passthrough.hpp

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#ifndef PCL_FILTERS_IMPL_PASSTHROUGH_HPP_
#define PCL_FILTERS_IMPL_PASSTHROUGH_HPP_
 
#include <pcl/filters/passthrough.h>
 
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::PassThrough<PointT>::applyFilterIndices (Indices &indices)
{
  // The arrays to be used
  indices.resize (indices_->size ());
  removed_indices_->resize (indices_->size ());
  int oii = 0, rii = 0;  // oii = output indices iterator, rii = removed indices iterator
 
  // Has a field name been specified?
  if (filter_field_name_.empty ())
  {
    // Only filter for non-finite entries then
    for (const auto ii : *indices_)  // ii = input index
    {
      // Non-finite entries are always passed to removed indices
      if (!std::isfinite ((*input_)[ii].x) ||
          !std::isfinite ((*input_)[ii].y) ||
          !std::isfinite ((*input_)[ii].z))
      {
        if (extract_removed_indices_)
          (*removed_indices_)[rii++] = ii;
        continue;
      }
      indices[oii++] = ii;
    }
  }
  else
  {
    // Attempt to get the field name's index
    std::vector<pcl::PCLPointField> fields;
    int distance_idx = pcl::getFieldIndex<PointT> (filter_field_name_, fields);
    if (distance_idx == -1)
    {
      PCL_WARN ("[pcl::%s::applyFilter] Unable to find field name in point type.\n", getClassName ().c_str ());
      indices.clear ();
      removed_indices_->clear ();
      return;
    }
    if (fields[distance_idx].datatype != pcl::PCLPointField::PointFieldTypes::FLOAT32)
    {
      PCL_ERROR ("[pcl::%s::applyFilter] PassThrough currently only works with float32 fields. To filter fields of other types see ConditionalRemoval or FunctorFilter/FunctionFilter.\n", getClassName ().c_str ());
      indices.clear ();
      removed_indices_->clear ();
      return;
    }
    if (filter_field_name_ == "rgb")
      PCL_WARN ("[pcl::%s::applyFilter] You told PassThrough to operate on the 'rgb' field. This will likely not do what you expect. Consider using ConditionalRemoval or FunctorFilter/FunctionFilter.\n", getClassName ().c_str ());
    const auto field_offset = fields[distance_idx].offset;
 
    // Filter for non-finite entries and the specified field limits
    for (const auto ii : *indices_)  // ii = input index
    {
      // Non-finite entries are always passed to removed indices
      if (!std::isfinite ((*input_)[ii].x) ||
          !std::isfinite ((*input_)[ii].y) ||
          !std::isfinite ((*input_)[ii].z))
      {
        if (extract_removed_indices_)
          (*removed_indices_)[rii++] = ii;
        continue;
      }
 
      // Get the field's value
      const auto* pt_data = reinterpret_cast<const std::uint8_t*> (&(*input_)[ii]);
      float field_value = 0;
      memcpy (&field_value, pt_data + field_offset, sizeof (float));
 
      // Remove NAN/INF/-INF values. We expect passthrough to output clean valid data.
      if (!std::isfinite (field_value))
      {
        if (extract_removed_indices_)
          (*removed_indices_)[rii++] = ii;
        continue;
      }
 
      // Outside of the field limits are passed to removed indices
      if (!negative_ && (field_value < filter_limit_min_ || field_value > filter_limit_max_))
      {
        if (extract_removed_indices_)
          (*removed_indices_)[rii++] = ii;
        continue;
      }
 
      // Inside of the field limits are passed to removed indices if negative was set
      if (negative_ && field_value >= filter_limit_min_ && field_value <= filter_limit_max_)
      {
        if (extract_removed_indices_)
          (*removed_indices_)[rii++] = ii;
        continue;
      }
 
      // Otherwise it was a normal point for output (inlier)
      indices[oii++] = ii;
    }
  }
 
  // Resize the output arrays
  indices.resize (oii);
  removed_indices_->resize (rii);
}
 
#define PCL_INSTANTIATE_PassThrough(T) template class PCL_EXPORTS pcl::PassThrough<T>;
 
#endif  // PCL_FILTERS_IMPL_PASSTHROUGH_HPP_