Method filter

filters/GreedyProjection.cpp:127–1218

void GreedyProjection::filter(PointView& view)
{
    NormalFilter nf;
    nf.setLog(log());
    nf.doFilter(view);

    KD3Index& tree = view.build3dIndex();

    view_ = &view;
    mesh_ = view_->createMesh(getName());
    const double sqr_mu = mu_ * mu_;
    const double sqr_max_edge = search_radius_*search_radius_;

    nnn_ = (int)(std::min)((point_count_t)nnn_, view.size());

    // Variables to hold the results of nearest neighbor searches
    PointIdList nnIdx(nnn_);
    std::vector<double> sqrDists(nnn_);

    // current number of connected components
    int part_index = 0;

    // 2D coordinates of points
    const Eigen::Vector2d uvn_nn_qp_zero = Eigen::Vector2d::Zero();
    Eigen::Vector2d uvn_current;
    Eigen::Vector2d uvn_prev;
    Eigen::Vector2d uvn_next;

    // initializing fields
    already_connected_ = false; // see declaration for comments :P

    // initializing states and fringe neighbors
    part_.clear();
    state_.clear();
    source_.clear();
    ffn_.clear();
    sfn_.clear();
    part_.resize(view.size()); // indices of point's part
    state_.resize(view.size(), GP3Type::FREE);
    source_.resize(view.size());
    ffn_.resize(view.size());
    sfn_.resize(view.size());
    fringe_queue_.clear();
    int fqIdx = 0; // current fringe's index in the queue to be processed

  // Avoiding NaN coordinates if needed
  /**
  if (!input_->is_dense)
  {
    // Skip invalid points from the indices list
    for (std::vector<int>::const_iterator it = indices_->begin ();o
        it != indices_->end (); ++it)
      if (!pcl_isfinite (input_->points[*it].x) ||
          !pcl_isfinite (input_->points[*it].y) ||
          !pcl_isfinite (input_->points[*it].z))
        state_[*it] = GP3Type::NONE;
  }
  **/