conditional_removal.h

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/*
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 * $Id: conditional_removal.h 5656 2012-05-01 06:22:33Z rusu $
 *
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#ifndef PCL_FILTER_FIELD_VAL_CONDITION_H_
#define PCL_FILTER_FIELD_VAL_CONDITION_H_

#include <pcl/filters/filter.h>

namespace pcl
{
  namespace ComparisonOps
  {
    typedef enum
    {
      GT, GE, LT, LE, EQ
    } CompareOp;
  }


  template<typename PointT>
  class PointDataAtOffset
  {
    public:
      PointDataAtOffset (uint8_t datatype, uint32_t offset) :
        datatype_ (datatype), offset_ (offset)
      {
      }

      int
      compare (const PointT& p, const double& val);
    protected:
      uint8_t datatype_;

      uint32_t offset_;
    private:
      PointDataAtOffset () : datatype_ (), offset_ () {}
  };


  template<typename PointT>
  class ComparisonBase
  {
    public:
      typedef boost::shared_ptr<ComparisonBase<PointT> > Ptr;
      typedef boost::shared_ptr<const ComparisonBase<PointT> > ConstPtr;

      ComparisonBase () : capable_ (false), field_name_ (), offset_ (), op_ () {}

      virtual ~ComparisonBase () {}

      inline bool
      isCapable () const
      {
        return (capable_);
      }

      virtual bool
      evaluate (const PointT &point) const = 0;

    protected:
      bool capable_;

      std::string field_name_;

      uint32_t offset_;

      ComparisonOps::CompareOp op_;
  };


  template<typename PointT>
  class FieldComparison : public ComparisonBase<PointT>
  {
    using ComparisonBase<PointT>::field_name_;
    using ComparisonBase<PointT>::op_;
    using ComparisonBase<PointT>::capable_;

    public:
      typedef boost::shared_ptr<FieldComparison<PointT> > Ptr;
      typedef boost::shared_ptr<const FieldComparison<PointT> > ConstPtr;

      FieldComparison (std::string field_name, ComparisonOps::CompareOp op, double compare_val);

      FieldComparison (const FieldComparison &src) :
        compare_val_ (src.compare_val_), point_data_ (src.point_data_)
      {
      }

      inline FieldComparison&
      operator = (const FieldComparison &src)
      {
        compare_val_ = src.compare_val_;
        point_data_  = src.point_data_;
        return (*this);
      }

      virtual ~FieldComparison ();

      virtual bool
      evaluate (const PointT &point) const;

    protected:
      double compare_val_;

      PointDataAtOffset<PointT>* point_data_;

    private:
      FieldComparison () :
        compare_val_ (), point_data_ ()
      {
      } // not allowed
  };


  template<typename PointT>
  class PackedRGBComparison : public ComparisonBase<PointT>
  {
    using ComparisonBase<PointT>::capable_;
    using ComparisonBase<PointT>::op_;

    public:
      PackedRGBComparison (std::string component_name, ComparisonOps::CompareOp op, double compare_val);

      virtual ~PackedRGBComparison () {}

      virtual bool
      evaluate (const PointT &point) const;

    protected:
      std::string component_name_;

      uint32_t component_offset_;

      double compare_val_;

    private:
      PackedRGBComparison () :
        component_name_ (), component_offset_ (), compare_val_ ()
      {
      } // not allowed

  };


  template<typename PointT>
  class PackedHSIComparison : public ComparisonBase<PointT>
  {
    using ComparisonBase<PointT>::capable_;
    using ComparisonBase<PointT>::op_;

    public:
      PackedHSIComparison (std::string component_name, ComparisonOps::CompareOp op, double compare_val);

      virtual ~PackedHSIComparison () {}

      virtual bool
      evaluate (const PointT &point) const;

      typedef enum
      {
        H, // -128 to 127 corresponds to -pi to pi
        S, // 0 to 255
        I  // 0 to 255
      } ComponentId;

    protected:
      std::string component_name_;

      ComponentId component_id_;

      double compare_val_;

      uint32_t rgb_offset_;

    private:
      PackedHSIComparison () :
        component_name_ (), component_id_ (), compare_val_ (), rgb_offset_ ()
      {
      } // not allowed
  };
  

  template<typename PointT>
  class TfQuadraticXYZComparison : public pcl::ComparisonBase<PointT>
  {
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW     //needed whenever there is a fixed size Eigen:: vector or matrix in a class

      typedef boost::shared_ptr<TfQuadraticXYZComparison<PointT> > Ptr;
      typedef boost::shared_ptr<const TfQuadraticXYZComparison<PointT> > ConstPtr;

      TfQuadraticXYZComparison ();

      TfQuadraticXYZComparison (const pcl::ComparisonOps::CompareOp op, const Eigen::Matrix3f &comparison_matrix,
                                const Eigen::Vector3f &comparison_vector, const float &comparison_scalar,
                                const Eigen::Affine3f &comparison_transform = Eigen::Affine3f::Identity ());

      inline void
      setComparisonOperator (const pcl::ComparisonOps::CompareOp op)
      {
        op_ = op;
      }

      inline void
      setComparisonMatrix (const Eigen::Matrix3f &matrix)
      {
        //define comp_matr_ as an homogeneous matrix of the given matrix
        comp_matr_.block<3, 3> (0, 0) = matrix;
        comp_matr_.col (3) << 0, 0, 0, 1;
        comp_matr_.block<1, 3> (3, 0) << 0, 0, 0;
        tf_comp_matr_ = comp_matr_;
      }

      inline void
      setComparisonMatrix (const Eigen::Matrix4f &homogeneousMatrix)
      {
        comp_matr_ = homogeneousMatrix;
        tf_comp_matr_ = comp_matr_;
      }

      inline void
      setComparisonVector (const Eigen::Vector3f &vector)
      {
        comp_vect_ = vector.homogeneous ();
        tf_comp_vect_ = comp_vect_;
      }

      inline void
      setComparisonVector (const Eigen::Vector4f &homogeneousVector)
      {
        comp_vect_ = homogeneousVector;
        tf_comp_vect_ = comp_vect_;
      }

      inline void
      setComparisonScalar (const float &scalar)
      {
        comp_scalar_ = scalar;
      }

      inline void
      transformComparison (const Eigen::Matrix4f &transform)
      {
        tf_comp_matr_ = transform.transpose () * comp_matr_ * transform;
        tf_comp_vect_ = comp_vect_.transpose () * transform;
      }

      inline void
      transformComparison (const Eigen::Affine3f &transform)
      {
        transformComparison (transform.matrix ());
      }

      virtual bool
      evaluate (const PointT &point) const;

    protected:
      using pcl::ComparisonBase<PointT>::capable_;
      using pcl::ComparisonBase<PointT>::op_;

      Eigen::Matrix4f comp_matr_;
      Eigen::Vector4f comp_vect_;

      float comp_scalar_;

    private:
      Eigen::Matrix4f tf_comp_matr_;
      Eigen::Vector4f tf_comp_vect_;
  };
  

  template<typename PointT>
  class ConditionBase
  {
    public:
      typedef typename pcl::ComparisonBase<PointT> ComparisonBase;
      typedef typename ComparisonBase::Ptr ComparisonBasePtr;
      typedef typename ComparisonBase::ConstPtr ComparisonBaseConstPtr;

      typedef boost::shared_ptr<ConditionBase<PointT> > Ptr;
      typedef boost::shared_ptr<const ConditionBase<PointT> > ConstPtr;

      ConditionBase () : capable_ (true), comparisons_ (), conditions_ ()
      {
      }

      virtual ~ConditionBase ()
      {
        // comparisons are boost::shared_ptr.will take care of themselves
        comparisons_.clear ();

        // conditions are boost::shared_ptr. will take care of themselves
        conditions_.clear ();
      }

      void
      addComparison (ComparisonBaseConstPtr comparison);

      void
      addCondition (Ptr condition);

      inline bool
      isCapable () const
      {
        return (capable_);
      }

      virtual bool
      evaluate (const PointT &point) const = 0;

    protected:
      bool capable_;

      std::vector<ComparisonBaseConstPtr> comparisons_;

      std::vector<Ptr> conditions_;
  };


  template<typename PointT>
  class ConditionAnd : public ConditionBase<PointT>
  {
    using ConditionBase<PointT>::conditions_;
    using ConditionBase<PointT>::comparisons_;

    public:
      typedef boost::shared_ptr<ConditionAnd<PointT> > Ptr;
      typedef boost::shared_ptr<const ConditionAnd<PointT> > ConstPtr;

      ConditionAnd () :
        ConditionBase<PointT> ()
      {
      }

      virtual bool
      evaluate (const PointT &point) const;
  };


  template<typename PointT>
  class ConditionOr : public ConditionBase<PointT>
  {
    using ConditionBase<PointT>::conditions_;
    using ConditionBase<PointT>::comparisons_;

    public:
      typedef boost::shared_ptr<ConditionOr<PointT> > Ptr;
      typedef boost::shared_ptr<const ConditionOr<PointT> > ConstPtr;

      ConditionOr () :
        ConditionBase<PointT> ()
      {
      }

      virtual bool
      evaluate (const PointT &point) const;
  };


  template<typename PointT>
  class ConditionalRemoval : public Filter<PointT>
  {
    using Filter<PointT>::input_;
    using Filter<PointT>::filter_name_;
    using Filter<PointT>::getClassName;

    using Filter<PointT>::removed_indices_;
    using Filter<PointT>::extract_removed_indices_;

    typedef typename Filter<PointT>::PointCloud PointCloud;
    typedef typename PointCloud::Ptr PointCloudPtr;
    typedef typename PointCloud::ConstPtr PointCloudConstPtr;

    public:
      typedef typename pcl::ConditionBase<PointT> ConditionBase;
      typedef typename ConditionBase::Ptr ConditionBasePtr;
      typedef typename ConditionBase::ConstPtr ConditionBaseConstPtr;

      ConditionalRemoval (int extract_removed_indices = false) :
        Filter<PointT>::Filter (extract_removed_indices), capable_ (false), keep_organized_ (false), condition_ (),
        user_filter_value_ (std::numeric_limits<float>::quiet_NaN ())
      {
        filter_name_ = "ConditionalRemoval";
      }

      ConditionalRemoval (ConditionBasePtr condition, bool extract_removed_indices = false) :
        Filter<PointT>::Filter (extract_removed_indices), capable_ (false), keep_organized_ (false), condition_ (),
        user_filter_value_ (std::numeric_limits<float>::quiet_NaN ())
      {
        filter_name_ = "ConditionalRemoval";
        setCondition (condition);
      }

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

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

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

      void
      setCondition (ConditionBasePtr condition);

    protected:
      void
      applyFilter (PointCloud &output);

      typedef typename pcl::traits::fieldList<PointT>::type FieldList;

      bool capable_;

      bool keep_organized_;

      ConditionBasePtr condition_;

      float user_filter_value_;
  };
}

#endif