Point Cloud Indices Extraction

Extracts a subset of points from a point cloud based on specified indices. More...

Functions
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
	Extract indices from point cloud of type pcl::PointXYZ.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
	Extract indices from point cloud of type pcl::PointNormal.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
	Extract indices from point cloud of type pcl::PointXYZRGB.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
	Extract indices from point cloud of type pcl::PointXYZRGBNormal.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
	Extract indices from point cloud of type pcl::PointXYZI.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
	Extract indices from point cloud of type pcl::PointXYZINormal.
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
	Extract points from point cloud of type pcl::PointXYZ with corresponding indices.
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
	Extract points from point cloud of type pcl::PointXYZRGB with corresponding indices.
pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
	Extract points from point cloud of type pcl::PointXYZRGBNormal with corresponding indices.
pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
	Extract points from point cloud of type pcl::PointXYZI with corresponding indices.
pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
	Extract points from point cloud of type pcl::PointXYZINormal with corresponding indices.

Detailed Description

Extracts a subset of points from a point cloud based on specified indices.

This function filters the input point cloud by extracting the points corresponding to the provided set of indices. The negative parameter determines whether to extract the points listed in the indices (if negative is false) or to exclude the points listed in the indices (if negative is true).

The function uses PCL's ExtractIndices to perform the extraction and returns the resulting set of indices as a shared pointer to a vector of integers.

Parameters

cloud	The input point cloud from which to extract points.
indices	A pointer to the indices specifying the points to be extracted (or excluded).
negative	If true, the points specified by indices are excluded; otherwise, they are included.

Returns

A vector of indices representing the extracted points (or remaining points if negative is true), or a new point cloud with the corresponding points.

Note

This function uses PCL's ExtractIndices filter to extract or remove the points based on the provided indices.

The returned output indices correspond to the points that are either extracted or excluded from the input cloud.