42 #ifndef PCL_FILTERS_IMPL_LOCAL_MAXIMUM_H_
43 #define PCL_FILTERS_IMPL_LOCAL_MAXIMUM_H_
45 #include <pcl/common/io.h>
46 #include <pcl/filters/local_maximum.h>
47 #include <pcl/filters/project_inliers.h>
48 #include <pcl/ModelCoefficients.h>
51 template <
typename Po
intT>
void
57 PCL_WARN (
"[pcl::%s::applyFilter] No input dataset given!\n", getClassName ().c_str ());
63 std::vector<int> indices;
66 applyFilterIndices (indices);
67 pcl::copyPointCloud<PointT> (*input_, indices, output);
71 template <
typename Po
intT>
void
78 coefficients->values.resize (4);
79 coefficients->values[0] = coefficients->values[1] = 0;
80 coefficients->values[2] = 1.0;
81 coefficients->values[3] = 0;
88 proj.
filter (*cloud_projected);
93 if (input_->isOrganized ())
98 searcher_->setInputCloud (cloud_projected);
101 indices.resize (indices_->size ());
102 removed_indices_->resize (indices_->size ());
103 int oii = 0, rii = 0;
105 std::vector<bool> point_is_max (indices_->size (),
false);
106 std::vector<bool> point_is_visited (indices_->size (),
false);
111 for (
int iii = 0; iii < static_cast<int> (indices_->size ()); ++iii)
113 if (!
isFinite (input_->points[(*indices_)[iii]]))
120 if (point_is_visited[(*indices_)[iii]] && !point_is_max[(*indices_)[iii]])
126 point_is_max[(*indices_)[iii]] =
true;
127 point_is_visited[(*indices_)[iii]] =
true;
130 std::vector<int> radius_indices;
131 std::vector<float> radius_dists;
132 PointT p = cloud_projected->points[(*indices_)[iii]];
133 if (searcher_->radiusSearch (p, radius_, radius_indices, radius_dists) == 0)
135 PCL_WARN (
"[pcl::%s::applyFilter] Searching for neighbors within radius %f failed.\n", getClassName ().c_str (), radius_);
140 if (radius_indices.size () == 1)
142 point_is_max[(*indices_)[iii]] =
false;
146 float query_z = input_->points[(*indices_)[iii]].z;
147 for (std::size_t k = 1; k < radius_indices.size (); ++k)
149 if (input_->points[radius_indices[k]].z > query_z)
152 point_is_max[(*indices_)[iii]] =
false;
159 if (point_is_max[(*indices_)[iii]])
161 for (std::size_t k = 1; k < radius_indices.size (); ++k)
163 point_is_visited[radius_indices[k]] =
true;
169 if ((!negative_ && point_is_max[(*indices_)[iii]]) || (negative_ && !point_is_max[(*indices_)[iii]]))
171 if (extract_removed_indices_)
173 (*removed_indices_)[rii++] = (*indices_)[iii];
180 indices[oii++] = (*indices_)[iii];
184 indices.resize (oii);
185 removed_indices_->resize (rii);
188 #define PCL_INSTANTIATE_LocalMaximum(T) template class PCL_EXPORTS pcl::LocalMaximum<T>;
190 #endif // PCL_FILTERS_IMPL_LOCAL_MAXIMUM_H_