1 /*
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4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2009-2011, Willow Garage, Inc.
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19 * with the distribution.
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36 *
37 * $Id: extract_indices.hpp 1897 2011-07-26 20:35:49Z rusu $
38 *
39 */
40
41 #ifndef PCL_FILTERS_IMPL_CROP_BOX_H_
42 #define PCL_FILTERS_IMPL_CROP_BOX_H_
43
44 #include <pcl/filters/crop_box.h>
45 #include <pcl/common/eigen.h> // for getTransformation
46 #include <pcl/common/point_tests.h> // for isFinite
47 #include <pcl/common/transforms.h> // for transformPoint
48
49 ///////////////////////////////////////////////////////////////////////////////
50 template<typename PointT> void
applyFilter(Indices & indices)51 pcl::CropBox<PointT>::applyFilter (Indices &indices)
52 {
53 indices.resize (input_->size ());
54 removed_indices_->resize (input_->size ());
55 int indices_count = 0;
56 int removed_indices_count = 0;
57
58 Eigen::Affine3f transform = Eigen::Affine3f::Identity ();
59 Eigen::Affine3f inverse_transform = Eigen::Affine3f::Identity ();
60
61 if (rotation_ != Eigen::Vector3f::Zero ())
62 {
63 pcl::getTransformation (0, 0, 0,
64 rotation_ (0), rotation_ (1), rotation_ (2),
65 transform);
66 inverse_transform = transform.inverse ();
67 }
68
69 bool transform_matrix_is_identity = transform_.matrix ().isIdentity ();
70 bool translation_is_zero = (translation_ == Eigen::Vector3f::Zero ());
71 bool inverse_transform_matrix_is_identity = inverse_transform.matrix ().isIdentity ();
72
73 for (const auto index : *indices_)
74 {
75 if (!input_->is_dense)
76 // Check if the point is invalid
77 if (!isFinite ((*input_)[index]))
78 continue;
79
80 // Get local point
81 PointT local_pt = (*input_)[index];
82
83 // Transform point to world space
84 if (!transform_matrix_is_identity)
85 local_pt = pcl::transformPoint<PointT> (local_pt, transform_);
86
87 if (!translation_is_zero)
88 {
89 local_pt.x -= translation_ (0);
90 local_pt.y -= translation_ (1);
91 local_pt.z -= translation_ (2);
92 }
93
94 // Transform point to local space of crop box
95 if (!inverse_transform_matrix_is_identity)
96 local_pt = pcl::transformPoint<PointT> (local_pt, inverse_transform);
97
98 // If outside the cropbox
99 if ( (local_pt.x < min_pt_[0] || local_pt.y < min_pt_[1] || local_pt.z < min_pt_[2]) ||
100 (local_pt.x > max_pt_[0] || local_pt.y > max_pt_[1] || local_pt.z > max_pt_[2]))
101 {
102 if (negative_)
103 indices[indices_count++] = index;
104 else if (extract_removed_indices_)
105 (*removed_indices_)[removed_indices_count++] = index;
106 }
107 // If inside the cropbox
108 else
109 {
110 if (negative_ && extract_removed_indices_)
111 (*removed_indices_)[removed_indices_count++] = index;
112 else if (!negative_)
113 indices[indices_count++] = index;
114 }
115 }
116 indices.resize (indices_count);
117 removed_indices_->resize (removed_indices_count);
118 }
119
120 #define PCL_INSTANTIATE_CropBox(T) template class PCL_EXPORTS pcl::CropBox<T>;
121
122 #endif // PCL_FILTERS_IMPL_CROP_BOX_H_
123