40 #ifndef PCL_FILTERS_IMPL_PASSTHROUGH_HPP_
41 #define PCL_FILTERS_IMPL_PASSTHROUGH_HPP_
43 #include <pcl/filters/passthrough.h>
44 #include <pcl/common/io.h>
47 template <
typename Po
intT>
void
50 std::vector<int> indices;
53 bool temp = extract_removed_indices_;
54 extract_removed_indices_ =
true;
55 applyFilterIndices (indices);
56 extract_removed_indices_ = temp;
59 for (
const auto ri : *removed_indices_)
61 if (!std::isfinite (user_filter_value_))
67 applyFilterIndices (indices);
73 template <
typename Po
intT>
void
77 indices.resize (indices_->size ());
78 removed_indices_->resize (indices_->size ());
82 if (filter_field_name_.empty ())
85 for (
const auto ii : *indices_)
88 if (!std::isfinite (input_->points[ii].x) ||
89 !std::isfinite (input_->points[ii].y) ||
90 !std::isfinite (input_->points[ii].z))
92 if (extract_removed_indices_)
93 (*removed_indices_)[rii++] = ii;
102 std::vector<pcl::PCLPointField> fields;
103 int distance_idx = pcl::getFieldIndex<PointT> (filter_field_name_, fields);
104 if (distance_idx == -1)
106 PCL_WARN (
"[pcl::%s::applyFilter] Unable to find field name in point type.\n", getClassName ().c_str ());
108 removed_indices_->clear ();
113 for (
const auto ii : *indices_)
116 if (!std::isfinite (input_->points[ii].x) ||
117 !std::isfinite (input_->points[ii].y) ||
118 !std::isfinite (input_->points[ii].z))
120 if (extract_removed_indices_)
121 (*removed_indices_)[rii++] = ii;
127 float field_value = 0;
128 memcpy (&field_value, pt_data + fields[distance_idx].offset,
sizeof (
float));
131 if (!std::isfinite (field_value))
133 if (extract_removed_indices_)
134 (*removed_indices_)[rii++] = ii;
139 if (!negative_ && (field_value < filter_limit_min_ || field_value > filter_limit_max_))
141 if (extract_removed_indices_)
142 (*removed_indices_)[rii++] = ii;
147 if (negative_ && field_value >= filter_limit_min_ && field_value <= filter_limit_max_)
149 if (extract_removed_indices_)
150 (*removed_indices_)[rii++] = ii;
160 indices.resize (oii);
161 removed_indices_->resize (rii);
164 #define PCL_INSTANTIATE_PassThrough(T) template class PCL_EXPORTS pcl::PassThrough<T>;
166 #endif // PCL_FILTERS_IMPL_PASSTHROUGH_HPP_