template <typename PointT> void
pcl::ExtractIndices<PointT>::applyFilter (PointCloud &output)
{
std::vector<int> indices;
if (keep_organized_)
{
bool temp = extract_removed_indices_;
extract_removed_indices_ = true;
applyFilterIndices (indices);
extract_removed_indices_ = temp;
output = *input_;
std::vector<pcl::PCLPointField> fields;
pcl::for_each_type<FieldList> (pcl::detail::FieldAdder<PointT> (fields));
for (int rii = 0; rii < static_cast<int> (removed_indices_->size ()); ++rii) // rii = removed indices iterator
{
uint8_t* pt_data = reinterpret_cast<uint8_t*> (&output.points[(*removed_indices_)[rii]]);
for (int fi = 0; fi < static_cast<int> (fields.size ()); ++fi) // fi = field iterator
memcpy (pt_data + fields[fi].offset, &user_filter_value_, sizeof (float));
}
if (!pcl_isfinite (user_filter_value_))
output.is_dense = false;
}
else
{
applyFilterIndices (indices);
copyPointCloud (*input_, indices, output);
}
}
template <typename PointT> void
pcl::RadiusOutlierRemoval<PointT>::applyFilter (PointCloud &output)
{
std::vector<int> indices;
if (keep_organized_)
{
bool temp = extract_removed_indices_;
extract_removed_indices_ = true;
applyFilterIndices (indices);
extract_removed_indices_ = temp;
output = *input_;
for (int rii = 0; rii < static_cast<int> (removed_indices_->size ()); ++rii) // rii = removed indices iterator
output.points[(*removed_indices_)[rii]].x = output.points[(*removed_indices_)[rii]].y = output.points[(*removed_indices_)[rii]].z = user_filter_value_;
if (!pcl_isfinite (user_filter_value_))
output.is_dense = false;
}
else
{
applyFilterIndices (indices);
copyPointCloud (*input_, indices, output);
}
}
void PassThrough::applyFilter (pcl::PointCloud<PointXYZSIFT>::Ptr input, pcl::PointCloud<PointXYZSIFT> &output, std::string filter_field_name, float min, float max, bool negative)
{
CLOG(LTRACE) << "applyFilter() " << filter_field_name;
output.header = input->header;
output.sensor_origin_ = input->sensor_origin_;
output.sensor_orientation_ = input->sensor_orientation_;
std::vector<int> indices;
output.is_dense = true;
applyFilterIndices (indices, input, filter_field_name, min, max, negative);
CLOG(LTRACE)<< "Number of indices: "<< indices.size() <<endl;
copyPointCloud (*input, indices, output);
}
template <typename PointT> void
pcl::LocalMaximum<PointT>::applyFilter (PointCloud &output)
{
// Has the input dataset been set already?
if (!input_)
{
PCL_WARN ("[pcl::%s::applyFilter] No input dataset given!\n", getClassName ().c_str ());
output.width = output.height = 0;
output.points.clear ();
return;
}
std::vector<int> indices;
output.is_dense = true;
applyFilterIndices (indices);
pcl::copyPointCloud<PointT> (*input_, indices, output);
}
template <typename PointT> void
pcl::ExtractIndices<PointT>::filterDirectly (PointCloudPtr &cloud)
{
std::vector<int> indices;
bool temp = extract_removed_indices_;
extract_removed_indices_ = true;
this->setInputCloud (cloud);
applyFilterIndices (indices);
extract_removed_indices_ = temp;
std::vector<pcl::PCLPointField> fields;
pcl::for_each_type<FieldList> (pcl::detail::FieldAdder<PointT> (fields));
for (int rii = 0; rii < static_cast<int> (removed_indices_->size ()); ++rii) // rii = removed indices iterator
{
uint8_t* pt_data = reinterpret_cast<uint8_t*> (&cloud->points[(*removed_indices_)[rii]]);
for (int fi = 0; fi < static_cast<int> (fields.size ()); ++fi) // fi = field iterator
memcpy (pt_data + fields[fi].offset, &user_filter_value_, sizeof (float));
}
if (!pcl_isfinite (user_filter_value_))
cloud->is_dense = false;
}
