Point Cloud Library (PCL)  1.3.1
extract_indices.hpp
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00001 /*
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00034  * $Id: extract_indices.hpp 2362 2011-09-01 20:25:10Z rusu $
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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_
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