Point Cloud Library (PCL) 1.13.0
passthrough.h
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35
36#pragma once
37
38#include <pcl_cuda/filters/filter.h>
39#include <thrust/count.h>
40#include <thrust/remove.h>
41#include <vector_types.h>
42
43namespace pcl_cuda
44{
45
46 /** \brief Check if a specific point is valid or not. Applicable to AOS structures. */
48 {
49 __inline__ __device__ bool
50 operator () (const PointXYZRGB &pt)
51 //operator () (const float3 &pt)
52 {
53 return (isfinite (pt.x) && isfinite (pt.y) && isfinite (pt.z));
54 }
55 };
56
57 /** \brief Check if a specific point is valid or not. Applicable to SOA structures. */
59 {
60 __inline__ __device__ bool
61 operator () (const float &pt)
62 {
63 return (isfinite (pt));
64 }
65 };
66
67 /** \brief Check if a specific point is valid or not. Applicable to SOA structures. */
69 {
70 __inline__ __device__ bool
71 operator () (const PointCloudSOA<Device>::tuple_type& tuple)
72 {
73 using thrust::get;
74 return (!isfinite (get<0> (tuple)) ||
75 !isfinite (get<1> (tuple)) ||
76 !isfinite (get<2> (tuple)));
77 }
78 };
79
80 ///////////////////////////////////////////////////////////////////////////////////////////
81 /** \brief @b PassThrough uses the base Filter class methods to pass through
82 * all data that satisfies the user given constraints.
83 */
84 template <typename CloudT>
85 class PassThrough: public Filter<CloudT>
86 {
87 public:
88 using Filter<CloudT>::filter_name_;
89
90 using PointCloud = typename PCLCUDABase<CloudT>::PointCloud;
93
94 /** \brief Empty constructor. */
96 {
97 filter_name_ = "PassThrough";
98 };
99
100 protected:
101 /** \brief Filter a Point Cloud.
102 * \param output the resultant point cloud message
103 */
104 void
106 {
107 std::cerr << "applyFilter" << std::endl;
108 }
109 };
110
111 ///////////////////////////////////////////////////////////////////////////////////////////
112 template <>
113 class PassThrough<PointCloudAOS<Device> >: public Filter<PointCloudAOS<Device> >
114 {
115 public:
116 /** \brief Empty constructor. */
118 {
119 filter_name_ = "PassThroughAOS";
120 };
121
122 protected:
123 /** \brief Filter a Point Cloud.
124 * \param output the resultant point cloud message
125 */
126 void
128 {
129 // Allocate enough space
130 output.resize (input_->points.size ());
131 // Copy data
132 Device<PointXYZRGB>::type::iterator nr_points = thrust::copy_if (input_->points.begin (), input_->points.end (), output.begin (), isFiniteAOS ());
133 //Device<float3>::type::iterator nr_points = thrust::copy_if (input_->points.begin (), input_->points.end (), output.begin (), isFiniteAOS ());
134 output.resize (nr_points - output.begin ());
135
136 //std::cerr << "[applyFilterAOS]: ";
137 //std::cerr << input_->points.size () << " " << output.size () << std::endl;
138 }
139 };
140
141 //////////////////////////////////////////////////////////////////////////////////////////
142 template <>
143 class PassThrough<PointCloudSOA<Device> >: public Filter<PointCloudSOA<Device> >
144 {
145 public:
146 /** \brief Empty constructor. */
147 PassThrough () : zip_(false)
148 {
149 filter_name_ = "PassThroughSOA";
150 };
151
152 inline void
153 setZip (bool zip)
154 {
155 zip_ = zip;
156 }
157
158
159 protected:
160 /** \brief Filter a Point Cloud.
161 * \param output the resultant point cloud message
162 */
163 void
165 {
166 if (!zip_)
167 {
168 // Allocate enough space
169 output.resize (input_->size ());
170 // Copy data
171 Device<float>::type::iterator nr_points = thrust::copy_if (input_->points_x.begin (), input_->points_x.end (), output.points_x.begin (), isFiniteSOA ());
172 nr_points = thrust::copy_if (input_->points_y.begin (), input_->points_y.end (), output.points_y.begin (), isFiniteSOA ());
173 nr_points = thrust::copy_if (input_->points_z.begin (), input_->points_z.end (), output.points_z.begin (), isFiniteSOA ());
174 output.resize (nr_points - output.points_z.begin ());
175
176 //std::cerr << "[applyFilterSOA]: ";
177 //std::cerr << input_->size () << " " << output.size () << std::endl;
178 }
179
180 else
181 {
182 output = *input_;
183 PointCloud::zip_iterator result = thrust::remove_if (output.zip_begin (), output.zip_end (), isFiniteZIPSOA ());
184 PointCloud::iterator_tuple result_tuple = result.get_iterator_tuple ();
185 PointCloud::float_iterator xiter = thrust::get<0> (result_tuple),
186 yiter = thrust::get<1> (result_tuple),
187 ziter = thrust::get<2> (result_tuple);
188
189 unsigned badpoints = distance (xiter, output.points_x.end ());
190 unsigned goodpoints = distance (output.points_x.begin (), xiter);
191
192 output.resize (goodpoints);
193
194 //std::cerr << "[applyFilterSOA-ZIP]: ";
195 //std::cerr << input_->size () << " " << output.size () << std::endl;
196 }
197 }
198
199 private:
200 bool zip_;
201 };
202}
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
Removes points with x, y, or z equal to NaN.
Definition: filter.h:59
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: filter.h:68
typename PointCloud::Ptr PointCloudPtr
Definition: filter.h:67
typename PCLCUDABase< CloudT >::PointCloud PointCloud
Definition: filter.h:66
std::string filter_name_
The filter name.
Definition: filter.h:159
void applyFilter(PointCloud &output)
Filter a Point Cloud.
Definition: passthrough.h:127
void applyFilter(PointCloud &output)
Filter a Point Cloud.
Definition: passthrough.h:164
PassThrough uses the base Filter class methods to pass through all data that satisfies the user given...
Definition: passthrough.h:86
PassThrough()
Empty constructor.
Definition: passthrough.h:95
void applyFilter(PointCloud &output)
Filter a Point Cloud.
Definition: passthrough.h:105
float distance(const PointT &p1, const PointT &p2)
Definition: geometry.h:60
Check if a specific point is valid or not.
Definition: passthrough.h:48
__inline__ __device__ bool operator()(const PointXYZRGB &pt)
Definition: passthrough.h:50
Check if a specific point is valid or not.
Definition: passthrough.h:59
__inline__ __device__ bool operator()(const float &pt)
Definition: passthrough.h:61
Check if a specific point is valid or not.
Definition: passthrough.h:69
__inline__ __device__ bool operator()(const PointCloudSOA< Device >::tuple_type &tuple)
Definition: passthrough.h:71