40 #ifndef PCL_FILTERS_IMPL_PASSTHROUGH_HPP_ 41 #define PCL_FILTERS_IMPL_PASSTHROUGH_HPP_ 43 #include <pcl/filters/passthrough.h> 44 #include <pcl/common/io.h> 47 template <
typename Po
intT>
void 50 std::vector<int> indices;
53 bool temp = extract_removed_indices_;
54 extract_removed_indices_ =
true;
55 applyFilterIndices (indices);
56 extract_removed_indices_ = temp;
59 for (
int rii = 0; rii < static_cast<int> (removed_indices_->size ()); ++rii)
60 output.
points[(*removed_indices_)[rii]].x = output.
points[(*removed_indices_)[rii]].y = output.
points[(*removed_indices_)[rii]].z = user_filter_value_;
61 if (!pcl_isfinite (user_filter_value_))
67 applyFilterIndices (indices);
73 template <
typename Po
intT>
void 77 indices.resize (indices_->size ());
78 removed_indices_->resize (indices_->size ());
82 if (filter_field_name_.empty ())
85 for (
int iii = 0; iii < static_cast<int> (indices_->size ()); ++iii)
88 if (!pcl_isfinite (input_->points[(*indices_)[iii]].x) ||
89 !pcl_isfinite (input_->points[(*indices_)[iii]].y) ||
90 !pcl_isfinite (input_->points[(*indices_)[iii]].z))
92 if (extract_removed_indices_)
93 (*removed_indices_)[rii++] = (*indices_)[iii];
96 indices[oii++] = (*indices_)[iii];
102 std::vector<pcl::PCLPointField> fields;
104 if (distance_idx == -1)
106 PCL_WARN (
"[pcl::%s::applyFilter] Unable to find field name in point type.\n", getClassName ().c_str ());
108 removed_indices_->clear ();
113 for (
int iii = 0; iii < static_cast<int> (indices_->size ()); ++iii)
116 if (!pcl_isfinite (input_->points[(*indices_)[iii]].x) ||
117 !pcl_isfinite (input_->points[(*indices_)[iii]].y) ||
118 !pcl_isfinite (input_->points[(*indices_)[iii]].z))
120 if (extract_removed_indices_)
121 (*removed_indices_)[rii++] = (*indices_)[iii];
126 const uint8_t* pt_data = reinterpret_cast<const uint8_t*> (&input_->points[(*indices_)[iii]]);
127 float field_value = 0;
128 memcpy (&field_value, pt_data + fields[distance_idx].offset,
sizeof (
float));
131 if (!pcl_isfinite (field_value))
133 if (extract_removed_indices_)
134 (*removed_indices_)[rii++] = (*indices_)[iii];
139 if (!negative_ && (field_value < filter_limit_min_ || field_value > filter_limit_max_))
141 if (extract_removed_indices_)
142 (*removed_indices_)[rii++] = (*indices_)[iii];
147 if (negative_ && field_value >= filter_limit_min_ && field_value <= filter_limit_max_)
149 if (extract_removed_indices_)
150 (*removed_indices_)[rii++] = (*indices_)[iii];
155 indices[oii++] = (*indices_)[iii];
160 indices.resize (oii);
161 removed_indices_->resize (rii);
164 #define PCL_INSTANTIATE_PassThrough(T) template class PCL_EXPORTS pcl::PassThrough<T>; 166 #endif // PCL_FILTERS_IMPL_PASSTHROUGH_HPP_ int getFieldIndex(const pcl::PCLPointCloud2 &cloud, const std::string &field_name)
Get the index of a specified field (i.e., dimension/channel)
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
void applyFilter(PointCloud &output)
Filtered results are stored in a separate point cloud.
PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &cloud_in, const std::vector< int > &indices, pcl::PCLPointCloud2 &cloud_out)
Extract the indices of a given point cloud as a new point cloud.
bool is_dense
True if no points are invalid (e.g., have NaN or Inf values).
void applyFilterIndices(std::vector< int > &indices)
Filtered results are indexed by an indices array.