Point Cloud Library (PCL)  1.3.1
color.hpp
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00001 /*
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00034  *  Author: Suat Gedikli (gedikli@willowgarage.com)
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00037 
00038 #ifndef PCL_FILTERS_IMPL_COLOR_H_
00039 #define PCL_FILTERS_IMPL_COLOR_H_
00040 
00041 #include "pcl/filters/color.h"
00042 #include "pcl/common/io.h"
00043 
00045 template <typename PointT> void
00046 pcl::ColorFilter<PointT>::applyFilter (PointCloud &output)
00047 {
00048   // Has the input dataset been set already?
00049   if (!input_)
00050   {
00051     PCL_WARN ("[pcl::%s::applyFilter] No input dataset given!\n", getClassName ().c_str ());
00052     output.width = output.height = 0;
00053     output.points.clear ();
00054     return;
00055   }
00056   // Check if we're going to keep the organized structure of the cloud or not
00057   if (keep_organized_)
00058   {
00059     output.width  = input_->width;
00060     output.height = input_->height;
00061     output.is_dense = false;
00062   }
00063   else
00064   {
00065     output.height = 1;
00066     output.is_dense = input_->is_dense;
00067   }
00068   output.points.resize (input_->points.size ());
00069   removed_indices_->resize (input_->points.size ());
00070   
00071   int nr_p = 0;
00072   int nr_removed_p = 0;
00073   float nan = std::numeric_limits<float>::quiet_NaN ();
00074   
00075   if (keep_organized_)
00076   {
00077     for (size_t cp = 0; cp < input_->points.size (); ++cp)
00078     {
00079       if (lookup_[input_->points[cp].rgba])
00080         output.points [cp] = input_->points[cp];
00081       else
00082       {
00083         output.points [cp].x = output.points[cp].y = output.points[cp].z = nan;
00084         // dont loose color information
00085         output.points [cp].rgba = input_->points[cp].rgba;
00086       }
00087     }
00088     nr_p = input_->points.size ();
00089   }
00090   else // Remove filtered points
00091   {
00092     for (size_t cp = 0; cp < input_->points.size (); ++cp)
00093     {
00094       if (lookup_[input_->points[cp].rgba])
00095         output.points [nr_p++] = input_->points[cp];
00096       else if (extract_removed_indices_)
00097           (*removed_indices_)[nr_removed_p++] = cp;
00098     }
00099     output.width = nr_p;
00100   } // !keep_organized_
00101   output.points.resize (output.width * output.height);
00102   removed_indices_->resize(nr_removed_p);
00103 }
00104 
00105 #define PCL_INSTANTIATE_ColorFilter(T) template class PCL_EXPORTS pcl::ColorFilter<T>;
00106 
00107 #endif    // PCL_FILTERS_IMPL_COLOR_H_
00108 
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