_base.h>
#include <pcl/conversions.h>
#include <pcl/filters/boost.h>
#include <cfloat>
#include <pcl/PointIndices.h>

namespace pcl
{
  template<typename PointT> void
  removeNaNFromPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                           pcl::PointCloud<PointT> &cloud_out, 
                           std::vector<int> &index);

  template<typename PointT> void
  removeNaNNormalsFromPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  std::vector<int> &index);


  template<typename PointT>
  class Filter : public PCLBase<PointT>
  {
    public:
      using PCLBase<PointT>::indices_;
      using PCLBase<PointT>::input_;

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


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

      Filter (bool extract_removed_indices = false) : 
        removed_indices_ (new std::vector<int>),
        filter_name_ (),
        extract_removed_indices_ (extract_removed_indices)
      {
      }

      virtual ~Filter () {}

      inline IndicesConstPtr const
      getRemovedIndices ()
      {
        return (removed_indices_);
      }

      inline void
      getRemovedIndices (PointIndices &pi)
      {
        pi.indices = *removed_indices_;
      }

      inline void
      filter (PointCloud &output)
      {
        if (!initCompute ())
          return;

        // Resize the output dataset
        //if (output.points.size () != indices_->size ())
        //  output.points.resize (indices_->size ());

        // Copy header at a minimum
        output.header = input_->header;
        output.sensor_origin_ = input_->sensor_origin_;
        output.sensor_orientation_ = input_->sensor_orientation_;

        // Apply the actual filter
        applyFilter (output);

        deinitCompute ();
      }

    protected:

      using PCLBase<PointT>::initCompute;
      using PCLBase<PointT>::deinitCompute;

      IndicesPtr removed_indices_;

      std::string filter_name_;

      bool extract_removed_indices_;

      virtual void
      applyFilter (PointCloud &output) = 0;

      inline const std::string&
      getClassName () const
      {
        return (filter_name_);
      }
  };


  template<>
  class PCL_EXPORTS Filter<pcl::PCLPointCloud2> : public PCLBase<pcl::PCLPointCloud2>
  {
    public:
      typedef boost::shared_ptr< Filter<pcl::PCLPointCloud2> > Ptr;
      typedef boost::shared_ptr< const Filter<pcl::PCLPointCloud2> > ConstPtr;

      typedef pcl::PCLPointCloud2 PCLPointCloud2;
      typedef PCLPointCloud2::Ptr PCLPointCloud2Ptr;
      typedef PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr;

      Filter (bool extract_removed_indices = false) : 
        removed_indices_ (new std::vector<int>),
        extract_removed_indices_ (extract_removed_indices),
        filter_name_ ()
      {
      }
      
      virtual ~Filter () {}

      inline IndicesConstPtr const
      getRemovedIndices ()
      {
        return (removed_indices_);
      }

      inline void
      getRemovedIndices (PointIndices &pi)
      {
        pi.indices = *removed_indices_;
      }

      void
      filter (PCLPointCloud2 &output);

    protected:

      IndicesPtr removed_indices_;

      bool extract_removed_indices_;

      std::string filter_name_;

      virtual void
      applyFilter (PCLPointCloud2 &output) = 0;

      inline const std::string&
      getClassName () const
      {
        return (filter_name_);
      }
  };
}

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

#endif  //#ifndef PCL_FILTER_H_