filter_indices.h

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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
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 * $Id: filter_indices.h 6144 2012-07-04 22:06:28Z rusu $
 *
 */

#ifndef PCL_FILTERS_FILTER_INDICES_H_
#define PCL_FILTERS_FILTER_INDICES_H_

#include <pcl/filters/filter.h>

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


  template<typename PointT>
  class FilterIndices : public Filter<PointT>
  {
    public:
      typedef pcl::PointCloud<PointT> PointCloud;

      FilterIndices (bool extract_removed_indices = false) :
          negative_ (false), 
          keep_organized_ (false), 
          extract_removed_indices_ (extract_removed_indices), 
          user_filter_value_ (std::numeric_limits<float>::quiet_NaN ()),
          removed_indices_ (new std::vector<int> ())
      {
      }

      virtual
      ~FilterIndices ()
      {
      }

      inline void
      filter (PointCloud &output)
      {
        pcl::Filter<PointT>::filter (output);
      }

      inline void
      filter (std::vector<int> &indices)
      {
        if (!initCompute ())
          return;

        // Apply the actual filter
        applyFilter (indices);

        deinitCompute ();
      }

      inline void
      setNegative (bool negative)
      {
        negative_ = negative;
      }

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

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

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

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

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

    protected:
      using Filter<PointT>::initCompute;
      using Filter<PointT>::deinitCompute;

      bool negative_;

      bool keep_organized_;

      bool extract_removed_indices_;

      float user_filter_value_;

      IndicesPtr removed_indices_;

      virtual void
      applyFilter (std::vector<int> &indices) = 0;
  };


  template<>
  class PCL_EXPORTS FilterIndices<sensor_msgs::PointCloud2> : public Filter<sensor_msgs::PointCloud2>
  {
    public:
      typedef sensor_msgs::PointCloud2 PointCloud2;

      FilterIndices (bool extract_removed_indices = false) :
          negative_ (false), 
          keep_organized_ (false), 
          extract_removed_indices_ (extract_removed_indices), 
          user_filter_value_ (std::numeric_limits<float>::quiet_NaN ()),
          removed_indices_ (new std::vector<int>)
      {
      }

      virtual
      ~FilterIndices ()
      {
      }

      virtual void
      filter (PointCloud2 &output)
      {
        pcl::Filter<PointCloud2>::filter (output);
      }

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

      inline void
      setNegative (bool negative)
      {
        negative_ = negative;
      }

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

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

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

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

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

    protected:
      bool negative_;

      bool keep_organized_;

      bool extract_removed_indices_;

      float user_filter_value_;

      IndicesPtr removed_indices_;

      virtual void
      applyFilter (std::vector<int> &indices) = 0;
  };
}

#endif  //#ifndef PCL_FILTERS_FILTER_INDICES_H_