Point Cloud Library (PCL) 1.14.0
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passthrough.hpp
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39
40#ifndef PCL_FILTERS_IMPL_PASSTHROUGH_HPP_
41#define PCL_FILTERS_IMPL_PASSTHROUGH_HPP_
42
43#include <pcl/filters/passthrough.h>
44
45////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
46template <typename PointT> void
48{
49 // The arrays to be used
50 indices.resize (indices_->size ());
51 removed_indices_->resize (indices_->size ());
52 int oii = 0, rii = 0; // oii = output indices iterator, rii = removed indices iterator
53
54 // Has a field name been specified?
55 if (filter_field_name_.empty ())
56 {
57 // Only filter for non-finite entries then
58 for (const auto ii : *indices_) // ii = input index
59 {
60 // Non-finite entries are always passed to removed indices
61 if (!std::isfinite ((*input_)[ii].x) ||
62 !std::isfinite ((*input_)[ii].y) ||
63 !std::isfinite ((*input_)[ii].z))
64 {
65 if (extract_removed_indices_)
66 (*removed_indices_)[rii++] = ii;
67 continue;
68 }
69 indices[oii++] = ii;
70 }
71 }
72 else
73 {
74 // Attempt to get the field name's index
75 std::vector<pcl::PCLPointField> fields;
76 int distance_idx = pcl::getFieldIndex<PointT> (filter_field_name_, fields);
77 if (distance_idx == -1)
78 {
79 PCL_WARN ("[pcl::%s::applyFilter] Unable to find field name in point type.\n", getClassName ().c_str ());
80 indices.clear ();
81 removed_indices_->clear ();
82 return;
83 }
84 if (fields[distance_idx].datatype != pcl::PCLPointField::PointFieldTypes::FLOAT32)
85 {
86 PCL_ERROR ("[pcl::%s::applyFilter] PassThrough currently only works with float32 fields. To filter fields of other types see ConditionalRemoval or FunctorFilter/FunctionFilter.\n", getClassName ().c_str ());
87 indices.clear ();
88 removed_indices_->clear ();
89 return;
90 }
91 if (filter_field_name_ == "rgb")
92 PCL_WARN ("[pcl::%s::applyFilter] You told PassThrough to operate on the 'rgb' field. This will likely not do what you expect. Consider using ConditionalRemoval or FunctorFilter/FunctionFilter.\n", getClassName ().c_str ());
93 const auto field_offset = fields[distance_idx].offset;
94
95 // Filter for non-finite entries and the specified field limits
96 for (const auto ii : *indices_) // ii = input index
97 {
98 // Non-finite entries are always passed to removed indices
99 if (!std::isfinite ((*input_)[ii].x) ||
100 !std::isfinite ((*input_)[ii].y) ||
101 !std::isfinite ((*input_)[ii].z))
102 {
103 if (extract_removed_indices_)
104 (*removed_indices_)[rii++] = ii;
105 continue;
106 }
107
108 // Get the field's value
109 const auto* pt_data = reinterpret_cast<const std::uint8_t*> (&(*input_)[ii]);
110 float field_value = 0;
111 memcpy (&field_value, pt_data + field_offset, sizeof (float));
112
113 // Remove NAN/INF/-INF values. We expect passthrough to output clean valid data.
114 if (!std::isfinite (field_value))
115 {
116 if (extract_removed_indices_)
117 (*removed_indices_)[rii++] = ii;
118 continue;
119 }
120
121 // Outside of the field limits are passed to removed indices
122 if (!negative_ && (field_value < filter_limit_min_ || field_value > filter_limit_max_))
123 {
124 if (extract_removed_indices_)
125 (*removed_indices_)[rii++] = ii;
126 continue;
127 }
128
129 // Inside of the field limits are passed to removed indices if negative was set
130 if (negative_ && field_value >= filter_limit_min_ && field_value <= filter_limit_max_)
131 {
132 if (extract_removed_indices_)
133 (*removed_indices_)[rii++] = ii;
134 continue;
135 }
136
137 // Otherwise it was a normal point for output (inlier)
138 indices[oii++] = ii;
139 }
140 }
141
142 // Resize the output arrays
143 indices.resize (oii);
144 removed_indices_->resize (rii);
145}
146
147#define PCL_INSTANTIATE_PassThrough(T) template class PCL_EXPORTS pcl::PassThrough<T>;
148
149#endif // PCL_FILTERS_IMPL_PASSTHROUGH_HPP_
150
void applyFilterIndices(Indices &indices)
Filtered results are indexed by an indices array.
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133