passthrough.h

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/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
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 *     with the distribution.
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 *     from this software without specific prior written permission.
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 * $Id: passthrough.h 3746 2011-12-31 22:19:47Z rusu $
 *
 */

#ifndef PCL_FILTERS_PASSTHROUGH_H_
#define PCL_FILTERS_PASSTHROUGH_H_

#include "pcl/filters/filter.h"

namespace pcl
{

  template<typename PointT>
  class PassThrough : public Filter<PointT>
  {
    using Filter<PointT>::input_;
    using Filter<PointT>::filter_name_;
    using Filter<PointT>::getClassName;

    using Filter<PointT>::removed_indices_;
    using Filter<PointT>::extract_removed_indices_;

    typedef typename Filter<PointT>::PointCloud PointCloud;
    typedef typename PointCloud::Ptr PointCloudPtr;
    typedef typename PointCloud::ConstPtr PointCloudConstPtr;

    public:
      PassThrough (bool extract_removed_indices = false) :
        Filter<PointT>::Filter (extract_removed_indices), keep_organized_ (false), 
        user_filter_value_ (std::numeric_limits<float>::quiet_NaN ()),
        filter_field_name_ (""), 
        filter_limit_min_ (-FLT_MAX), filter_limit_max_ (FLT_MAX),
        filter_limit_negative_ (false)
      {
        filter_name_ = "PassThrough";
      }

      inline void
      setKeepOrganized (bool val)
      {
        keep_organized_ = val;
      }

      inline bool
      getKeepOrganized ()
      {
        return (keep_organized_);
      }

      inline void
      setUserFilterValue (float val)
      {
        user_filter_value_ = val;
      }

      inline void
      setFilterFieldName (const std::string &field_name)
      {
        filter_field_name_ = field_name;
      }

      inline std::string const
      getFilterFieldName ()
      {
        return (filter_field_name_);
      }

      inline void
      setFilterLimits (const double &limit_min, const double &limit_max)
      {
        filter_limit_min_ = limit_min;
        filter_limit_max_ = limit_max;
      }

      inline void
      getFilterLimits (double &limit_min, double &limit_max)
      {
        limit_min = filter_limit_min_;
        limit_max = filter_limit_max_;
      }

      inline void
      setFilterLimitsNegative (const bool limit_negative)
      {
        filter_limit_negative_ = limit_negative;
      }

      inline void
      getFilterLimitsNegative (bool &limit_negative)
      {
        limit_negative = filter_limit_negative_;
      }

       inline bool
      getFilterLimitsNegative ()
      {
        return (filter_limit_negative_);
      }

    protected:
      void
      applyFilter (PointCloud &output);

      typedef typename pcl::traits::fieldList<PointT>::type FieldList;

    private:
      bool keep_organized_;

      float user_filter_value_;

      std::string filter_field_name_;

      double filter_limit_min_;

      double filter_limit_max_;

      bool filter_limit_negative_;
  };


  template<>
  class PCL_EXPORTS PassThrough<sensor_msgs::PointCloud2> : public Filter<sensor_msgs::PointCloud2>
  {
    typedef sensor_msgs::PointCloud2 PointCloud2;
    typedef PointCloud2::Ptr PointCloud2Ptr;
    typedef PointCloud2::ConstPtr PointCloud2ConstPtr;

    using Filter<sensor_msgs::PointCloud2>::removed_indices_;
    using Filter<sensor_msgs::PointCloud2>::extract_removed_indices_;

    public:
      PassThrough (bool extract_removed_indices = false) :
        Filter<sensor_msgs::PointCloud2>::Filter (extract_removed_indices), keep_organized_ (false),
        user_filter_value_ (std::numeric_limits<float>::quiet_NaN ()),
        filter_field_name_ (""), filter_limit_min_ (-FLT_MAX), filter_limit_max_ (FLT_MAX),
        filter_limit_negative_ (false)
      {
        filter_name_ = "PassThrough";
      }

      inline void
      setKeepOrganized (bool val)
      {
        keep_organized_ = val;
      }

      inline bool
      getKeepOrganized ()
      {
        return (keep_organized_);
      }

      inline void
      setUserFilterValue (float val)
      {
        user_filter_value_ = val;
      }

      inline void
      setFilterFieldName (const std::string &field_name)
      {
        filter_field_name_ = field_name;
      }

      inline std::string const
      getFilterFieldName ()
      {
        return (filter_field_name_);
      }

      inline void
      setFilterLimits (const double &limit_min, const double &limit_max)
      {
        filter_limit_min_ = limit_min;
        filter_limit_max_ = limit_max;
      }

      inline void
      getFilterLimits (double &limit_min, double &limit_max)
      {
        limit_min = filter_limit_min_;
        limit_max = filter_limit_max_;
      }

      inline void
      setFilterLimitsNegative (const bool limit_negative)
      {
        filter_limit_negative_ = limit_negative;
      }

      inline void
      getFilterLimitsNegative (bool &limit_negative)
      {
        limit_negative = filter_limit_negative_;
      }

      inline bool
      getFilterLimitsNegative ()
      {
        return (filter_limit_negative_);
      }

    protected:
      void
      applyFilter (PointCloud2 &output);

    private:
      bool keep_organized_;

      float user_filter_value_;

      std::string filter_field_name_;

      double filter_limit_min_;

      double filter_limit_max_;

      bool filter_limit_negative_;

  };
}

#endif  //#ifndef PCL_FILTERS_PASSTHROUGH_H_