Point Cloud Library (PCL) 1.14.0
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filter.h
1/*
2 * Software License Agreement (BSD License)
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4 * Copyright (c) 2011, Willow Garage, Inc.
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35
36#pragma once
37
38#include <pcl_cuda/pcl_cuda_base.h>
39#include <limits>
40
41namespace pcl_cuda
42{
43 /** \brief Removes points with x, y, or z equal to NaN
44 * \param cloud_in the input point cloud
45 * \param cloud_out the input point cloud
46 * \param index the mapping (ordered): cloud_out[i] = cloud_in[index[i]]
47 * \note The density of the point cloud is lost.
48 * \note Can be called with cloud_in == cloud_out
49 */
50// template <typename PointT> void removeNaNFromPointCloud (const pcl::PointCloud<PointT> &cloud_in, pcl::PointCloud<PointT> &cloud_out, std::vector<int> &index);
51
52 ////////////////////////////////////////////////////////////////////////////////////////////
53 /** \brief @b Filter represents the base filter class. Some generic 3D
54 * operations that are applicable to all filters are defined here as static
55 * methods.
56 */
57 template <typename CloudT>
58 class Filter : public PCLCUDABase<CloudT>
59 {
60 using PCLCUDABase<CloudT>::initCompute;
61 using PCLCUDABase<CloudT>::deinitCompute;
62
63 public:
64 using PCLCUDABase<CloudT>::input_;
65
66 using PointCloud = typename PCLCUDABase<CloudT>::PointCloud;
69
70 /** \brief Empty constructor. */
72 filter_limit_min_ (std::numeric_limits<float>::lowest()),
73 filter_limit_max_ (std::numeric_limits<float>::max()),
75 {};
76
77 /** \brief Provide the name of the field to be used for filtering data.
78 * In conjunction with \a setFilterLimits, points having values outside
79 * this interval will be discarded.
80 * \param field_name the name of the field that contains values used for filtering
81 */
82 inline void
83 setFilterFieldName (const std::string &field_name) { filter_field_name_ = field_name; }
84
85 /** \brief Get the name of the field used for filtering. */
86 inline std::string const
88
89 /** \brief Set the field filter limits. All points having field values
90 * outside this interval will be discarded.
91 * \param limit_min the minimum allowed field value
92 * \param limit_max the maximum allowed field value
93 */
94 inline void
95 setFilterLimits (const double &limit_min, const double &limit_max)
96 {
97 filter_limit_min_ = limit_min;
98 filter_limit_max_ = limit_max;
99 }
100
101 /** \brief Get the field filter limits (min/max) set by the user.
102 * The default values are std::numeric_limits<float>::lowest(), std::numeric_limits<float>::max().
103 * \param limit_min the minimum limit
104 * \param limit_max the maximum limit
105 */
106 inline void
107 getFilterLimits (double &limit_min, double &limit_max)
108 {
109 limit_min = filter_limit_min_;
110 limit_max = filter_limit_max_;
111 }
112
113 /** \brief Set to true if we want to return the data outside the interval
114 * specified by setFilterLimits (min, max). Default: false.
115 * \param limit_negative return data inside the interval (false) or outside (true)
116 */
117 inline void
118 setFilterLimitsNegative (const bool limit_negative)
119 {
120 filter_limit_negative_ = limit_negative;
121 }
122
123 /** \brief Get whether the data outside the interval (min/max) is to be
124 * returned (true) or inside (false).
125 * \param limit_negative the limit_negative flag
126 */
127 PCL_DEPRECATED(1, 16, "use bool getFilterLimitsNegative() instead")
128 inline void
129 getFilterLimitsNegative (bool &limit_negative) { limit_negative = filter_limit_negative_; }
130
131 /** \brief Get whether the data outside the interval (min/max) is to be
132 * returned (true) or inside (false).
133 * \return true if data \b outside the interval [min; max] is to be returned, false otherwise
134 */
135 inline bool
137
138 /** \brief Calls the filtering method and returns the filtered dataset on the device
139 * \param output the resultant filtered point cloud dataset on the device
140 */
141 inline void
143 {
144 if (!initCompute ()) return;
145
146 // Copy header at a minimum
147 //output.header = input_->header;
148 //output.sensor_origin_ = input_->sensor_origin_;
149 //output.sensor_orientation_ = input_->sensor_orientation_;
150
151 // Apply the actual filter
152 applyFilter (output);
153
154 deinitCompute ();
155 }
156
157 protected:
158 /** \brief The filter name. */
159 std::string filter_name_;
160
161 /** \brief The desired user filter field name. */
163
164 /** \brief The minimum allowed filter value a point will be considered from. */
166
167 /** \brief The maximum allowed filter value a point will be considered from. */
169
170 /** \brief Set to true if we want to return the data outside (\a filter_limit_min_;\a filter_limit_max_). Default: false. */
172
173 /** \brief Abstract filter method.
174 *
175 * The implementation needs to set output.{points, width, height, is_dense}.
176 */
177 virtual void
178 applyFilter (PointCloud &output) = 0;
179
180 /** \brief Get a string representation of the name of this class. */
181 inline const std::string&
182 getClassName () const { return (filter_name_); }
183 };
184}
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
Removes points with x, y, or z equal to NaN.
Definition filter.h:59
void setFilterLimitsNegative(const bool limit_negative)
Set to true if we want to return the data outside the interval specified by setFilterLimits (min,...
Definition filter.h:118
bool filter_limit_negative_
Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_).
Definition filter.h:171
typename PointCloud::ConstPtr PointCloudConstPtr
Definition filter.h:68
std::string const getFilterFieldName()
Get the name of the field used for filtering.
Definition filter.h:87
virtual void applyFilter(PointCloud &output)=0
Abstract filter method.
typename PointCloud::Ptr PointCloudPtr
Definition filter.h:67
std::string filter_field_name_
The desired user filter field name.
Definition filter.h:162
typename PCLCUDABase< CloudT >::PointCloud PointCloud
Definition filter.h:66
void setFilterFieldName(const std::string &field_name)
Provide the name of the field to be used for filtering data.
Definition filter.h:83
double filter_limit_max_
The maximum allowed filter value a point will be considered from.
Definition filter.h:168
Filter()
Empty constructor.
Definition filter.h:71
void filter(PointCloud &output)
Calls the filtering method and returns the filtered dataset on the device.
Definition filter.h:142
double filter_limit_min_
The minimum allowed filter value a point will be considered from.
Definition filter.h:165
void setFilterLimits(const double &limit_min, const double &limit_max)
Set the field filter limits.
Definition filter.h:95
void getFilterLimits(double &limit_min, double &limit_max)
Get the field filter limits (min/max) set by the user.
Definition filter.h:107
std::string filter_name_
The filter name.
Definition filter.h:159
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition filter.h:182
bool getFilterLimitsNegative()
Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).
Definition filter.h:136
#define PCL_DEPRECATED(Major, Minor, Message)
macro for compatibility across compilers and help remove old deprecated items for the Major....
Definition pcl_macros.h:156