filter.h

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 * $Id: filter.h 5026 2012-03-12 02:51:44Z rusu $
 *
 */

#ifndef PCL_FILTER_H_
#define PCL_FILTER_H_

#include <pcl/pcl_base.h>
#include <pcl/ros/conversions.h>
#include <boost/make_shared.hpp>
#include <cfloat>

namespace pcl
{
  template<typename PointT> void
  removeNaNFromPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                           pcl::PointCloud<PointT> &cloud_out, 
                           std::vector<int> &index);


  template<typename PointT>
  class Filter : public PCLBase<PointT>
  {
    public:
      using PCLBase<PointT>::indices_;
      using PCLBase<PointT>::input_;

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

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

      Filter (bool extract_removed_indices = false) : 
        removed_indices_ (new std::vector<int>),
        filter_name_ (),
        extract_removed_indices_ (extract_removed_indices)
      {
      }

      inline IndicesConstPtr const
      getRemovedIndices ()
      {
        return (removed_indices_);
      }

      inline void
      filter (PointCloud &output)
      {
        if (!initCompute ())
          return;

        // Resize the output dataset
        //if (output.points.size () != indices_->size ())
        //  output.points.resize (indices_->size ());

        // Copy header at a minimum
        output.header = input_->header;
        output.sensor_origin_ = input_->sensor_origin_;
        output.sensor_orientation_ = input_->sensor_orientation_;

        // Apply the actual filter
        applyFilter (output);

        deinitCompute ();
      }

    protected:

      using PCLBase<PointT>::initCompute;
      using PCLBase<PointT>::deinitCompute;

      IndicesPtr removed_indices_;

      std::string filter_name_;

      bool extract_removed_indices_;

      virtual void
      applyFilter (PointCloud &output) = 0;

      inline const std::string&
      getClassName () const
      {
        return (filter_name_);
      }
  };


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

      Filter (bool extract_removed_indices = false) : 
        removed_indices_ (new std::vector<int>),
        extract_removed_indices_ (extract_removed_indices),
        filter_name_ ()
      {
      }

      inline IndicesConstPtr const
      getRemovedIndices ()
      {
        return (removed_indices_);
      }

      void
      filter (PointCloud2 &output);

    protected:

      IndicesPtr removed_indices_;

      bool extract_removed_indices_;

      std::string filter_name_;

      virtual void
      applyFilter (PointCloud2 &output) = 0;

      inline const std::string&
      getClassName () const
      {
        return (filter_name_);
      }
  };
}

#endif  //#ifndef PCL_FILTER_H_