filter_indices.hpp

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 * $Id: filter_indices.hpp 4968 2012-03-08 06:39:52Z rusu $
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#ifndef PCL_FILTERS_IMPL_FILTER_INDICES_H_
#define PCL_FILTERS_IMPL_FILTER_INDICES_H_

#include <pcl/pcl_macros.h>


template <typename PointT> void
pcl::removeNaNFromPointCloud (const pcl::PointCloud<PointT> &cloud_in,
                              std::vector<int> &index)
{
  // Reserve enough space for the indices
  index.resize (cloud_in.points.size ());
  int j = 0;

  // If the data is dense, we don't need to check for NaN
  if (cloud_in.is_dense)
  {
    for (j = 0; j < static_cast<int> (cloud_in.points.size ()); ++j)
      index[j] = j;
  }
  else
  {
    for (int i = 0; i < static_cast<int> (cloud_in.points.size ()); ++i)
    {
      if (!pcl_isfinite (cloud_in.points[i].x) || 
          !pcl_isfinite (cloud_in.points[i].y) || 
          !pcl_isfinite (cloud_in.points[i].z))
        continue;
      index[j] = i;
      j++;
    }
    if (j != static_cast<int> (cloud_in.points.size ()))
    {
      // Resize to the correct size
      index.resize (j);
    }
  }
}

#define PCL_INSTANTIATE_removeNanFromPointCloud(T) template PCL_EXPORTS void pcl::removeNaNFromPointCloud<T>(const pcl::PointCloud<T>&, std::vector<int>&);

#endif    // PCL_FILTERS_IMPL_FILTER_INDICES_H_