passthrough.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: passthrough.h 6144 2012-07-04 22:06:28Z rusu $
 *
 */

#ifndef PCL_FILTERS_PASSTHROUGH_H_
#define PCL_FILTERS_PASSTHROUGH_H_

#include <pcl/filters/filter_indices.h>

namespace pcl
{
  template <typename PointT>
  class PassThrough : public FilterIndices<PointT>
  {
    protected:
      typedef typename FilterIndices<PointT>::PointCloud PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;
      typedef typename pcl::traits::fieldList<PointT>::type FieldList;

    public:
      PassThrough (bool extract_removed_indices = false) :
        FilterIndices<PointT>::FilterIndices (extract_removed_indices),
        filter_field_name_ (""),
        filter_limit_min_ (FLT_MIN),
        filter_limit_max_ (FLT_MAX)
      {
        filter_name_ = "PassThrough";
      }

      inline void
      setFilterFieldName (const std::string &field_name)
      {
        filter_field_name_ = field_name;
      }

      inline std::string const
      getFilterFieldName ()
      {
        return (filter_field_name_);
      }

      inline void
      setFilterLimits (const float &limit_min, const float &limit_max)
      {
        filter_limit_min_ = limit_min;
        filter_limit_max_ = limit_max;
      }

      inline void
      getFilterLimits (float &limit_min, float &limit_max)
      {
        limit_min = filter_limit_min_;
        limit_max = filter_limit_max_;
      }

      inline void
      setFilterLimitsNegative (const bool limit_negative)
      {
        negative_ = limit_negative;
      }

      inline void
      getFilterLimitsNegative (bool &limit_negative)
      {
        limit_negative = negative_;
      }

      inline bool
      getFilterLimitsNegative ()
      {
        return (negative_);
      }

    protected:
      using PCLBase<PointT>::input_;
      using PCLBase<PointT>::indices_;
      using Filter<PointT>::filter_name_;
      using Filter<PointT>::getClassName;
      using FilterIndices<PointT>::negative_;
      using FilterIndices<PointT>::keep_organized_;
      using FilterIndices<PointT>::user_filter_value_;
      using FilterIndices<PointT>::extract_removed_indices_;
      using FilterIndices<PointT>::removed_indices_;

      void
      applyFilter (PointCloud &output);

      void
      applyFilter (std::vector<int> &indices)
      {
        applyFilterIndices (indices);
      }

      void
      applyFilterIndices (std::vector<int> &indices);

    private:
      std::string filter_field_name_;

      float filter_limit_min_;

      float filter_limit_max_;
  };


  template<>
  class PCL_EXPORTS PassThrough<sensor_msgs::PointCloud2> : public Filter<sensor_msgs::PointCloud2>
  {
    typedef sensor_msgs::PointCloud2 PointCloud2;
    typedef PointCloud2::Ptr PointCloud2Ptr;
    typedef PointCloud2::ConstPtr PointCloud2ConstPtr;

    using Filter<sensor_msgs::PointCloud2>::removed_indices_;
    using Filter<sensor_msgs::PointCloud2>::extract_removed_indices_;

    public:
      PassThrough (bool extract_removed_indices = false) :
        Filter<sensor_msgs::PointCloud2>::Filter (extract_removed_indices), keep_organized_ (false),
        user_filter_value_ (std::numeric_limits<float>::quiet_NaN ()),
        filter_field_name_ (""), filter_limit_min_ (-FLT_MAX), filter_limit_max_ (FLT_MAX),
        filter_limit_negative_ (false)
      {
        filter_name_ = "PassThrough";
      }

      inline void
      setKeepOrganized (bool val)
      {
        keep_organized_ = val;
      }

      inline bool
      getKeepOrganized ()
      {
        return (keep_organized_);
      }

      inline void
      setUserFilterValue (float val)
      {
        user_filter_value_ = val;
      }

      inline void
      setFilterFieldName (const std::string &field_name)
      {
        filter_field_name_ = field_name;
      }

      inline std::string const
      getFilterFieldName ()
      {
        return (filter_field_name_);
      }

      inline void
      setFilterLimits (const double &limit_min, const double &limit_max)
      {
        filter_limit_min_ = limit_min;
        filter_limit_max_ = limit_max;
      }

      inline void
      getFilterLimits (double &limit_min, double &limit_max)
      {
        limit_min = filter_limit_min_;
        limit_max = filter_limit_max_;
      }

      inline void
      setFilterLimitsNegative (const bool limit_negative)
      {
        filter_limit_negative_ = limit_negative;
      }

      inline void
      getFilterLimitsNegative (bool &limit_negative)
      {
        limit_negative = filter_limit_negative_;
      }

      inline bool
      getFilterLimitsNegative ()
      {
        return (filter_limit_negative_);
      }

    protected:
      void
      applyFilter (PointCloud2 &output);

    private:
      bool keep_organized_;

      float user_filter_value_;

      std::string filter_field_name_;

      double filter_limit_min_;

      double filter_limit_max_;

      bool filter_limit_negative_;

  };
}

#endif  // PCL_FILTERS_PASSTHROUGH_H_