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: extract_indices.hpp 2362 2011-09-01 20:25:10Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_FILTERS_IMPL_EXTRACT_INDICES_H_ 00039 #define PCL_FILTERS_IMPL_EXTRACT_INDICES_H_ 00040 00041 #include "pcl/common/io.h" 00042 #include "pcl/filters/extract_indices.h" 00043 00045 template <typename PointT> void 00046 pcl::ExtractIndices<PointT>::applyFilter (PointCloud &output) 00047 { 00048 if (indices_->empty () || input_->points.empty ()) 00049 { 00050 output.width = output.height = 0; 00051 output.points.clear (); 00052 // If negative, copy all the data 00053 if (negative_) 00054 output = *input_; 00055 return; 00056 } 00057 00058 // If the set of indices equals the number of points in the input dataset 00059 if (indices_->size () == (input_->width * input_->height) || 00060 indices_->size () == input_->points.size ()) 00061 { 00062 // If negative, then return an empty cloud 00063 if (negative_) 00064 { 00065 output.width = output.height = 0; 00066 output.points.clear (); 00067 } 00068 // else, we need to return all points 00069 else 00070 output = *input_; 00071 return; 00072 } 00073 00074 // We have a set of indices which is a subset of cloud, so let's start processing 00075 if (negative_) 00076 { 00077 // Prepare a vector holding all indices 00078 std::vector<int> all_indices (input_->points.size ()); 00079 for (size_t i = 0; i < all_indices.size (); ++i) 00080 all_indices[i] = i; 00081 00082 std::vector<int> indices = *indices_; 00083 std::sort (indices.begin (), indices.end ()); 00084 00085 // Get the diference 00086 std::vector<int> remaining_indices; 00087 set_difference (all_indices.begin (), all_indices.end (), indices.begin (), indices.end (), 00088 inserter (remaining_indices, remaining_indices.begin ())); 00089 00090 copyPointCloud (*input_, remaining_indices, output); 00091 } 00092 else 00093 copyPointCloud (*input_, *indices_, output); 00094 } 00095 00096 #define PCL_INSTANTIATE_ExtractIndices(T) template class PCL_EXPORTS pcl::ExtractIndices<T>; 00097 00098 #endif // PCL_FILTERS_IMPL_EXTRACT_INDICES_H_