1 /*
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4  *  Point Cloud Library (PCL) - www.pointclouds.org
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40 
41 #include <pcl/filters/impl/extract_indices.hpp>
42 
43 ///////////////////////////////////////////////////////////////////////////////////////////
44 void
applyFilter(PCLPointCloud2 & output)45 pcl::ExtractIndices<pcl::PCLPointCloud2>::applyFilter (PCLPointCloud2 &output)
46 {
47   if (keep_organized_)
48   {
49     output = *input_;
50     if (negative_)
51     {
52       // Prepare the output and copy the data
53       for (std::size_t i = 0; i < indices_->size (); ++i)
54         for (std::size_t j = 0; j < output.fields.size(); ++j)
55           memcpy (&output.data[(*indices_)[i] * output.point_step + output.fields[j].offset],
56                   &user_filter_value_, sizeof(float));
57     }
58     else
59     {
60       // Prepare a vector holding all indices
61       Indices all_indices (input_->width * input_->height);
62       for (index_t i = 0; i < static_cast<index_t>(all_indices.size ()); ++i)
63         all_indices[i] = i;
64 
65       Indices indices = *indices_;
66       std::sort (indices.begin (), indices.end ());
67 
68       // Get the diference
69       Indices remaining_indices;
70       set_difference (all_indices.begin (), all_indices.end (), indices.begin (), indices.end (),
71                       inserter (remaining_indices, remaining_indices.begin ()));
72 
73       // Prepare the output and copy the data
74       for (const auto &remaining_index : remaining_indices)
75         for (std::size_t j = 0; j < output.fields.size(); ++j)
76           memcpy (&output.data[remaining_index * output.point_step + output.fields[j].offset],
77                   &user_filter_value_, sizeof(float));
78     }
79     if (!std::isfinite (user_filter_value_))
80       output.is_dense = false;
81     return;
82   }
83   if (indices_->empty () || (input_->width * input_->height == 0))
84   {
85     output.width = output.height = 0;
86     output.data.clear ();
87     // If negative, copy all the data
88     if (negative_)
89       output = *input_;
90     return;
91   }
92   if (indices_->size () == (input_->width * input_->height))
93   {
94     // If negative, then return an empty cloud
95     if (negative_)
96     {
97       output.width = output.height = 0;
98       output.data.clear ();
99     }
100     // else, we need to return all points
101     else
102       output = *input_;
103     return;
104   }
105 
106   // Copy the common fields (header and fields should have already been copied)
107   output.is_bigendian = input_->is_bigendian;
108   output.point_step   = input_->point_step;
109   output.height       = 1;
110   // TODO: check the output cloud and assign is_dense based on whether the points are valid or not
111   output.is_dense     = false;
112 
113   if (negative_)
114   {
115     // Prepare a vector holding all indices
116     Indices all_indices (input_->width * input_->height);
117     for (index_t i = 0; i < static_cast<index_t>(all_indices.size ()); ++i)
118       all_indices[i] = i;
119 
120     Indices indices = *indices_;
121     std::sort (indices.begin (), indices.end ());
122 
123     // Get the diference
124     Indices remaining_indices;
125     set_difference (all_indices.begin (), all_indices.end (), indices.begin (), indices.end (),
126                     inserter (remaining_indices, remaining_indices.begin ()));
127 
128     // Prepare the output and copy the data
129     output.width = remaining_indices.size ();
130     output.data.resize (remaining_indices.size () * output.point_step);
131     for (std::size_t i = 0; i < remaining_indices.size (); ++i)
132       memcpy (&output.data[i * output.point_step], &input_->data[remaining_indices[i] * output.point_step], output.point_step);
133   }
134   else
135   {
136     // Prepare the output and copy the data
137     output.width = indices_->size ();
138     output.data.resize (indices_->size () * output.point_step);
139     for (std::size_t i = 0; i < indices_->size (); ++i)
140       memcpy (&output.data[i * output.point_step], &input_->data[(*indices_)[i] * output.point_step], output.point_step);
141   }
142   output.row_step = output.point_step * output.width;
143 }
144 
145 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
146 void
applyFilter(Indices & indices)147 pcl::ExtractIndices<pcl::PCLPointCloud2>::applyFilter (Indices &indices)
148 {
149   if (indices_->size () > (input_->width * input_->height))
150   {
151     PCL_ERROR ("[pcl::%s::applyFilter] The indices size exceeds the size of the input.\n", getClassName ().c_str ());
152     indices.clear ();
153     removed_indices_->clear ();
154     return;
155   }
156 
157   if (!negative_)  // Normal functionality
158   {
159     indices = *indices_;
160 
161     if (extract_removed_indices_)
162     {
163       // Set up the full indices set
164       Indices full_indices (input_->width * input_->height);
165       for (index_t fii = 0; fii < static_cast<index_t> (full_indices.size ()); ++fii)  // fii = full indices iterator
166         full_indices[fii] = fii;
167 
168       // Set up the sorted input indices
169       Indices sorted_input_indices = *indices_;
170       std::sort (sorted_input_indices.begin (), sorted_input_indices.end ());
171 
172       // Store the difference in removed_indices
173       removed_indices_->clear ();
174       std::set_difference (full_indices.begin (), full_indices.end (), sorted_input_indices.begin (), sorted_input_indices.end (), std::inserter (*removed_indices_, removed_indices_->begin ()));
175     }
176   }
177   else  // Inverted functionality
178   {
179     // Set up the full indices set
180     Indices full_indices (input_->width * input_->height);
181     for (index_t fii = 0; fii < static_cast<index_t> (full_indices.size ()); ++fii)  // fii = full indices iterator
182       full_indices[fii] = fii;
183 
184     // Set up the sorted input indices
185     Indices sorted_input_indices = *indices_;
186     std::sort (sorted_input_indices.begin (), sorted_input_indices.end ());
187 
188     // Store the difference in indices
189     indices.clear ();
190     std::set_difference (full_indices.begin (), full_indices.end (), sorted_input_indices.begin (), sorted_input_indices.end (), std::inserter (indices, indices.begin ()));
191 
192     if (extract_removed_indices_)
193       removed_indices_ = indices_;
194   }
195 }
196 
197 #ifndef PCL_NO_PRECOMPILE
198 #include <pcl/impl/instantiate.hpp>
199 #include <pcl/point_types.h>
200 
201 #ifdef PCL_ONLY_CORE_POINT_TYPES
202   PCL_INSTANTIATE(ExtractIndices, (pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA)(pcl::Normal)(pcl::PointNormal)(pcl::PointXYZRGBNormal))
203 #else
204   PCL_INSTANTIATE(ExtractIndices, PCL_POINT_TYPES)
205 #endif
206 
207 #endif    // PCL_NO_PRECOMPILE
208 
209