Point Cloud Library (PCL)  1.3.1
extract_indices.h
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00001 /*
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00034  * $Id: extract_indices.h 1370 2011-06-19 01:06:01Z jspricke $
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00037 
00038 #ifndef PCL_FILTERS_EXTRACTINDICES_H_
00039 #define PCL_FILTERS_EXTRACTINDICES_H_
00040 
00041 #include "pcl/filters/filter.h"
00042 
00043 namespace pcl
00044 {
00050   template<typename PointT>
00051   class ExtractIndices : public Filter<PointT>
00052   {
00053     using Filter<PointT>::filter_name_;
00054     using Filter<PointT>::getClassName;
00055     using Filter<PointT>::use_indices_;
00056     using Filter<PointT>::indices_;
00057     using Filter<PointT>::input_;
00058 
00059     typedef typename Filter<PointT>::PointCloud PointCloud;
00060     typedef typename PointCloud::Ptr PointCloudPtr;
00061     typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00062 
00063     public:
00065       ExtractIndices () :
00066         negative_ (false)
00067       {
00068         use_indices_ = true;
00069         filter_name_ = "ProjectInliers";
00070       }
00071 
00075       inline void
00076       setNegative (bool negative)
00077       {
00078         negative_ = negative;
00079       }
00080 
00084       inline bool
00085       getNegative ()
00086       {
00087         return (negative_);
00088       }
00089 
00090     protected:
00094       void
00095       applyFilter (PointCloud &output);
00096 
00098       bool negative_;
00099   };
00100 
00102 
00107   template<>
00108   class PCL_EXPORTS ExtractIndices<sensor_msgs::PointCloud2> : public Filter<sensor_msgs::PointCloud2>
00109   {
00110     using Filter<sensor_msgs::PointCloud2>::filter_name_;
00111     using Filter<sensor_msgs::PointCloud2>::getClassName;
00112 
00113     typedef sensor_msgs::PointCloud2 PointCloud2;
00114     typedef PointCloud2::Ptr PointCloud2Ptr;
00115     typedef PointCloud2::ConstPtr PointCloud2ConstPtr;
00116 
00117     public:
00119       ExtractIndices () : negative_ (false)
00120       {
00121         use_indices_ = true;
00122         filter_name_ = "ProjectInliers";
00123       }
00124 
00128       inline void
00129       setNegative (bool negative)
00130       {
00131         negative_ = negative;
00132       }
00133 
00137       inline bool
00138       getNegative ()
00139       {
00140         return (negative_);
00141       }
00142 
00143     protected:
00144       void
00145       applyFilter (PointCloud2 &output);
00146 
00148       bool negative_;
00149   };
00150 }
00151 
00152 #endif  //#ifndef PCL_FILTERS_EXTRACTINDICES_H_
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