38 #ifndef PCL_FILTERS_IMPL_SHADOW_POINTS_FILTER_H_
39 #define PCL_FILTERS_IMPL_SHADOW_POINTS_FILTER_H_
41 #include <pcl/filters/shadowpoints.h>
46 template<
typename Po
intT,
typename NormalT>
void
49 assert (input_normals_ != NULL);
50 output.
resize (input_->size ());
51 if (extract_removed_indices_)
52 removed_indices_->resize (input_->size ());
56 for (std::size_t i = 0; i < input_->size (); i++)
58 const NormalT &normal = (*input_normals_)[i];
59 const PointT &pt = (*input_)[i];
60 const float val = std::abs (normal.normal_x * pt.x + normal.normal_y * pt.y + normal.normal_z * pt.z);
62 if ( (val >= threshold_) ^ negative_)
66 if (extract_removed_indices_)
67 (*removed_indices_)[ri++] = i;
70 PointT &pt_new = output[cp++] = pt;
71 pt_new.x = pt_new.y = pt_new.z = user_filter_value_;
77 removed_indices_->resize (ri);
83 template<
typename Po
intT,
typename NormalT>
void
86 assert (input_normals_ != NULL);
87 indices.resize (input_->size ());
88 if (extract_removed_indices_)
89 removed_indices_->resize (indices_->size ());
93 for (
const auto& idx : (*indices_))
95 const NormalT &normal = (*input_normals_)[idx];
96 const PointT &pt = (*input_)[idx];
98 float val = std::abs (normal.normal_x * pt.x + normal.normal_y * pt.y + normal.normal_z * pt.z);
100 if ( (val >= threshold_) ^ negative_)
102 else if (extract_removed_indices_)
103 (*removed_indices_)[z++] = idx;
106 removed_indices_->resize (z);
109 #define PCL_INSTANTIATE_ShadowPoints(T,NT) template class PCL_EXPORTS pcl::ShadowPoints<T,NT>;
111 #endif // PCL_FILTERS_IMPL_NORMAL_SPACE_SAMPLE_H_