extract_indices.h

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 *  Point Cloud Library (PCL) - www.pointclouds.org
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 * $Id: extract_indices.h 6144 2012-07-04 22:06:28Z rusu $
 *
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#ifndef PCL_FILTERS_EXTRACT_INDICES_H_
#define PCL_FILTERS_EXTRACT_INDICES_H_

#include <pcl/filters/filter_indices.h>

namespace pcl
{
  template<typename PointT>
  class ExtractIndices : 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:
      ExtractIndices (bool extract_removed_indices = false) :
        FilterIndices<PointT>::FilterIndices (extract_removed_indices)
      {
        use_indices_ = true;
        filter_name_ = "ExtractIndices";
      }

      void
      filterDirectly (PointCloudPtr &cloud);

    protected:
      using PCLBase<PointT>::input_;
      using PCLBase<PointT>::indices_;
      using PCLBase<PointT>::use_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);
  };


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

      ExtractIndices ()
      {
        use_indices_ = true;
        filter_name_ = "ExtractIndices";
      }

    protected:
      using PCLBase<PointCloud2>::input_;
      using PCLBase<PointCloud2>::indices_;
      using PCLBase<PointCloud2>::use_indices_;
      using Filter<PointCloud2>::filter_name_;
      using Filter<PointCloud2>::getClassName;
      using FilterIndices<PointCloud2>::negative_;
      using FilterIndices<PointCloud2>::keep_organized_;
      using FilterIndices<PointCloud2>::user_filter_value_;

      void
      applyFilter (PointCloud2 &output);

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

#endif  // PCL_FILTERS_EXTRACT_INDICES_H_