Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: filter_indices.hpp 3029 2011-11-01 04:12:25Z svn $ 00035 * 00036 */ 00037 00038 #ifndef PCL_FILTERS_IMPL_FILTER_INDICES_H_ 00039 #define PCL_FILTERS_IMPL_FILTER_INDICES_H_ 00040 00041 #include "pcl/win32_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 size_t 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 < cloud_in.points.size (); ++j) 00056 { 00057 index[j] = j; 00058 } 00059 } 00060 else 00061 { 00062 for (size_t i = 0; i < cloud_in.points.size (); ++i) 00063 { 00064 if (!pcl_isfinite (cloud_in.points[i].x) || 00065 !pcl_isfinite (cloud_in.points[i].y) || 00066 !pcl_isfinite (cloud_in.points[i].z)) 00067 continue; 00068 index[j] = i; 00069 j++; 00070 } 00071 if (j != cloud_in.points.size ()) 00072 { 00073 // Resize to the correct size 00074 index.resize (j); 00075 } 00076 } 00077 } 00078 00079 #define PCL_INSTANTIATE_removeNanFromPointCloud(T) template PCL_EXPORTS void pcl::removeNaNFromPointCloud<T>(const pcl::PointCloud<T>&, std::vector<int>&); 00080 00081 #endif // PCL_FILTERS_IMPL_FILTER_INDICES_H_ 00082