Point Cloud Library (PCL)  1.3.1
passthrough.h
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00001 /*
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00034  * $Id: passthrough.h 1370 2011-06-19 01:06:01Z jspricke $
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00036  */
00037 
00038 #ifndef PCL_FILTERS_PASSTHROUGH_H_
00039 #define PCL_FILTERS_PASSTHROUGH_H_
00040 
00041 #include "pcl/filters/filter.h"
00042 
00043 namespace pcl
00044 {
00046 
00051   template<typename PointT>
00052   class PassThrough : public Filter<PointT>
00053   {
00054     using Filter<PointT>::input_;
00055     using Filter<PointT>::filter_name_;
00056     using Filter<PointT>::filter_field_name_;
00057     using Filter<PointT>::filter_limit_min_;
00058     using Filter<PointT>::filter_limit_max_;
00059     using Filter<PointT>::filter_limit_negative_;
00060     using Filter<PointT>::getClassName;
00061 
00062     using Filter<PointT>::removed_indices_;
00063     using Filter<PointT>::extract_removed_indices_;
00064 
00065     typedef typename Filter<PointT>::PointCloud PointCloud;
00066     typedef typename PointCloud::Ptr PointCloudPtr;
00067     typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00068 
00069     public:
00071       PassThrough (bool extract_removed_indices = false) :
00072         Filter<PointT>::Filter (extract_removed_indices), keep_organized_ (false), 
00073         user_filter_value_ (std::numeric_limits<float>::quiet_NaN ())
00074       {
00075         filter_name_ = "PassThrough";
00076       }
00077 
00086       inline void
00087       setKeepOrganized (bool val)
00088       {
00089         keep_organized_ = val;
00090       }
00091 
00092       inline bool
00093       getKeepOrganized ()
00094       {
00095         return (keep_organized_);
00096       }
00097 
00103       inline void
00104       setUserFilterValue (float val)
00105       {
00106         user_filter_value_ = val;
00107       }
00108     protected:
00112       void
00113       applyFilter (PointCloud &output);
00114 
00115       typedef typename pcl::traits::fieldList<PointT>::type FieldList;
00116 
00117     private:
00121       bool keep_organized_;
00122 
00126       float user_filter_value_;
00127   };
00128 
00130 
00135   template<>
00136   class PCL_EXPORTS PassThrough<sensor_msgs::PointCloud2> : public Filter<sensor_msgs::PointCloud2>
00137   {
00138     typedef sensor_msgs::PointCloud2 PointCloud2;
00139     typedef PointCloud2::Ptr PointCloud2Ptr;
00140     typedef PointCloud2::ConstPtr PointCloud2ConstPtr;
00141 
00142     using Filter<sensor_msgs::PointCloud2>::removed_indices_;
00143     using Filter<sensor_msgs::PointCloud2>::extract_removed_indices_;
00144 
00145     public:
00147       PassThrough (bool extract_removed_indices = false) :
00148         Filter<sensor_msgs::PointCloud2>::Filter (extract_removed_indices), keep_organized_ (false),
00149         user_filter_value_ (std::numeric_limits<float>::quiet_NaN ())
00150       {
00151         filter_name_ = "PassThrough";
00152       }
00153 
00162       inline void
00163       setKeepOrganized (bool val)
00164       {
00165         keep_organized_ = val;
00166       }
00167 
00168       inline bool
00169       getKeepOrganized ()
00170       {
00171         return (keep_organized_);
00172       }
00173 
00179       inline void
00180       setUserFilterValue (float val)
00181       {
00182         user_filter_value_ = val;
00183       }
00184 
00185     protected:
00186       void
00187       applyFilter (PointCloud2 &output);
00188 
00189     private:
00193       bool keep_organized_;
00194 
00198       float user_filter_value_;
00199   };
00200 }
00201 
00202 #endif  //#ifndef PCL_FILTERS_PASSTHROUGH_H_
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